Method for piloting a rotary wing drone for taking an exposure through an onboard camera with minimization of the disturbing movements
First Claim
1. A method for piloting, by means of a remote control apparatus, a rotary wing drone with multiple rotors driven by respective motors that can be controlled in a differentiated manner to pilot the drone attitude-wise and speed-wise, wherein horizontal displacements of said drone result from angular tilting movements about roll and pitch axes, said drone comprising a processing subsystem for piloting the drone attitude-wise and speed-wise by servocontrols, said servocontrols including a horizontal speed control including a closed-loop, the drone further comprising an onboard video camera suitable for picking up a sequence of images of a target seen from the drone and for transmitting this sequence to the apparatus, characterized by the following steps:
- selection by the user of a predetermined exposure mode, defined by a set of parameters describing a translational trajectory to be transmitted to the drone, these parameters comprising;
exposure mode in displacement;
a constant, non-zero speed of displacement;
direction of displacement;
orientation of displacement;
duration of displacement; and
exposure altitude;
generation of setpoint values from said set of parameters, and application of these setpoints to said processing subsystem for controlling the motors of the drone; and
once the drone is stabilized on a translational trajectory conforming to said parameters, activation of the exposure by the video camera, wherein said activation of the exposure by said video camera includes activation of a trajectory-stabilization mode including a selective modification of said servocontrols as a function of said predetermined exposure mode selected by the user, said modification including a deactivation of said closed-loop of said horizontal speed control once said constant, non-zero speed of displacement has been reached, whereby minimizing stray oscillations resulting from said angular tilting movements about roll and pitch axes.
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Accused Products
Abstract
The drone (10) comprises an onboard video camera (14) picking up a sequence of images to be transmitted to a remote control. The user selects an exposure mode such as forward or sideways, panoramic or boom plane, tracking, defining a trajectory to be transmitted to the drone. Corresponding setpoint values are generated and applied to a processing subsystem controlling the motors of the drone. Once the drone is stabilized on the prescribed trajectory (38), the exposure by the video camera (14) is activated and the trajectory is stabilized by an open loop control avoiding the oscillations inherent in a servocontrol with feedback loop.
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Citations
11 Claims
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1. A method for piloting, by means of a remote control apparatus, a rotary wing drone with multiple rotors driven by respective motors that can be controlled in a differentiated manner to pilot the drone attitude-wise and speed-wise, wherein horizontal displacements of said drone result from angular tilting movements about roll and pitch axes, said drone comprising a processing subsystem for piloting the drone attitude-wise and speed-wise by servocontrols, said servocontrols including a horizontal speed control including a closed-loop, the drone further comprising an onboard video camera suitable for picking up a sequence of images of a target seen from the drone and for transmitting this sequence to the apparatus, characterized by the following steps:
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selection by the user of a predetermined exposure mode, defined by a set of parameters describing a translational trajectory to be transmitted to the drone, these parameters comprising; exposure mode in displacement; a constant, non-zero speed of displacement; direction of displacement; orientation of displacement; duration of displacement; and exposure altitude; generation of setpoint values from said set of parameters, and application of these setpoints to said processing subsystem for controlling the motors of the drone; and once the drone is stabilized on a translational trajectory conforming to said parameters, activation of the exposure by the video camera, wherein said activation of the exposure by said video camera includes activation of a trajectory-stabilization mode including a selective modification of said servocontrols as a function of said predetermined exposure mode selected by the user, said modification including a deactivation of said closed-loop of said horizontal speed control once said constant, non-zero speed of displacement has been reached, whereby minimizing stray oscillations resulting from said angular tilting movements about roll and pitch axes. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
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Specification