CN108780316B - 用于飞行装置的移动控制的方法和系统 - Google Patents

用于飞行装置的移动控制的方法和系统 Download PDF

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Publication number
CN108780316B
CN108780316B CN201680082603.8A CN201680082603A CN108780316B CN 108780316 B CN108780316 B CN 108780316B CN 201680082603 A CN201680082603 A CN 201680082603A CN 108780316 B CN108780316 B CN 108780316B
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China
Prior art keywords
coordinate system
movable object
axis
orientation
signal
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Expired - Fee Related
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CN201680082603.8A
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English (en)
Chinese (zh)
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CN108780316A (zh
Inventor
钱杰
赵从
周游
封旭阳
余俊峰
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Priority to CN202210690884.2A priority Critical patent/CN114935937A/zh
Publication of CN108780316A publication Critical patent/CN108780316A/zh
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    • 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
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G03B15/006—Apparatus mounted on flying objects
    • 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
    • G05D1/0094—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
    • 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
    • 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
    • B64U10/14—Flying platforms with four distinct rotor axes, e.g. quadcopters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2201/00—UAVs characterised by their flight controls
    • B64U2201/20—Remote controls

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • User Interface Of Digital Computer (AREA)
CN201680082603.8A 2016-02-29 2016-02-29 用于飞行装置的移动控制的方法和系统 Expired - Fee Related CN108780316B (zh)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202210690884.2A CN114935937A (zh) 2016-02-29 2016-02-29 用于控制可移动物体的方法和系统

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2016/074824 WO2017147749A1 (en) 2016-02-29 2016-02-29 Methods and systems for movement control of flying devices

Related Child Applications (1)

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CN202210690884.2A Division CN114935937A (zh) 2016-02-29 2016-02-29 用于控制可移动物体的方法和系统

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CN108780316A CN108780316A (zh) 2018-11-09
CN108780316B true CN108780316B (zh) 2022-07-08

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CN202210690884.2A Pending CN114935937A (zh) 2016-02-29 2016-02-29 用于控制可移动物体的方法和系统

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US (2) US10946980B2 (enExample)
EP (2) EP3936961A1 (enExample)
JP (1) JP6933656B2 (enExample)
CN (2) CN108780316B (enExample)
DK (1) DK3398019T3 (enExample)
ES (1) ES2902469T3 (enExample)
WO (1) WO2017147749A1 (enExample)

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KR20200024763A (ko) * 2017-05-17 2020-03-09 에어로바이론먼트, 인크. 인터셉션 및 카운터링 무인 항공기(uav)를 위한 시스템 및 방법
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CN108596116B (zh) * 2018-04-27 2021-11-05 深圳市商汤科技有限公司 测距方法、智能控制方法及装置、电子设备和存储介质
JP7435599B2 (ja) 2019-04-08 2024-02-21 ソニーグループ株式会社 情報処理装置、情報処理方法、及びプログラム
JP7573879B2 (ja) * 2019-06-24 2024-10-28 株式会社Clue 飛行体の制御システム
JP7513030B2 (ja) * 2019-09-11 2024-07-09 ソニーグループ株式会社 情報処理装置、情報処理方法、情報処理プログラム及び制御装置
CN112788227B (zh) * 2019-11-07 2022-06-14 富泰华工业（深圳）有限公司 目标追踪拍摄方法、装置、计算机装置及存储介质
CN119322510A (zh) * 2020-03-31 2025-01-17 深圳市大疆创新科技有限公司 可移动平台的控制方法、装置及可移动平台系统
US12236611B2 (en) 2020-03-31 2025-02-25 Nec Corporation Object tracking device, object tracking method, and recording medium
JP2021193538A (ja) * 2020-06-09 2021-12-23 ソニーグループ株式会社 情報処理装置、移動装置、情報処理システム、および方法、並びにプログラム
WO2022096576A1 (en) * 2020-11-05 2022-05-12 Sony Group Corporation Method, computer program, and apparatus for determining a relative position of a first aerial vehicle and at least one second aerial vehicle to each other
JP7545662B2 (ja) * 2020-11-11 2024-09-05 ソニーグループ株式会社 情報処理方法、情報処理装置及び情報処理システム
KR102538666B1 (ko) * 2020-12-04 2023-06-01 주식회사 팀그릿 무선조종 장난감의 원격 제어 방법 및 그 장치
WO2022141311A1 (zh) * 2020-12-30 2022-07-07 深圳市大疆创新科技有限公司 无人机控制方法、装置、无人机、终端、系统及存储介质
CN113311861B (zh) * 2021-05-14 2023-06-16 国家电投集团青海光伏产业创新中心有限公司 光伏组件隐裂特性的自动化检测方法及其系统
CN114674405B (zh) * 2022-03-21 2024-03-01 广州极飞科技股份有限公司 重力测量方法、装置、计算机设备和计算机可读存储介质
CN114842056A (zh) * 2022-04-19 2022-08-02 深圳鳍源科技有限公司 多机位第一机器视角追随方法、系统、装置及设备

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US11572196B2 (en) 2023-02-07
EP3398019A1 (en) 2018-11-07
WO2017147749A1 (en) 2017-09-08
CN114935937A (zh) 2022-08-23
US20210276731A1 (en) 2021-09-09
JP6933656B2 (ja) 2021-09-08
JP2019511044A (ja) 2019-04-18
ES2902469T3 (es) 2022-03-28
US20180362185A1 (en) 2018-12-20
EP3936961A1 (en) 2022-01-12
US10946980B2 (en) 2021-03-16
EP3398019A4 (en) 2019-04-03
DK3398019T3 (da) 2021-12-13
CN108780316A (zh) 2018-11-09
EP3398019B1 (en) 2021-10-13

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Granted publication date: 20220708