Controlling a drone flying within the arena

Abstract

The present invention relates to a method of operating a drone (1) navigating within an arena (18) bounded by a boundary (19), where the navigation of the drone (1) within the arena (18) is defined by a navigation program that sets navigation parameters of the drone (1) to ensure that the drone (1) follows a calculated trajectory. The setting of the navigation parameters of the drone (1) in the navigation program depends on an object colliding with the drone (1). The setting includes implementing a virtual collision setting in the navigation program to adjust the navigation parameters of the drone (1) for collisions between the drone (1) and the virtual object, and implementing a real collision setting in the navigation program to adjust the navigation parameters of the drone (1) for collisions between the drone (1) and the physical object (13).

Description

[Technical field]

[0001] The present invention relates to a method, preferably a computer-implemented method, for operating a drone navigating within an arena bounded by a boundary.

[0002] The invention further relates to a system comprising a drone configured to navigate within an arena delimited by a boundary and a batting fixture configured to collide with the drone and induce a new trajectory in the drone. [Background technology]

[0003] Unmanned aerial vehicles (UAVs) or drones have become increasingly popular in recent years. These drones can be manually controlled by a user or can fly autonomously following pre-programmed flight paths. These characteristics allow drones to be used in a variety of situations, from business to entertainment. For example, drones may be used to deliver goods from a warehouse to a purchaser's residence. Drones may also be flown for fun in parks or backyards, etc.

[0004] Existing drones are generally programmed to avoid obstacles during flight to prevent any collision with the object, and to that end, the drone's trajectory is periodically calculated and updated to avoid any potential obstacles placed on the trajectory.

[0005] Additionally, some existing drones are equipped with physical protection devices, such as bumpers, designed to withstand physical collisions with solid objects. However, these drones react passively when they collide with an object. In other words, they simply bounce off the solid object without any additional information being generated by a computer system. Summary of the Invention [Problem to be solved by the invention]

[0006] Thus, in applications where collisions between drones and objects are required, such as games, existing drones cannot provide satisfactory results because they are not configured for collisions. [Means for solving the problem]

[0007] The above problems are solved by an apparatus and method according to the present invention.

[0008] The present invention relates to a method, preferably a computer-implemented method, for operating a drone navigating within an arena delimited by a boundary, the navigation of the drone within the arena being defined by a navigation program that sets navigation parameters of the drone to ensure that the drone follows a calculated trajectory, The method includes configuring a navigation program to adapt navigation parameters of the drone to a collision between the drone and an object located within the arena; The method is characterized in that the setting of the drone's navigation parameters in the navigation program depends on the object colliding with the drone; The process of setting up is as follows: Implementing a virtual collision setting in a navigation program to adjust a navigation parameter of the drone for a collision between the drone and a virtual object; and Implementing actual collision settings into the navigation program to adjust the drone's navigation parameters for collisions between the drone and physical objects. Includes.

[0009] In another aspect, the invention relates to a computer program comprising instructions which, when said program is executed by a computer, cause said computer to carry out the method according to the invention.

[0010] In another aspect, the invention relates to a computer system, for example a computer processing unit, comprising means for carrying out the method according to the invention.

[0011] In another aspect, the present invention relates to a system comprising a drone configured to navigate within an arena bounded by a boundary and a batting implement configured to hit the drone, the navigation of the drone within the arena being defined by navigation parameters of the drone to ensure that the drone follows a calculated trajectory; This system is The method further comprises: providing a computer system configured to set navigation parameters of the drone when a collision occurs between the drone and an object disposed within the arena; The computer system is configured to set navigation parameters of the drone according to settings determined in response to an object striking the drone; The determined settings are A virtual collision setting for adjusting the drone's navigation parameters for collisions between the drone and a virtual object; and Realistic collision settings to adjust drone navigation parameters for collisions between drones and physical objects is selected from The actual collision setup includes a batting fixture setup that adjusts drone flight parameters for a collision between the drone and the batting fixture.

[0012] In another aspect, the invention relates to a batting device configured to hit a drone in order to induce a new trajectory for the drone. Preferably, the invention relates to a batting device configured for use in a system according to the invention.

[0013] In another aspect, the present invention relates to a drone configured to be struck by a batting implement to induce a new trajectory for the drone. Preferably, the present invention relates to a drone configured for use in a system according to the present invention.

[0014] Overall, the present invention relates to a new category of active games that allows players to physically interact with a flying ball. The ball preferably consists of a drone and a protective cage built around the drone. Hereinafter, when the terms "drone" or "ball" are used, they refer to the combination of drone and cage. The drone flies within a geofenced area and designated arena that constitutes a playing field or arena.

[0015] In a preferred embodiment, the present invention relates to a game played using a physical flying ball in which players swing physical bats in an arena.

[0016] The arena or field can be an indoor or outdoor space. The limits or boundaries of the arena, i.e., for example, its walls, floor, and ceiling, can be physical or virtual boundaries, or a combination of both. They are preferably virtual surfaces defined by a set of coordinates in space. The drones are programmed to react as if they were bouncing off a physical object when flying within the boundaries.

[0017] Preferably, the present invention is used without the user or player having to see the boundaries of the arena, for example, as the game is played, for example, a player can visualize the virtual walls of the arena by simply observing the behavior of the drone as it bounces off the virtual walls of the arena.

[0018] Preferably, the player hits the drone with a batting accessory, which is referred to as a bat, to change the flight direction.

[0019] Preferably, in the present invention, a drone is used as a ball and the drone needs to mimic the behavior of a ball when colliding with objects, either virtual or physical.

[0020] In a first aspect, the present invention relates to a method, preferably a computer-implemented method, for operating a drone navigating within an arena delimited by a boundary, the navigation of the drone within the arena being defined by a navigation program that sets navigation parameters of the drone to ensure that the drone follows a calculated trajectory; The method includes configuring a navigation program to adapt navigation parameters of the drone to a collision between the drone and an object located within the arena; The method is characterized in that the setting of the drone's navigation parameters in the navigation program depends on the object colliding with the drone; The process of setting up is as follows: Implementing a virtual collision setting in a navigation program to adjust a navigation parameter of the drone for a collision between the drone and a virtual object; and Implementing actual collision settings into the navigation program to adjust the drone's navigation parameters for collisions between the drone and physical objects. Includes.

[0021] The navigation of the drone within the arena is defined or controlled by navigation parameters to ensure that the drone follows a calculated trajectory within the arena. The boundaries can be walls, either virtual walls or physical walls, or both.

[0022] The navigation parameters of a drone refer to all parameters taken into account to define the movement or displacement or flight of the drone within the arena. For example, the navigation parameters include the direction of the drone, the speed of the drone, and the acceleration or deceleration of the drone.

[0023] During the flight of the drone in the present invention, the drone may collide or be struck by an object, either a virtual object or a physical object. The object of the present invention is to set or adapt the navigation parameters of the drone depending on the object that strikes the drone during flight. In this respect, the present invention provides at least two settings for adapting the navigation parameters of the drone depending on the object. The adjustment of the navigation parameters, i.e. the implementation of the settings, can be performed after or before the collision between the object and the drone.

[0024] In a virtual collision setting, the aim is to adapt the drone's navigation parameters to a collision with a virtual object. In a real collision setting, the aim is to adapt the drone's navigation parameters to a collision with a physical object (real object). Thus, the invention allows adapting the drone's navigation parameters depending on the type or kind of object that collides or may collide with the drone. The overall goal is to have the drone mimic the behavior of a ball, in particular the bouncing of a ball, to mimic a ball bouncing off a wall, the wall being a physical or virtual object.

[0025] Advantageously, the present invention allows the drone navigation program to be configured to simulate or mimic a collision between the drone and a virtual or physical object. In short, to calculate a calculated trajectory that mimics a collision with an object. In other words, the collision is treated as an instruction to calculate a trajectory of the drone that takes into account or considers the collision. This is not possible with existing drone navigation systems, where the drone is configured to sequentially traverse a series of points that define a trajectory without simulating a collision. On the contrary, existing drones are configured to avoid obstacles, but in the present invention, it is important to consider the obstacle as a new instruction and calculate a trajectory that mimics a collision with the obstacle. And for existing drones that are very sensitive and have protection to protect them when they hit a real object, these drones react passively when they hit an object and do not generate new trajectory instructions based on the position and direction of the collision.

[0026] Preferably, the virtual collision setting comprises: determining a position of the virtual object located within an arena; calculating a trajectory set including a plurality of trajectories for the drone within the arena based on a position of the drone relative to a position of the virtual object; The process of moving a drone within an arena so that the drone follows one of the trajectories of a set of trajectories. Includes.

[0027] The set of predefined trajectories are calculated similarly to how a computer game calculates predefined behaviors for virtual objects in a virtual space. Preferably, these trajectory sets are based on the current position, trajectory, and velocity of the ball in the arena, relative to any virtual objects in the arena.

[0028] Preferably, the virtual collision setup includes the following steps: - calculating the intermediate target as the point where the drone's trajectory intersects with the position of the virtual object; -progressively adapting navigation parameters of the drone while the drone is approaching the intermediate target to cause the drone to stop at the intermediate target and fly away from the virtual object at the intermediate point.

[0029] For example, the intermediate target is calculated as the point where the drone's current trajectory intersects with the surface or ground of the virtual arena or with a virtual wall or other virtual object in the arena. Preferably, just before the drone reaches the intermediate point, the drone changes its orientation and increases thrust to stop at the intermediate point and fly away from the virtual object. This is done to mimic a ball bouncing off a wall, e.g., to give the impression of bouncing off an invisible wall of the arena.

[0030] Preferably, the actual collision setup includes the following steps: -Stabilizing the drone after a collision with a physical object; - calculating a new trajectory defined by the direction of the collision vector of the physical object; -Adapting navigation parameters of the drone to stabilize the drone on the new trajectory and displacing the drone along said new trajectory.

[0031] In real mode, the object is a physical object. For example, when a player hits a drone, a physical collision disturbs the drone's flight. The drone must stabilize its flight, but instead of stabilizing the flight and continuing its previous trajectory, the drone must stabilize to a new trajectory defined by the direction of the collision vector. The collision vector depends on the position where the drone is hit, the angle of the collision, and the strength of the collision.

[0032] The REAL mode setting or modes must simultaneously make course corrections to re-establish stable flight and begin flying smoothly on the new trajectory as quickly as possible.

[0033] By implementing a real impact mode or setting, a physical impact against the drone, for example with a batting accessory, gives the illusion that the ball has enough physical momentum transferred to it to move on a new trajectory, like a baseball being hit by a baseball bat. If the impact actually transfers enough momentum to move the drone more than a few meters, the impact energy will exceed the physical resistance of the cage and destroy the drone.

[0034] The cage, drone, and batting accessories are designed to minimize and dissipate the impact energy to protect the drone. This in turn limits the amount of physical momentum transferred to the ball (drone + cage), so that the ball only travels a short distance. By implementing a real impact mode, the drone uses its propulsion system to continue along the entire length of the calculated trajectory, regardless of the strength of the impact.

[0035] In a preferred embodiment, the setting step includes implementing a hybrid collision setting in the navigation program to adjust navigation parameters of the drone when an object colliding with the drone is a physical object whose position is predetermined, the hybrid mode including the steps of: calculating a hybrid intermediate target as a point where the drone's trajectory intersects with the location of the physical object; calculating a pre-collision orientation and a post-collision orientation of the drone in response to physical forces acting on the drone upon collision with the physical object, such that the physical forces acting on the drone upon collision with the physical object rotate the drone from the pre-collision orientation to the post-collision orientation; Progressively adapting navigation parameters of the drone while the drone is approaching the hybrid intermediate target to position the drone in a pre-collision orientation.

[0036] For example, a hybrid collision setting is relevant when the object that hits the drone is both a virtual object and a physical object. For example, the virtual floor or virtual walls of the arena correspond to the physical floor of the play space in which the game takes place. In this scenario, when the drone hits the floor, there is both a physical and a virtual collision. This gives rise to a hybrid waypoint. When approaching a hybrid waypoint, the drone's navigation parameters must be set or adapted. For example, the drone turns and decelerates to reduce its impact speed to ensure that the collision does not damage the drone. Also, just before the collision, the drone adjusts its pre-collision orientation so that the physical force of the collision rotates the drone to an optimal post-collision orientation. This allows the drone to fly away from the waypoint with minimal instability after the collision and obtain the maximum fluid rebound effect.

[0037] When hybrid waypoints are used, the system can be configured to ignore collision vectors generated by physical collisions and continue to the next pre-calculated waypoint, or to integrate the collision vectors to determine the next waypoint. Either option has advantages for certain game modes. Hybrid waypoints can also be used in any scenario where the drone collides with a physical surface known to the system. For example, when playing indoors, hybrid waypoints can be used for walls and ceilings of indoor spaces.

[0038] In other words, sensors on the drone detect the physical forces generated by a physical collision. This information can be used to generate collision vectors, just like in real mode. Depending on the type of game being played, it may be desirable to ignore this information and let the drone continue along a predictable pre-calculated trajectory, as it would after a purely virtual collision.

[0039] It may also be desirable to use information from the collision vector to generate a new set of trajectories. If the physical surface the drone is colliding with is uneven, the new trajectory generated from the collision vector may differ significantly from the pre-computed trajectory from the virtual collision. From the player's perspective, it becomes difficult to predict the next trajectory after the collision. In some game modes, this uncertainty may be desirable.

[0040] Advantageously, when implementing the virtual impact mode, the increased thrust required to stop the drone in the air and to abruptly change its trajectory uses a significant amount of the energy stored in the drone's battery. By implementing the hybrid impact mode, the drone only needs to reduce its speed enough to avoid a destructive physical collision. Then, when the drone impacts a physical surface, it stops and a portion of the drone's kinetic energy is temporarily stored in the elastic deformation of the drone cage. This energy helps the drone move onto a new trajectory, reducing the amount of energy required from the battery.

[0041] Preferably, the setting step includes a step of performing a virtual collision setting after each collision between the drone and the physical object. This allows updating the set of trajectories calculated for the virtual collision setting depending on the collision between the drone and the physical object. For example, if the drone collides with a physical object when it is hit by a player's bat, the set of trajectories calculated before the drone collides with the physical object needs to be modified or updated. The new set of trajectories is preferably calculated using the corresponding virtual waypoints and / or hybrid waypoints.

[0042] Preferably, the virtual objects are selected from among a virtual boundary of an arena, a virtual drone, a virtual obstacle, and a computer-generated virtual opponent.

[0043] Preferably, the physical objects are selected from the physical boundaries of the arena, such as walls, drones, batting accessories configured to hit drones, the player (i.e., the user) himself, and physical obstacles placed within the arena.

[0044] The invention further relates to a system comprising a drone configured to navigate within an arena delimited by a boundary and a batting implement configured to hit the drone, the navigation of the drone within the arena being defined by navigation parameters of the drone to ensure that the drone follows a calculated trajectory, This system is The method further comprises: providing a computer system configured to set navigation parameters of the drone when a collision occurs between the drone and an object disposed within the arena; The computer system is configured to set navigation parameters of the drone according to settings determined in response to an object striking the drone; The determined settings are A virtual collision setting for adjusting the drone's navigation parameters for collisions between the drone and a virtual object; and Realistic collision settings to adjust drone navigation parameters for collisions between drones and physical objects is selected from The actual collision setup includes a batting fixture setup that adjusts drone flight parameters for a collision between the drone and the batting fixture.

[0045] The particular advantages of this system are similar to those of the method of the present invention and will not be repeated here.

[0046] In one aspect, the invention relates to a drone, preferably a multi-rotor unmanned aerial system (UAS), mounted within a cage to protect the drone upon collision with a physical object or batting accessory.

[0047] In the preferred embodiment, the inner frame carries the motors, electronics, and battery. The frame holds all the components of the drone together.

[0048] Preferably, in one embodiment, the drone's arms (e.g., four) can have modular lengths to accommodate larger impacts without degrading the propellers. This also keeps the propellers at two different levels.

[0049] Preferably, the inner frame of the drone is configured to reversibly deform upon impact to dissipate at least a portion of the impact energy and reduce the likelihood of degradation to the drone.

[0050] For example, multiple on-board computer systems and electronics control the drone's behavior during autonomous flight and movement. On-board sensors, such as (but not limited to) accelerometers, magnetometers, and gyroscopes, are used to detect interactions between the drone and virtual or physical objects, such as a player, as physical collisions.

[0051] Preferably, the outer cage protects the inner frame from collisions and protects the player from the drone's spinning propellers. The frame has attachment points to the cage. The cage's main purpose is to protect the frame, propellers, and electronics present inside from any collisions. It is preferably made from a lightweight and resistant material, such as ABS plastic. It is preferably composed of multiple smaller replaceable parts. It also preferably has some freedom of rotation due to the frame (semi-gyroscope) to allow for a more stable impact with the ground.

[0052] Preferably, the drone will be covered with multiple light sources to allow for visual indication in low light environments.

[0053] Preferably, the drone includes a motor controller, such as an electronic speed controller, that converts signals from the CPU into signals that control the motor, for example a brushless motor.

[0054] In a preferred embodiment, the computer system includes a computer processing unit CPU or processor for executing processes or calculations. Preferably, the rotor control, wireless communication, 3D positioning, LED control processes are scheduled in threads of this processor.

[0055] The CPU preferably has commands for the navigation and positioning components, so that the inputs of the navigation and positioning components determine position, detect collisions, and calculate future trajectories. The CPU can then send control signals to the motor controllers so that the drone can adapt to its trajectory.

[0056] The drone is preferably equipped with a positioning system that allows it to determine its position within the arena. For example, the positioning system may comprise an antenna that communicates / measures the distances and angles necessary to triangulate or trilaterate the drone's position within the arena. When the drone reaches the boundaries of the arena, the CPU uses the positioning values ​​to determine a change of course, which is transmitted to the motor controller.

[0057] The navigation component includes, for example, the sensors necessary to obtain the yaw, roll and pitch of the drone. These values ​​are preferably sent to a CPU, which calculates and checks whether the drone is on the correct course and detects any collisions that may occur.

[0058] Preferably, the drone further comprises a motion module for controlling movement of the drone within the arena, and the computer system is configured to command the motion module and set navigation parameters of the drone depending on the operation mode, preferably depending on the collision settings.

[0059] Preferably, the motion module includes a number of units involved in controlling the flight behavior of the drone, for example, the motion module includes several components selected from the list including a motor, a motor controller, a navigation component, and a positioning component.

[0060] In another aspect, the invention relates to a batting accessory or bat that includes a flexible portion configured to be reversibly deformable upon impact with a drone.

[0061] Preferably, the bat is flexible or includes a flexible portion. Preferably, the stiffness and weight of the bat are calibrated so that the player can hit the drone with full force without damaging it. To achieve this, the bat flexes and absorbs most of the impact energy. The batting accessory or bat can be made in any other form, as long as the impact energy delivered to the drone remains non-destructive.

[0062] Preferably, the handle that the player uses to grip the bat also serves to house the battery and the bat's electronic components.

[0063] Preferably, a flexible or semi-flexible inner core protrudes from the handle. A light source can be mounted on the inner core and can be used to illuminate the bat in different colors and with different lighting effects.

[0064] Preferably, the inner core is protected by a transparent or translucent outer shell, which serves to protect the inner core and the light source and to distribute the impact energy over a larger surface area. The outer shell can also serve to diffuse the light from the light source.

[0065] Preferably, the batting accessory includes an electronic module configured to track the movement of the batting accessory. The electronic module includes electronic components, including but not limited to wireless communication components, a processor, accelerometers and other sensors, and haptic feedback motors. These components are used for tasks such as, but not limited to, gesture recognition, wireless communication with drones, and controlling lighting effects on the bat.

[0066] The electronic module allows the batting accessory to track the movement, and when the player makes a certain gesture, the batting accessory activates a predefined complex behavior of the drone. In other words, the bat uses motion tracking for special functions.

[0067] Preferably, the present invention allows the use of other accessories to control the drone (i.e., the ball), such as, but not limited to, gesture-controlled gloves. For example, AR goggles or other augmented reality display devices would add a layer of augmented reality. If an augmented reality device, such as a mobile phone, is used to visualize the game's virtual objects, a virtual collision method gives the illusion that the drone is physically bouncing off the virtual objects.

[0068] Preferably, the invention includes game sound effects and noise cancellation. The game generates a 3D soundscape with sound effects corresponding to the player's inputs and the physical and virtual interactions or collisions of the drones. For example, if a drone bounces off a virtual arena wall, a bouncing sound can be generated. A player wearing headphones hears the sound as if it were emanating from the location of the virtual collision. In some cases, for example depending on the game mode, it may be desirable to hide the noise of the drone's motor. The player's headphones can do this using noise cancellation. Thus, the noise from the motor can be masked and, if desired, an alternative sound can be played as the ball accelerates.

[0069] As used herein, the word "means" (singular or plural) preceding or following a function may be replaced by the word "unit" or "module". For example, a "computing means" may be replaced by a "computing module" or a "computing unit".

[0070] The embodiments are described for the apparatus. The embodiments described for the apparatus also apply mutatis mutandis to the method according to the invention.

[0071] Moreover, certain advantages and features of the present invention will become more apparent from the following non-limiting description of at least one embodiment of the invention, which refers to the accompanying drawings. [Brief description of the drawings]

[0072] [Figure 1] Diagram showing two players or users playing with a drone / ball [Diagram 2] FIG. 1 shows a drone mounted in a cage according to the present invention. [Diagram 3] FIG. 1 shows a drone mounted in a cage according to the present invention. [Figure 4] FIG. 1 shows a drone mounted in a cage according to the present invention. [Diagram 5] FIG. 1 shows a system according to the invention with a ball and a bat. [Figure 6] FIG. 1 shows a system according to the invention with a ball and a bat. [Figure 7] FIG. 1 shows a drone according to the present invention flying in an arena. [Figure 8] Diagram showing a system with a drone and a bat, where the drone flies through an arena and is hit with a bat. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0073] The detailed description of the invention is intended to illustrate the invention in a non-limiting manner, since any feature of one embodiment can be advantageously combined with any other feature of a different embodiment.

[0074] In the embodiment shown in Figures 1 to 8, the invention is used in a game in which a drone is used as a ball. This is an example of an active game that allows the player to physically interact with the flying ball. The ball consists of a drone and a protective cage built around the drone.

[0075] The drone flies within a geofenced area that constitutes a stadium or arena. Players use a batting accessory called a bat to hit the drone and change its flight direction.

[0076] This embodiment relates to an active game that allows players to physically interact with a flying ball. The ball is composed of a drone and a protective cage built around the drone. Hereinafter, when "drone" or "ball" is used, it refers to the combination of the drone and the cage. The drone flies within a geofenced area that constitutes a playing field or arena. The player hits the drone with a semi-rigid batting accessory to change the flight direction. The batting accessory is called a bat.

[0077] In a typical gameplay scenario, a player enters a physical space, such as a sports field, and places a drone on the ground. The player then defines the location and physical limits of the surrounding arena, selects the number of players, and selects the game mode he or she wants to play, for example, by using software (not described herein).

[0078] The ball then takes off and hovers until it is hit with a bat or hits a virtual wall, at which point it flies until it is hit again, bounces off a physical object such as the ground or a player, or bounces off a virtual object such as an arena wall.

[0079] An embodiment of the drone 1 or ball is shown in Figures 2-4.

[0080] Drone 1 is a multi-rotor unmanned aerial system (UAS). The drone comprises an inner frame 2 that carries the motors, electronics and batteries. Frame 2 includes four arms, each equipped with a propeller 5.

[0081] The outer cage 3 protects the inner frame 2 from collisions and protects the player from the spinning propellers 5 of the drone 1. In this embodiment the cage 3 is made from ABS plastic. It is made up of several smaller replaceable parts. It also has some degrees of freedom in rotation with the frame (semi-gyroscopic) to allow for a more stable impact with the ground.

[0082] A number of on-board computer systems and electronics (hereafter computer system 6) control the autonomous flight and behavior of the drone during gameplay. The on-board computer system 7 includes on-board sensors 9, which use accelerometers, magnetometers, and gyroscopes to detect the drone's interactions with the player and the environment, such as physical collisions.

[0083] The on-board computer system 7 further comprises a positioning system 8 allowing to determine a position within the arena, and a navigation component 9. The computer system further comprises a motor controller 11 for controlling the motor of the propeller 5.

[0084] All processes run on the computer processing unit CPU, i.e. processor 10. The rotor control, radio communication, 3D positioning, LED control processes are scheduled in threads of this processor. It has commands for the navigation and positioning components; thus determining the position, detecting collisions, and calculating the future trajectory using the inputs of (104) and (105). The CPU then sends four control signals to the motor controllers so that the drone can adapt to its trajectory.

[0085] The drone 1 is connected to a computing device 12, e.g., a smartphone, a gaming accessory, a game controller. For example, the game controller is an application (running, e.g., on a mobile phone or laptop). This is the main link between the user and the drone 1 itself. Any high-level commands, such as game selection, adding players, starting and stopping a match, resetting the score, and emergency stops, are preferably sent via the computing device.

[0086] FIG. 5 shows the drone 1 and the bat prior to the collision, and FIG. 6 shows the bat 13 during a physical collision with the drone 1.

[0087] Bat 13 includes a flexible inner core 14 embedded in a transparent outer shell 15. Bat 13 further includes an electronics module 16 having electronic components mounted within bat 13.

[0088] A user grips the bat 13 by holding a bat handle 17 located at one end of the bat 13. The handle 17 that the player uses to grip the bat 13 also serves to house the battery and electronic module 16 of the bat 13.

[0089] As shown in Figure 6, when the drone 1 strikes the bat 13, it induces a reversible deformation of the bat via the flexible inner core 14. The bat flexes and absorbs most of the impact energy.

[0090] 7 shows a first game situation in which a drone 1 flies in an arena 18. The arena 18 is a 3D space, i.e. a volume, bounded by a boundary 19. The boundary 19 includes a physical floor 20, i.e. the ground floor, other boundaries of the volume are virtual boundaries such as side walls 21 and a ceiling 22.

[0091] In this game situation, the navigation program includes a virtual setting that corresponds to virtual collisions against virtual boundaries, namely the side walls 21 and the ceiling 22. The navigation program also includes a hybrid setting that corresponds to collisions against the ground floor 20.

[0092] The drone 1 travels along a first trajectory 23 to a first waypoint 24, where the waypoint 24 (i.e., a virtual waypoint) corresponds to a virtual collision with the sidewall 21. After bouncing or rebounding off the sidewall 21, the drone flies along a second trajectory 25 towards a second waypoint 26 located on the ceiling 22. The drone 1 bounces off the ceiling 22 at the waypoint 26 and flies along a third trajectory 27 to a third waypoint 28 on the sidewall 21. Then, after bouncing off the sidewall at the third waypoint, the drone 1 flies along a fourth trajectory 30 located on the floor 19 towards a hybrid waypoint 29.

[0093] In this game situation, drone 1 calculates all trajectories (set of trajectories) in a dedicated navigation program and adjusts drone 1's navigation parameters to mimic the bounce at each waypoint.

[0094] Figure 8 shows a second game situation in which a drone flies in the same arena as the first game situation. In contrast to the first game situation shown in Figure 7, this second game situation involves a player P handling a bat 13.

[0095] The drone 1 navigates along a first trajectory 31 to reach a first waypoint 31 (i.e., a virtual waypoint) corresponding to a virtual collision with the sidewall 21. After bouncing or rebounding off the sidewall 21, the drone flies along a target trajectory 33 towards a target waypoint 34 located on the ceiling 22. However, the drone does not reach this target waypoint 34: the target trajectory 33 is interrupted by the user hitting the drone 1. The physical collision of the bat modifies the navigation program, which originally included an initial set of trajectories 35 to reach the sidewall 21 and a subsequent initial virtual waypoint 36 on the ground 22.

[0096] The drone 1 bounces off the bat 13, triggering the calculation of a new set of trajectories 37 to reach a new imaginary midpoint 38 on the ceiling 22 and side wall 21.

[0097] While the embodiments have been described in conjunction with a number of embodiments, it is evident that many alternatives, modifications, and variations will be or are apparent to those skilled in the applicable arts. Accordingly, the present disclosure is intended to embrace all such alternatives, modifications, equivalents, and variations that are within the scope of the present disclosure. This is particularly true, for example, with respect to different devices that may be used. [Explanation of symbols]

[0098] 1 drone or ball 2 Inner Frame 3 Cage 4 Frame Arms 5 Propeller 6. Computer Systems 7 Positioning System 8 Navigation Components 9 On-board sensors 10 Processors 11 Motor Controller 12 Computing Devices 13 Bat 14 Flexible Inner Core 15 Transparent outer shell 16 Electronic Module 17 Bat Handle 18. Arena 19 Boundary 20 beds 21 Side wall 22 Ceiling 23 First Orbit 24 First Midpoint 25 Second Orbit 26 Second Midpoint 27 Third Orbit 28 The third midpoint 29 Hybrid Midpoint P User 30 Fourth Orbit 31 First Orbit 32 First Midpoint 33 Target trajectory 34 Midpoint of the target 35 Initial set of orbits 36 Initial virtual midpoint 37 New set of orbits 38 New Midpoint

Claims

1. A method for operating a drone navigating within an arena demarcated by a boundary, wherein the drone's navigation within the arena is defined by a navigation program that sets the drone's navigation parameters to ensure that the drone follows a calculated trajectory. The method includes the step of setting the navigation program to adapt the navigation parameters of the drone to a collision between the drone and an object placed in the arena, The method is characterized in that the setting of the drone's navigation parameters in the navigation program depends on an object that collides with the drone. The aforementioned setting process is: The process of implementing a virtual collision setting in the navigation program in order to adjust the navigation parameters of the drone in response to a collision between the drone and a virtual object, and The process of implementing actual collision settings into the flight program in order to adjust the flight parameters of the drone in response to a collision between the drone and a physical object. Methods that include...

2. The aforementioned virtual collision settings are: A step of determining the position of the virtual object placed within the arena; A step of calculating a set of trajectories including multiple trajectories of the drone within the arena, based on the position of the drone relative to the position of the virtual object; The process of moving the drone within the arena so as to follow one of the trajectories of the aforementioned trajectory set. The method according to claim 1, characterized by including

3. The aforementioned virtual collision settings are: A step of calculating an intermediate target as the point where the drone's trajectory intersects with the position of the virtual object; The process involves progressively adapting the drone's flight parameters while the drone is approaching the intermediate target, stopping the drone at the intermediate target, and having the drone fly away from the virtual object at the midpoint. The method according to claim 1, characterized by including

4. The actual collision setting described above is: A step of stabilizing the drone after a collision with the aforementioned physical object; A step of calculating a new trajectory defined by the direction of the collision vector of the physical object; and The process of adapting the flight parameters of the drone to stabilize the drone in a new trajectory and displacing the drone along the new trajectory. The method according to claim 1, characterized by including

5. The setting step includes, when the object colliding with the drone is a physical object whose position is predetermined, implementing a hybrid collision setting in the flight program to adjust the flight parameters of the drone, and the hybrid collision setting is, A step of calculating a hybrid intermediate target as the point where the drone's trajectory intersects with the position of the physical object; A step of calculating the pre-collision and post-collision orientations of the drone in accordance with the physical force acting on the drone during a collision with the physical object, thereby causing the physical force acting on the drone during a collision with the physical object to rotate the drone from the pre-collision orientation to the post-collision orientation; and The process of progressively adapting the drone's navigation parameters while the drone is approaching the hybrid intermediate target to position the drone in a pre-collision orientation. The method according to claim 1, characterized by including

6. The method according to claim 1, characterized in that the setting step includes performing a virtual collision setting after each collision between the drone and the physical object.

7. The method according to claim 1, characterized in that the virtual object is selected from among a virtual boundary of an arena, a virtual drone, a virtual obstacle, and a computer-generated virtual opponent.

8. The method according to claim 1, characterized in that the physical object is selected from the physical boundaries of the arena, which include one or more of the following: walls, drones, batting accessories configured to hit drones, the players themselves, and physical obstacles placed within the arena.

9. A computer program characterized in that, when the computer program is executed by the computer, it includes an instruction that causes the computer to perform the method described in Claim 1.

10. A drone configured to navigate within an arena demarcated by boundaries according to the drone's navigation parameters, wherein the drone is configured to reliably follow a calculated trajectory; A batting device (13) configured to hit the drone; and A computer system configured to set the flight parameters of the drone when a collision occurs between the drone and an object placed in the arena. A system equipped with, The computer system is configured to set the flight parameters of the drone according to settings determined in response to the object that collides with the drone. The settings determined above are: A virtual collision setting for adjusting the drone's navigation parameters in response to a collision between the drone and a virtual object, and Actual collision settings for adjusting the drone's navigation parameters in response to collisions between the drone and physical objects. Selected from, The actual collision setup includes a batting device setup that adjusts the drone's flight parameters for a collision between the drone and the batting device. A system characterized by the following features.

11. The drone further comprises a motion module that controls the movement of the drone within the arena. The computer system is configured to issue commands to the motion module and set the flight parameters of the drone according to the operating mode. The system according to claim 10, characterized in that...

12. The system according to claim 10, characterized in that the drone is mounted in a cage to protect the drone in the event of a collision with the physical object or the batting accessory.

13. The system according to claim 10, characterized in that the batting accessory includes a flexible portion configured to be deformable in a reversible manner upon collision with the drone.

14. The system according to claim 10, characterized in that the batting accessory comprises an electronic module configured to track the movement of the batting accessory.

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