Drone immersion-piloting system

Patent metadata

Field	Value
Publication number	US-9738382-B2
Application number	US-201615087825-A
Country	US
Kind code	B2
Filing date	Mar 31, 2016
Priority date	Apr 10, 2015
Publication date	Aug 22, 2017
Grant date	Aug 22, 2017

Abstract

The system comprises a drone and a ground station with a console adapted to be directed towards the drone, and virtual reality glasses rendering images taken by a camera of the drone. The system further comprises means for modifying the framing of the images taken by the camera as a function of framing instructions received from the ground station. It further comprises relative heading determination means ( 302 - 324 ) for periodically elaborating an angular difference between the orientation of the glasses and the orientation of the console, and means ( 316 ) for elaborating framing instructions for the drone as a function said angular difference. The sudden changes of framing when the user simply turns the console and his whole body, head included, towards the drone to follow it in its displacements, are hence avoided.

First claim

The invention claimed is:

1. A drone immersion-piloting system comprising a drone ( 10 ) provided with imaging means ( 14 ) and a ground station ( 16 , 40 ) communicating with the drone through a wireless link,
the ground station comprising a console ( 20 ) adapted to be held by a user with respect to a body of said user, or fastened to said body of said user, the console being provided with a long-range directional antenna adapted to be directed by the user towards the drone to maintain the quality of the wireless link,
the ground station further comprising virtual reality glasses ( 40 ) rendering images taken by means of the imaging means and transmitted from the drone through the wireless link,
the system further comprising means for modifying the framing of the images taken by the imaging means ( 14 ) as a function of framing instructions received from the ground station,
the system being characterized in that it further comprises:
relative heading determination means ( 302 - 324 ) for periodically elaborating an angular difference between the orientation of the glasses and the orientation of the console, and
means ( 316 ) for elaborating framing instructions for the drone as a function of said angular difference, adapted to:
i. cause framing when the user's head turns with respect to the console and hence with respect to the user's whole body, and
ii. do not cause framing when the user turns the console with the user's whole body, head included.

2. The system according to claim 1 , wherein the relative heading determination means comprise an inertial unit ( 38 ) associated with the ground station and processing means for determining a heading of the console with respect to a reference.

3. The system according to claim 2 , wherein the inertial unit ( 38 ) associated with the console comprises a magnetometer, and the reference is constituted by the magnetic North.

4. The system according to claim 2 , wherein the relative heading determination means comprise an inertial unit ( 42 ) associated with the glasses and processing means for determining a glasses heading with respect to a reference.

5. The system according to claim 4 , wherein the inertial unit ( 42 ) associated with the glasses comprises a magnetometer, and the reference is constituted by the magnetic North.

6. The system according to claim 2 , wherein the heading determination means comprise means ( 320 ) for estimating the glasses heading by integration of speed and/or acceleration data generated in the glasses, initialization means ( 322 ) for determining an offset between the console heading and the estimated heading of the glasses when a physical correspondence of heading between the console and the glasses is triggered by an operator, and means ( 324 ) for determining a corrected heading of the glasses from the estimated heading and the offset.

7. The system according to claim 2 , wherein the relative heading determination means comprise means ( 314 ) of subtraction between the angular values of the console heading and of the glasses heading.

8. The system according to claim 1 , wherein the orientation of the console and the orientation of the glasses comprise at least one yaw and/or pitch orientation.

9. The system according to claim 1 , wherein the framing modification means comprise digital processing means for framing and correcting a fixed video image of the fisheye type taken by the imaging means ( 14 ).

10. The system according to claim 1 , further comprising means for super-imposing to the image rendered in the virtual reality glasses a drone heading indicator (CD).

Assignees

• Parrot Drones

Inventors

• Brulez Nicolas
• Ferrand Arsene
• Seydoux Henri

Classifications

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64D47/08

  Arrangements of cameras · CPC title

• G06F3/012

  Head tracking input arrangements · CPC title

• G06T19/20

  Editing of three-dimensional [3D] images, e.g. changing shapes or colours, aligning objects or positioning parts · CPC title

• B64C2201/108

  Operations & Transport · mapped topic