EP3662332A1 - Unité de commande embarquée pour un système de drone, drone et système de drone comprenant l'unité de commande embarquée - Google Patents
Unité de commande embarquée pour un système de drone, drone et système de drone comprenant l'unité de commande embarquéeInfo
- Publication number
- EP3662332A1 EP3662332A1 EP18742834.7A EP18742834A EP3662332A1 EP 3662332 A1 EP3662332 A1 EP 3662332A1 EP 18742834 A EP18742834 A EP 18742834A EP 3662332 A1 EP3662332 A1 EP 3662332A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- control unit
- module
- data
- drone
- flight
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/10—Simultaneous control of position or course in three dimensions
- G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
- G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
- G08G5/003—Flight plan management
- G08G5/0039—Modification of a flight plan
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
- B64U10/13—Flying platforms
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B7/00—Radio transmission systems, i.e. using radiation field
- H04B7/14—Relay systems
- H04B7/15—Active relay systems
- H04B7/185—Space-based or airborne stations; Stations for satellite systems
- H04B7/18502—Airborne stations
- H04B7/18506—Communications with or from aircraft, i.e. aeronautical mobile service
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2201/00—UAVs characterised by their flight controls
- B64U2201/10—UAVs characterised by their flight controls autonomous, i.e. by navigating independently from ground or air stations, e.g. by using inertial navigation systems [INS]
Definitions
- the present invention relates to the field of unmanned aircraft, also referred to as "drones” and in particular drones capable of flying on the spot, such as rotary wing aircraft.
- the invention is more particularly directed to control devices for drones and drone systems, applied to specific missions.
- UAV control systems include a flight control system that allows the pilot to control the aircraft from a ground station.
- the drone system comprising the ground station and the drone, thus comprises a data link, also designated in English by datalink.
- These drones are generally intended for flight in a dedicated space and relatively clear.
- Small drones are now widely available commercially and are generally equipped with a geographic location system, such as a GPS, and an on-board camera.
- the operator controlling the drone receives, for example via the data link, geographical positioning information and data representative of images taken by the camera.
- the small drones can thus be easily controlled by the operator, as long as the drone remains in its field of vision.
- This type of unmanned aircraft aims in particular to offer, at low cost, a simplified control system.
- the control of the drone is however more difficult in the case where the drone moves out of the field of view of the operator.
- Control systems for more complex UAV systems may include infrared sensor management, telemetry sensors, or actuator control.
- This type of drone system requires a particularly high development cost.
- such drones generally remain for missions including take-off, flight and landing in dedicated and relatively unobstructed spaces.
- the flight especially outside the operator's field of vision, relies, for example, on the geographical positioning of the correlated drone, in the ground station, with detailed cartography, allowing the operator to control the drone.
- This type of drone system is however insufficient in places where natural disasters, such as floods or earthquakes, have occurred, changing the geographical environment.
- Some ground stations may also require the coordinated action of several operators to manage, for example, flight control and observation systems. It thus appears the need to provide a drone system allowing the execution of complex missions while facilitating the action of the operator and requiring a reasonable development cost.
- the present invention aims to overcome the disadvantages of the prior art by providing an on-board control unit intended to simplify the implementation of drone systems for various missions, while allowing a reasonable development cost.
- an on-board control unit for a flying platform comprising a flight control system controlling at least one propulsion unit of the flying platform, the flight control system comprising an autopilot module for management of flight controls.
- said onboard control unit being characterized in that: the on-board control unit comprises a data processing and storage unit and is configured to be connected to the flight control system and generate flight control sequences addressed to the flight control system.
- the onboard control unit is configured for managing at least one environment sensor generating data representative of a flying platform environment; the on-board control unit stores performance data for a given mission and performs data processing representative of the environment so as to adapt the mission execution data according to the data from said environment sensor and to generate at least one new flight command with respect to the flight commands corresponding to the execution data of said mission determined initially programmed.
- the control unit according to the invention makes it possible to improve the autonomy of the drone and its adaptability to carry out missions for which the flying platform was not necessarily initially designed.
- the control unit makes it possible to carry out complex tasks in particular in an unknown environment or only partially known.
- the on-board control unit according to the invention makes it possible to modify the flight plan initially programmed in the unmanned aircraft.
- This modification of the flight plan can be done autonomously, without the need for intervention by a ground operator.
- the on-board control unit uses the data from the environmental sensor and interprets them in the light of the mission data including the flight plan initially assigned to the unmanned aircraft. If an element likely, for example, to prevent the execution of the mission is detected, the control unit autonomously triggers safety functions. Such an element may be, for example, an unforeseen obstacle or a non-mapped modification of the terrain near the landing point.
- the decision made by the control unit may for example consist of a modification of the flight plan of the aircraft, so as to avoid the obstacle, or in search of a new landing point.
- the control unit may also decide to hover the aircraft before engaging other actions, such as a return to the point of departure.
- the autonomous modification of the flight plan may also meet a mission requirement assigned to the unmanned aircraft. This is for example an inspection mission of an object whose form is not known.
- the on-board control unit according to the invention can modify the flight parameters of the unmanned aircraft so as to maintain a constant distance between the aircraft and the surface of the object to be inspected, while sweeping a surface of interest.
- the onboard control unit is adapted to process the data from the environment sensor and in particular thanks to the communication with the autopilot module of the drone, the control unit can modify the flight controls of the aircraft for example to improve the safety of the mission.
- the programmed mission includes, for example, the flight plan and other instructions relating to one or more environmental sensors, to one or more actuators or to other instruments or on-board devices. This ability allows for example to secure the mission even in case of loss of the data link with the ground station. This ability also increases the reliability of decisions made on the basis of data provided by an on-board sensor in cases where the operator would not be able to accurately assess the situation from the ground station.
- the present invention facilitates the design of multi-mission unmanned aircraft, each mission can be successively programmed. Thanks to the control unit, the unmanned aircraft can be adapted quickly to perform different types of mission, regardless of the flying platform.
- the on-board control unit according to the invention can be adapted to a commercial UAV. To do this, it suffices, for example, to provide the on-board control unit according to the invention with the pilot software, also referred to as a driver, of the autopilot module of the commercial UAV.
- the onboard control unit may also include other communication ports and other drivers for controlling or receiving data from other instruments of the drone such as its camera, IMU or GPS. It is thus easy to recover a flying platform from a commercial UAV, in particular by connecting to its autopilot module. The on-board control unit will then be able to interact with the flight control system of the flying platform by transmitting instructions to the autopilot module.
- the on-board control unit ensures the sequencing of the flight and can modify the initial flight control sequences intended to be transmitted to the autopilot module, on the basis of the data generated by its environment sensor (s).
- an environmental sensor forming part of the flying platform and generating data received and used by the control unit to modify the flight plan by transmitting, in return, modified command sequences to the autopilot.
- the security of the mission, as the probability of completing the mission, are greatly improved.
- a commercial UAV can be easily retrieved and used to build a new UAV system to increase UAV autonomy through adaptive capabilities and increased decision-making. It is for example for the drone to be able to continue the mission even in case of data link with the defective ground station.
- the drone can for example fine-tune its flight controls based on captured data generated in situ and inaccessible to the operator from the ground station. For the development of a particular mission, it thus becomes possible to focus on the development of the control unit managing, for example, one or more environmental sensors.
- the onboard control unit may comprise several functional modules such as, for example, a proximity detection module, a detection module of a landing zone or a surface tracking module.
- these software or electronic modules of the control unit can be used separately or in combination.
- a new drone for carrying a load safely and securely.
- a load is for example intended to be deposited in a place not specifically provided for a landing. It may be a charge intended to be left on site or to be subsequently recovered by the drone to be transported to a different location.
- the on-board control unit according to the invention may also comprise one or more of the following characteristics, considered individually or in any technically possible combination:
- the environmental sensor is part of the control unit
- the environmental sensor is of a different type from other instruments integrated into the flying platform;
- the data processing and storage unit includes a data collection module arranged to perform a memory write of dated data representative of the environment, a merge with dated data of positioning of the flying platform and a correction. dated data representative of the environment based on the positioning data;
- the onboard control unit includes a module formatting commands to the autopilot module and retransmission of these commands to the autopilot, the command formatting module can be updated according to the flying platform and its flight control module;
- the on-board control unit comprises a communication module with a ground station carrying out a transmission of monitoring data generated by the control unit;
- the onboard control unit includes an obstacle detection and avoidance module, said environment sensor being in the form of at least one distance detector with respect to objects in the platform environment and oriented in the direction of a programmed movement, the detection and obstacle avoidance module triggering, in the event of a detected distance lower than a determined threshold, one or more of the following actions: o Stopping in position, o Avoiding the obstacle, o Return to a secure positioning, o Search for a first new trajectory by linear or rotational movement;
- the onboard control unit includes a mapping module storing the data representative of obstacles merged with at least positioning data of the flying platform, these data being representative of a map of the detected obstacles;
- the on-board control unit is configured so that the search for a new trajectory is carried out according to the data representative of the mapping of the obstacles detected;
- the on-board control unit comprises a landing module performing a detection of obstacles in the vertical plane of the platform to determine a set of points constituting a landing area having a surface area of greater than a determined threshold and a flatness below a specified threshold;
- the control unit is configured to determine said set of points constituting the landing area by successive iterations during the preparation for the descent of the flying platform;
- the on-board control unit comprises at least one environmental sensor of the thermal detector type, infrared radiation detector or terminal detector communicating wirelessly, the control unit triggering, in the case of a detected parameter greater than a determined threshold, one or more of the following actions:
- the detected parameter being in the form of a thermal signature of a given intensity, a thermal image of determined extent, a digital radio frequency signal of determined intensity.
- Another object of the invention relates to a drone comprising at least one flying platform equipped with a flight control system controlling at least one propulsion unit of the flying platform, the flight control system comprising a autopilot module flight control management, the drone further comprising an onboard control unit according to the invention.
- the drone comprises a device for transporting a load intended to be deposited in a specific place.
- the drone according to the invention may also include one or more of the following characteristics, considered individually or in any technically possible combination:
- the drone comprises a flying wing platform comprising at least one mechanical support structure of a propulsion means powered by a power supply module;
- the drone comprises a flight control system comprising an autopilot module controlling the propulsion means.
- the drone according to the invention can be developed for complex missions at a reasonable price. Indeed, the development of intelligence integrated in such a drone specifically to a mission then corresponds to the development of an additional high level software layer integrated in the control unit.
- Another object of the invention relates to a drone system comprising a ground station in communication connection with a drone according to the invention.
- FIG. 1 shows a diagram of an example of a drone comprising an on-board control unit according to the invention
- FIG. 2 shows an exemplary diagram of the on-board control unit illustrated in FIG. 1 and submodules included in the on-board control unit;
- FIG. 3 shows an exemplary implementation of a "Sense and Avoid” type function, carried out using the on-board control unit illustrated in FIG. 2;
- FIG. 4 shows an exemplary implementation of a "Safe Landing" type function, performed using the on-board control unit illustrated in FIG. 2;
- FIG. 5 shows an example of implementation of a "Follow a surface” type function, carried out using the on-board control unit illustrated in FIG. 2;
- FIGS. 5a and 5b each show an example of a route of an area of interest
- FIG. 6 shows a diagram of a drone according to the invention and in particular the links between the on-board control unit according to the invention and the autopilot module of an unmanned aircraft;
- FIG. 7 shows in detail the sequencing of the flight in the case of implementation of a "Safe Landing" type function
- FIG. 8 shows a diagram of the drone system according to the invention
- FIG. 9 illustrates an example of a flight plan of a programmed mission.
- on-board control unit means a data processing device comprising, for example, a processor and a memory storing, for example, program data, drivers or data representative of the environment of one or more sensors.
- the onboard control unit is for example capable of recording and processing data such as mission data and data from the environment sensor.
- the control unit comprises modules performing functions, a module that can be indifferently designated as module or submodule in the case where it is called by another module.
- flight platform is understood to encompass in particular the carrier structure, the thrusters and the flight control system capable of ensuring the stability of the unmanned aircraft during the flight and the execution of the flight controls.
- the flight control system further includes an autopilot module for executing the received flight commands. These commands may relate, for example, to the execution of a displacement, a rotation or a trajectory within the flight space provided by the mission.
- a control unit programmed specifically for a mission is understood to mean a control unit which has memorized the data necessary for the implementation of a specific mission, comprising for example a landing place or a trajectory.
- the programmed mission thus includes an initially programmed flight plan.
- Various environmental control operations or various other actions may be associated with the flight plan.
- An environmental sensor is understood to mean a sensor generating data representative of its environment, such as, for example, a sensor capable of measuring one or more distances between the drone and an object of the environment of the drone, a sound signal receiving sensor. or digital or analog electromagnetic signals, a signal receiving sensor.
- a rangefinder can for example measure the distances along a line of points according to a viewing angle of the sensor. The viewing angle can be arranged for example under the drone or in front of the drone. The rangefinder can also take measurements in different fields of vision all around the drone.
- the rangefinder is for example of the "range finder" type such as a LIDAR. DETAILED DESCRIPTION
- FIG. 1 shows, according to an exploded view, a drone D comprising a control unit UC according to the invention.
- the control unit UC comprises for example a unit UM for storing and processing data and one or more EC environment sensors.
- the UC control unit is installed on a P100 flying platform including an SV flight control system. This control system includes an autopilot module AP.
- the flying platform P100 is for example of the rotary wing or fixed wing type. As shown in Figure 1 the flying platform may be in the form of a hexacopter.
- This hexacopter is here derived from a commercial drone whose radiofrequency control module is for example kept as a safety measure, even if a resumption of commands in manual mode by the operator, would allow to perform only maneuvers approximate in comparison with the control sequences that can be performed by the control unit according to the invention.
- the unit for storing and processing data UM is a computing device comprising in particular a processor and a memory connected by communication, addressing and control buses, as well as interfaces and communication lines in connection with the system.
- the means for establishing this data link between the control unit and the flight control system may for example be in the form of an Ethernet link or a link via a USB port.
- the AP autopilot module is able to manage the flight control of the flying platform.
- the autopilot module is for example capable of executing direct instructions such as moving from a first point of determined GPS coordinates to a determined second GPS coordinate point or traversing a given trajectory or still keeping the flying platform in hover above a given point.
- the autopilot can also be configured to execute instructions such as advance, reverse or move to the right or move to the left, at a specified speed.
- the autopilot can also be configured to execute instructions such as up or down, at a fixed speed, or right or left rotation.
- the SV flight control system may also include:
- a radiofrequency transmitter / receiver as described above for a resumption of commands directly by the operator as security
- a GPS module notably allowing the execution of flight control comprising trajectories between determined geographical coordinates
- IMU Intelligent Mass Unit
- the transceiver allows a resumption of direct control by the operator as a security, but is however not absolutely necessary for the implementation of the present invention, even if in practice, this organ radiofrequency transceiver will be retained as additional security or in the deactivated state.
- the environmental sensor is for example a sensor rangefinder type, namely a sensor capable of measuring one or more distances between the drone D and one or more objects in its environment.
- rangefinder type environmental sensors are a LIDAR, a RADAR or any other "range finder" type sensor according to English terminology.
- control unit UC is able to exploit the data from the environment sensor to modify the control of the UAV D by transmitting modified commands to the flight control system SV and in particular by giving commands of modified flight to the AP autopilot module, without the need for intervention by an operator acting from a ground station.
- the decisions made by the control unit UC on the basis of the environmental data provided by the EC environment sensor or sensors allow adaptability to different types of mission.
- the command unit programmed specifically for a mission may, for example, execute the mission despite certain incomplete data, such as partially known cartographic data.
- Examples of missions are, for example, the exploration of a disaster area including the search for mobile terminals, with for example in case of detection, an approach phase to establish a communication link of sufficient quality, then a stationary phase engaging a data exchange with the detected one or more mobile terminals.
- Data exchange includes, for example, the transmission of information or questions and the expectation of an answer or acknowledgment of receipt.
- the search and communication sensor with the mobile terminals is used in conjunction with a rangefinder that detects obstacles all around the drone in order to stop a search flight or an approach flight in the event of an obstacle detection.
- a mission includes, for example, a landing in an unknown or ill-defined zone, as described in more detail below.
- Another example of a mission includes, for example, the removal of a load in an unknown or ill-defined geographical area.
- a charge can be a charge useful including itself one or more sensors and means of communication deployed in the field.
- the load can also be in the form of a package to be deposited on the balcony of a building.
- FIG. 2 schematically represents an exemplary architecture of the on-board control unit UC according to the invention.
- the on-board control unit UC comprises, for example, its environment sensor CE generating data representative of the environment of the drone stored in memory of the memory unit and processing of the data UM.
- the collection of data is here managed by a TC data collection module.
- the UM data storage and processing unit can also transmit parameter data to the EC environment sensor.
- the storage unit and data processing unit UM which comprises for example a processor and a memory, allows the execution of programs that can use subroutines to perform functions and sub-function of processing the stored data.
- a functional module is thus composed of one or more functions or sub-functions performed by one or more programs or subroutines.
- the computer executes including stored programs for the transmission of flight control sequences to the AP autopilot module.
- the module SF05 which carries out the pilot function of the autopilot, allows the transmission of control sequences interpretable by the autopilot.
- SF04 and SF08 modules respectively for receiving and transmitting data via the communication link with the ground station S;
- a landing module SL for the realization of a safe landing also designated in English by "Safe Landing”
- An FS surface tracking module for performing a function of remote positioning of a surface and maintaining this distance during movements of the drone, also designated in English by "Follow a surface”;
- the SF05 driver module for communication with the SV flight control system of the platform and in particular with the AP autopilot module.
- the TC data collection module including data from the environmental sensor or data from the flight platform SV control system such as positioning data, provided by IMU and GPS . ,
- the modules shown schematically in FIG. 2 may be electronic modules physically connected in the control unit UM or may be programs or routines installed in the memory of the control unit UC.
- the SF04 and SF08 communication modules with a ground station enable a data link to be established with the ground station. Indeed the accomplishment of a mission by a drone generally requires a feedback from the drone, such as for exploration missions.
- the ground station S can also transmit parameters to modify the mission, in particular according to the data generated by the environmental sensor.
- the link with the ground station can also be deactivated depending on the type of mission.
- the obstacle avoidance S & A module avoids unknown obstacles on the initially programmed trajectory or unexpectedly occurring on this trajectory such as moving objects.
- An example of implementation of the obstacle avoidance module will be described in more detail later.
- a drone having complex functions of adaptability to a partially unknown environment or adaptability to a changing environment can easily be implemented.
- the landing module SL allows in particular the modification, the discovery, the evaluation or the selection of the landing place, by the control unit. For example, an initially scheduled landing site is no longer accessible or the precise location of the landing, for example, is not determined in advance. An example of implementation of the landing module will be described in more detail later.
- the FS surface tracking module makes it possible, for example, to facilitate the inspection of a bridge pillar, without knowing precisely the layout of this pillar.
- the surface tracking module can also be used to inspect another object of interest or to carry out an approach phase. An example of implementation of the surface tracking module will be described in more detail later.
- these functions provide additional autonomy to the drone by allowing it to react to many situations.
- a drone losing its communication link will for example be able to continue its mission or stop it safely by a secure landing.
- the functions can be executed alone or in combination.
- Complex missions can be carried out by the drone, which has increased decision-making autonomy.
- the complexity of the missions can result, for example, from uncertainties about the environmental cartographic data or from data relating to targets to be detected or inspected in which the drone evolves.
- the environmental sensor may, for example, be in the form of a LIDAR type sensor installed on the flying platform with its viewing angle towards the before, the data generated by this sensor being used for the detection of obstacles in front of the drone.
- the S & A detection and avoidance module uses several sub-modules.
- the S & A detection and avoidance module can thus associate, thanks to the TC data collection module, temporal information or "timestamp" (stored in English terminology) stored with each data acquired by the EC environment sensor.
- the S & A detection and avoidance module associates, thanks to the data collection module TC, time information to each positioning data provided by the autopilot module AP.
- the associated positioning data includes, for example, the data generated by the IMU and the data generated by the GPS.
- the IMU generates in particular tilt pitch and roll data.
- the GPS generates data including longitude, latitude and altitude.
- the TC data collection module comprises for example a submodule SF01 memory write dated data from the environment sensor and the flight control system.
- the stored date data from the environment sensor is then merged, by a merge submodule SF02, with the dated positioning data from the flight control system.
- the positioning data includes the inclination provided by the IMU inertial unit.
- the metadata thus obtained are then formatted using the correction sub-module SF03, processing the data representative of the environment according to the positioning information of the flying platform, so as to obtain more precise information.
- the correction consists for example in taking into account the inclinations in pitch and roll of the drone relative to the horizontal, for example to eliminate detected areas corresponding in fact to a flat horizontal ground lying under the drone.
- the corrected information for example shows the presence of a sufficiently close surface of the drone, in front of the latter, to be considered as an obstacle.
- the detection threshold applied by S & A detection and avoidance module is for example adjusted according to the speed of advance of the drone.
- the SF03 correction sub-module allows an interpretation of the collected data to evaluate whether the objects detected constitute real obstacles.
- a detected object lying outside the trajectory followed by the drone is not taken into account and does not trigger an avoidance action.
- the detection and avoidance module S & A triggers, during the obstacle detection, an avoidance action.
- the avoidance action includes for example a stop and a hovering of the drone.
- the avoidance action may also include a modification of the flight control sequences transmitted to the autopilot, resulting in particular by a change of direction to achieve a bypass of the obstacle.
- the S & A detection and avoidance module is always active and periodically performs, at a determined frequency, checks of the corrected distances detected with respect to a detection threshold.
- the S & A detection and avoidance module may also trigger the activation of an SF06 mapping sub-module that stores in memory the corrected information that triggered the obstacle detection. All this information of detected obstacles associated with geographical positions of the drone can then be exploited, these data being representative of an obstacle map. By triggering bypass actions the drone then constitutes an increasingly rich obstacle map where obstacle zones are calculated by the drone itself.
- the S & A detection and avoidance module comprises, for example, a submodule SF09 for selecting one of several determined avoidance actions.
- the decision made by the sub-module SF09 for selecting the avoidance action can result, for example, in:
- An activation of a trajectory recalculation sub-module SF07 comprising as input parameter in particular the obstacle mapping data and transmission of a new sequence of flight commands;
- An emergency stop and a hovering stabilization for example for a rotary wing aircraft type drone
- the sending of an instruction request to the ground station causes the transmission of the new sequence of flight commands to the SF05 driver module in order to be transmitted to the autopilot module AP.
- the SF05 driver module then formats the commands addressed to the autopilot.
- the SF05 driver module By simply changing the SF05 driver module it is easy to implement the obstacle detection and avoidance function, or another function, for another platform.
- another flying platform comes for example from a commercial drone. If the decision made by the SF09 sub-module for selecting an avoidance action is to stop the flight and put the platform in hover, this instruction is for example transmitted to the autopilot module AP, via the SF05 driver module. .
- the instruction request request is sent, for example, to the transmission module SF08 to the station. on the ground.
- a reception sub-module SF04 On reception of the message from the ground station, a reception sub-module SF04 for example carries out the reception and the addressing of the instructions in the on-board control unit.
- the avoidance action selection sub-module SF09 can also trigger several actions simultaneously or sequentially.
- the UC control unit and its obstacle avoidance module S & A allow to provide increased autonomy to the drone.
- the obstacle avoidance S & A module may also call the SF08 submodule for processing and sending data, such as data from the EC environment sensor, to the ground station.
- the on-board processing and storage unit comprises a radio transceiver 70 in communication connection with the ground station.
- Landing module An example of implementation of the landing module SL is illustrated in Figure 4. Its purpose is for example to perform, thanks to EC environment sensor such as a LIDAR arranged with its field of vision vertically under the drone, a scan of the destination zone of the drone D and a search for an acceptable point for the landing.
- the landing module SL comprises, for example, the data collection module TC comprising itself, as previously described:
- the submodule SF01 for writing in memory dated data from the environment sensor and the flight control system
- the correction sub-module SF03 processing the data representative of the environment according to the positioning information of the flying platform.
- the landing SL module may also include the mapping sub-module SF06.
- the data representative of an obstacle map can be used but also enriched by data representative of obstacles detected on the ground.
- Several types of obstacles are for example memorized during the activation of the mapping sub-module SF06 according to the type and configuration of the environment sensor or sensors.
- the map updated by the mapping sub-module SF06 is used by the sub-module SF10 for selecting a landing zone of the drone D.
- the selection of the point or of the landing zone is made on the basis of criteria previously determined, such as the need to have a relatively low slope, a flat surface of specific extent of the area or the absence of moving obstacles.
- the obstacle map for example shows an extended fixed zone for which the sub-module SF10 for selecting a landing zone has calculated a slope and an inclination below the acceptable thresholds stored.
- the sub-module SF10 for selecting a landing zone then stores the data representative of the geographical positioning of this validated landing zone.
- the trajectory calculation sub-module SF07 can then be activated by the landing module SL to determine the trajectory up to the stored validated landing zone.
- the flight control sequences up to the validated landing zone, generated by the trajectory calculation sub-module SF07, are then supplied to the command formatting sub-module SF05, the formatted flight control sequences being then transmitted to the autopilot AP.
- the drone can perform an exploration action, including the enrichment of obstacle mapping data.
- a sub-module SF1 1 safe landing can also be activated simultaneously.
- the safe landing submodule SF1 1 triggers, during the altitude loss, according to the data provided by the TC data collection module, an evaluation of the landing zone, the accuracy of this evaluation increasing as the drone loses altitude.
- the secure landing submodule SF1 1 may also include an emergency stop function causing, for example, stopping the drone hovering.
- the safe landing submodule SF1 1 can notably invalidate the landing zone to trigger the search for a new landing zone.
- the FS surface tracking module is shown in Figure 5. Its purpose is for example to perform, thanks to EC environment sensor such as a LIDAR arranged with its field of vision frontally or laterally compared to the drone, monitoring height and distance of a substantially vertical area to go.
- the zone thus traveled is for example simultaneously analyzed by another analysis sensor or by a camera of the flying platform.
- the analyzed data thus collected are for example associated with the detected environment data or the positioning data generated by the flying platform.
- a bridge pillar can be analyzed quickly and accurately. It is thus possible to inspect the surface of an object whose layout, in particular its outer surface and its orientation, is not known in advance. One could also consider tracking a surface on a moving object.
- the surface tracking module FS comprises, for example, the data collection module TC comprising itself, as previously described:
- the submodule SF01 for writing in memory dated data from the environment sensor and the flight control system
- the fusion sub-module SF02 with the dated positioning data coming for example from the flight control system
- the correction sub-module SF03 processing the data representative of the environment according to the positioning information of the flying platform.
- a submodule SF12 for controlling the distance between the drone D and the surface of interest From the data representative of a distance between the drone and the inspected surface, provided by the data collection module TC, a submodule SF12 for controlling the distance between the drone D and the surface of interest generates commands flight to maintain a constant distance and secondly to travel through a particular area memorized.
- the constant distance from the obstacle is maintained at a tolerance level, stored in memory.
- Reconciliation or removal commands depending on the direction of measurement, are generated to maintain the desired distance.
- the zone to be inspected may be traversed according to a linear path scheme, a two-dimensional path diagram as shown in FIG. 5a, or a three-dimensional path diagram as shown in FIG. 5b.
- the two-dimensional path is for example determined by an entry point B95, an exit point E97, an inspection height H99, an inspection step S96 and a inspection width D98 stored.
- the three-dimensional path is, for example, determined by an entry point B92, an exit point E93, an inspection height H94, an inspection width W91, an inspection depth L90 and an inspection step S89. stored.
- the submodule SF12 is thus adapted to generate flight controls, so as to maintain a substantially constant distance between the drone D and the surface to be inspected while traversing this surface.
- the adaptation of the mission is then carried out permanently.
- the flight commands thus determined are supplied to the SF05 formatting driver sub-module which processes them and transmits them in executable form to the autopilot module AP.
- the surface tracking module FS for example calls the submodule SF08 formatting data for the ground station.
- This module SF08 transfer for example:
- the surface inspection module FS facilitates the implementation of a surface examination.
- the surface examination is all the more effective because it relies on an increased adaptability of the drone to its environment.
- some advanced modules use the same sub-modules, which facilitates the implementation of the control unit and facilitates parallel execution of several modules.
- FIG. 6 shows an example of a drone D according to the invention comprising various hardware components.
- the on-board control unit UC comprises an environment sensor CE and a storage unit and data processing unit UM.
- the on-board control unit UC also comprises a power supply module E.
- the drone D comprises a flying platform P100 comprising an autopilot and controlled by the control unit.
- the flying platform P100 comprising an SV flight control system, in communication with the control unit, and a support structure P and one or more propulsion units.
- the propulsion units each comprise for example a drive motor of a propeller.
- the flying platform P can be rotary wing or fixed wing.
- the flying platform also includes a power supply module.
- the flying platform P100 includes flight instruments C such as a GPS, an IMU ("Inertial Mass Unit”) or a camera.
- flight instruments C such as a GPS, an IMU ("Inertial Mass Unit") or a camera.
- the flying platform P100 is thus able to execute flight commands that are given to it.
- the SV flight control system may also include a radio frequency communication module for communicating with a ground station, in particular to allow, for safety, resume orders from the station on the ground, as explained above.
- rangefinder or “rangefinder” type measuring one or more distances between the drone D and an object present in the environment of the drone D, or even several rangefinders covering several areas around the drone,
- optical sensor having characteristics specific to a mission, or even several of these sensors covering several zones around the drone
- thermal or infrared detector or even several of these detectors covering several zones around the drone.
- the P100 flying platform may also include a load transport system allowing the simple delivery of an object or the in situ deployment of a payload such as a measuring instrument in communication connection with the ground station.
- a drone D comprising a system for transporting a load makes it possible, for example, to carry out delivery missions of a first aid kit to a disaster area. Again this type of complex mission can be implemented through the present invention on the basis of reasonable technical, human and financial means.
- FIG. 7 illustrates an exemplary sequencing of the flight of the drone D in the case of a landing function. As it appears in FIG. 7, the sequencing of the flight performed by the control unit UM confers on the drone a considerable autonomy.
- FIG. 7 illustrates the relationships between the functions implemented by the control unit UC and the flight phases of the flying platform P100.
- the phases of flight we find:
- the control unit UC may, for example, perform an analysis of the landing zone to determine a point suitable for landing the drone D according to the invention. The analysis may for example be a soil sweep performed using the environmental sensor. If the UC control unit identifies a point that satisfies the criteria for a safe landing, the control unit UC instructs the autopilot module AP to initiate a landing procedure also referred to as "Landing".
- the control unit UC can also activate the obstacle avoidance module so as to detect unforeseen obstacles that can be placed in front of the landing zone. If such an obstacle is detected, the control unit UC can then take the decision to interrupt the landing procedure and return to the base station or to search for another landing zone. If, for example during a search phase of a landing zone, no suitable point is detected, the control unit can trigger a search by scanning the ground. The control unit may also initiate a return to the base station or its take-off point after a determined number of unsuccessful landing zone search attempts. An instruction waiting mode of the base station can also be triggered by sending a determined request to the base station.
- the UC control unit can also trigger an emergency landing in degraded mode, for example if the battery level Batt of the drone is too low.
- the landing zone can be selected, for example according to the inclination and the flatness, but according to tolerance thresholds greater or according to the criterion of the least evils.
- the drone system S including the drone D and the ground station is also suitable for many missions because of the significant autonomy of the drone.
- the mission can be continued despite a temporary interruption of the data link with the ground station.
- the drone is particularly able to trigger actions to restore this data link.
- the mission can also include partially known areas of exploration with feedback to the ground station.
- FIG. 8 illustrates an exemplary drone system S according to the invention comprising:
- the elements 81 intended for the ground essentially comprise a ground station B.
- the ground station B may comprise supply means, means for processing and storing the data, means of communication with the drone.
- the base station B makes it possible to recover the information sent by the drone D according to the invention, including possible requests for instructions if the control unit UC can not take a decision.
- An operator on the ground can for example use the base station B to send settings to the drone D.
- the drone D according to the invention comprises the control unit UC and the flying platform P100.
- the flying platform includes:
- a power supply module E comprising a battery Batt and a power distribution module PdM;
- An SV flight control system comprising a Radio Frequency Communication Radio module, a GPS module, an IMU inertial unit, an AP autopilot module, an FLC camera;
- a flying platform P comprising a mechanical support structure Str and Prop propulsion means.
- the UC control unit comprises:
- CE environment sensors depending on the mission - A C load transport module, a radiofrequency communication radio module, "ground / onboard communication" as also represented in FIGS. 3 to 5.
- the FLC camera may be included in the on-board control unit UC or in the control unit of the SV flight.
- the UC control unit thus includes modules enabling it both to interface with the flying platform P100 and to interpret the data acquired in particular by its EC environment sensor (s).
- the UAV system S of the invention allows for example to carry out autonomously complex missions, without requiring intervention of the ground operator.
- the data communication means 80 comprise a communication link L established between a ground communication interface GL and an in-flight communication interface AL.
- this flight communication interface is included in the on-board control unit, unless otherwise indicated.
- the power supply tools 79 include the batteries of the ground station B.
- the onboard control unit is for example powered by the battery of the flying platform.
- FIG. 9 represents an example of a flight plan memorized for a given mission. This flight plan is for example initially stored by the onboard control unit.
- the flight plan includes, for example, a take-off point P50, a landing point P51 and various waypoints such as P49 and P48. Each point includes its latitude, longitude and altitude. Height is calculated relative to a map repository. The profile of flight 47 at different heights is also stored.
- the map is for example presented in the background on the ground station, during the display of the flight plan.
- the drone according to the invention has functions enabling it to adapt to the situation by taking into account for example environmental parameters for the execution of its rescue mission.
- the drone S can also be parameterized during the flight, in a simple manner, for example by indicating a zone of interest.
- the operator for example identifies a visualized area as being of interest for the search for potential victims and transmits to the drone the coordinates of this area of interest.
- the operator communicates with the drone from the ground station in communication connection with the drone.
- This simple parameter allows the drone to adapt its mission in real time. The adaptation is in fact largely based on environmental sensors.
- the drone D detects its environment, using an environmental sensor, for example a laser range finder or an infrared detector, or with the aid of a sensor dedicated to the detection of mobile terminals communicating by radio such as WiFi, Bluetooth, GSM, LTE.
- the detected environment can be under the drone, above the drone, in front, behind or on the sides.
- the detections made by the drone are for example stored and formatted by being associated with a corresponding geographical position before being transmitted to the ground station.
- the operator will be able to establish communication with detected cell phones to request information directly from the victim.
- the response provided by the victim can be formatted by the victim itself or automatically by physiological parameters measuring devices.
- the drone returns to its starting point once the area of interest is fully covered.
- the drone system according to the invention can easily be programmed for rescue missions for victims after, for example, a flood or an earthquake.
- the functions performed by the drone will be, for example: - The detection of victims and the identification of their position, with for example the establishment of a mobile communication link with the victims.
- Sending messages such as SMS to detect smartphone responses and detect positioning of victims including a return receipt message or a return message including data on the health status of people.
- Another example of a use case concerns, for example, the deployment of a load. It is for example to lay down a sensor-type device or simply to deliver a package.
- the drone S according to the invention can take into account its real environment to accomplish its mission without requiring a preliminary identification of high precision. It is the drone itself that acquires data on the field of operations in order to land, for example on a balcony or on the roof of a building or on grassy ground.
- the drone S according to the invention allows an efficient deployment in a simplified manner by landing in an unknown or approximately known area.
- the efficient deployment of a load requires precise identification of the environment and the landing zone.
- the drone D when it arrives near an area of interest, will for example detect and find a landing zone with a sufficient level of security.
- the drone D activates for example the load transported
- Toxic gas detection Another example relates to the detection by the drone D according to the invention of toxic gases forming for example a cloud.
- Some factories have a need for detection of toxic clouds that can form from their site of implantation.
- the drone system according to the present invention allows this type of mission to be carried out simply and at a lower cost. This type of toxic cloud detection can be done preventively or in case of an accident on the site.
- the drone D comprises for example in memory an area of interest where a toxic cloud is likely to be present.
- These data representative of a geographic exploration zone can be programmed at the same time as the mission or updated in real time by the ground station, via an AL communication link established with the drone. The operator can confirm the execution of the mission after acknowledgment of an update of the geographic exploration data.
- the drone uses for example one or more CE detectors during its flight to evaluate its environment.
- the EC environment sensor or sensors used are, for example, optical sensors used to detect opaque smoke or a specific color for a toxic cloud or even chemical component detection probes and in particular toxic gases. Such a probe will for example be kept at a distance from the drone to limit the aerodynamic disturbances generated by the drone.
- the representative data of the environment are for example stored in memory, in correspondence with positioning data.
- the positioning data of the drone comprise for example the latitude, longitude and altitude as well as the inclinations of the drone.
- the storage of the environmental data is thus only for the areas of interest.
- the control unit can also slow down its pace, or even pause for a more detailed examination of its environment, before resuming a faster pace outside the remarkable areas.
- the drone Once the area of interest covered by the drone, it returns for example to its point of departure or to another predefined landing point.
- the detection of a cloud of smoke or a source of heat can also constitute the detection of an obstacle taken into account by the drone then realizing an avoidance maneuver.
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- General Physics & Mathematics (AREA)
- Remote Sensing (AREA)
- Mechanical Engineering (AREA)
- Astronomy & Astrophysics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
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Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR1757389A FR3069931A1 (fr) | 2017-08-01 | 2017-08-01 | Unite de commande embarquee pour un systeme de drone, drone et systeme de drone comprenant l'unite de commande embarquee |
PCT/EP2018/070350 WO2019025293A1 (fr) | 2017-08-01 | 2018-07-26 | Unite de commande embarquee pour un systeme de drone, drone et systeme de drone comprenant l'unite de commande embarquee |
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EP3662332A1 true EP3662332A1 (fr) | 2020-06-10 |
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EP18742834.7A Withdrawn EP3662332A1 (fr) | 2017-08-01 | 2018-07-26 | Unité de commande embarquée pour un système de drone, drone et système de drone comprenant l'unité de commande embarquée |
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US (1) | US20200372814A1 (fr) |
EP (1) | EP3662332A1 (fr) |
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AU (1) | AU2018312625A1 (fr) |
CA (1) | CA3077521A1 (fr) |
FR (1) | FR3069931A1 (fr) |
WO (1) | WO2019025293A1 (fr) |
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US11514597B1 (en) * | 2018-07-18 | 2022-11-29 | James Jianming Shen | Single-camera stereoaerophotogrammetry using UAV sensors |
EP3836584B1 (fr) * | 2019-12-13 | 2023-01-11 | Sony Group Corporation | Support de secours pour situations d'urgence à grande échelle |
CN113110574B (zh) * | 2021-04-13 | 2022-04-12 | 中国科学院生态环境研究中心 | 一种野外地面生态环境监测数据捕获方法及*** |
CN113467517A (zh) * | 2021-07-30 | 2021-10-01 | 河北科技大学 | 故障条件下无人机集群的飞行控制方法和*** |
US11442472B1 (en) | 2021-08-19 | 2022-09-13 | Beta Air, Llc | System and method for automated flight plan reporting in an electric aircraft |
CN113885560B (zh) * | 2021-09-29 | 2023-06-06 | 中国地质科学院地球物理地球化学勘查研究所 | 适用于滑坡快速调查的无人机集群地空瞬变电磁测量方法 |
CN113985927B (zh) * | 2021-10-28 | 2023-11-21 | 西北工业大学太仓长三角研究院 | 一种四旋翼无人机栖停机动轨迹优化方法 |
CN114089781A (zh) * | 2021-11-01 | 2022-02-25 | 上海密尔克卫化工储存有限公司 | 一种危化品储存用无人智能巡检***及方法 |
CN114337790B (zh) * | 2022-01-05 | 2024-03-29 | 江西理工大学 | 一种针对未知信号的陆空立体式定位***及方法 |
CN114326820A (zh) * | 2022-02-09 | 2022-04-12 | 西安羚控电子科技有限公司 | 一种无人机飞行监控方法及*** |
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US20160286128A1 (en) * | 2002-10-01 | 2016-09-29 | Dylan TX ZHOU | Amphibious vtol super drone camera in a mobile case (phone case) with multiple aerial and aquatic flight modes for capturing panoramic virtual reality views, selfie and interactive video |
US9875661B2 (en) * | 2014-05-10 | 2018-01-23 | Aurora Flight Sciences Corporation | Dynamic collision-avoidance system and method |
EP3855276A1 (fr) * | 2014-09-05 | 2021-07-28 | SZ DJI Technology Co., Ltd. | Cartographie environnementale à capteurs multiples |
CN107409051B (zh) * | 2015-03-31 | 2021-02-26 | 深圳市大疆创新科技有限公司 | 用于生成飞行管制的认证***和方法 |
-
2017
- 2017-08-01 FR FR1757389A patent/FR3069931A1/fr not_active Withdrawn
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2018
- 2018-07-26 CN CN201880063930.8A patent/CN111201495A/zh active Pending
- 2018-07-26 CA CA3077521A patent/CA3077521A1/fr not_active Abandoned
- 2018-07-26 AU AU2018312625A patent/AU2018312625A1/en not_active Abandoned
- 2018-07-26 WO PCT/EP2018/070350 patent/WO2019025293A1/fr unknown
- 2018-07-26 EP EP18742834.7A patent/EP3662332A1/fr not_active Withdrawn
- 2018-07-26 US US16/636,171 patent/US20200372814A1/en not_active Abandoned
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WO2019025293A1 (fr) | 2019-02-07 |
CN111201495A (zh) | 2020-05-26 |
US20200372814A1 (en) | 2020-11-26 |
AU2018312625A1 (en) | 2020-03-19 |
CA3077521A1 (fr) | 2019-02-07 |
FR3069931A1 (fr) | 2019-02-08 |
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