CN110622089A - 跟随控制方法、控制终端及无人机 - Google Patents

跟随控制方法、控制终端及无人机 Download PDF

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Publication number
CN110622089A
CN110622089A CN201880032268.XA CN201880032268A CN110622089A CN 110622089 A CN110622089 A CN 110622089A CN 201880032268 A CN201880032268 A CN 201880032268A CN 110622089 A CN110622089 A CN 110622089A
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China
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following
image
unmanned aerial
aerial vehicle
following object
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CN201880032268.XA
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English (en)
Inventor
陈一
缪宝杰
郭灼
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN110622089A publication Critical patent/CN110622089A/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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0011—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement
    • G05D1/0038—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/12—Target-seeking control
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/61—Control of cameras or camera modules based on recognised objects
    • H04N23/611—Control of cameras or camera modules based on recognised objects where the recognised objects include parts of the human body
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/62—Control of parameters via user interfaces
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Human Computer Interaction (AREA)
  • User Interface Of Digital Computer (AREA)
  • Studio Devices (AREA)

Abstract

一种跟随控制方法、控制终端及无人机，该方法包括：接收并显示无人机的拍摄装置拍摄获取图像(S101)；检测用户对图像中至少两个跟随对象的选择操作(S102)；根据检测到的选择操作确定跟随指令(S103)；控制无人机对跟随指令指示的至少两个跟随对象进行跟随以使至少两个跟随对象在拍摄装置的拍摄画面中(S104)。该方法通过控制终端接收并显示无人机的拍摄装置拍摄获取的图像，检测用户对图像中至少两个跟随对象的选择操作，并根据检测到的选择操作确定跟随指令，该跟随指令可指示至少两个跟随对象，以使无人机对至少两个跟随对象进行跟随，以使至少两个跟随对象在拍摄装置的拍摄画面中，使得无人机可应用于更多的拍摄场景。

Description

PCT国内申请，说明书已公开。

Claims (82)

  1. PCT国内申请，权利要求书已公开。
CN201880032268.XA 2018-01-22 2018-01-22 跟随控制方法、控制终端及无人机 Pending CN110622089A (zh)

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PCT/CN2018/073626 WO2019140686A1 (zh) 2018-01-22 2018-01-22 跟随控制方法、控制终端及无人机

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US (1) US11509809B2 (zh)
CN (1) CN110622089A (zh)
WO (1) WO2019140686A1 (zh)

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WO2022061508A1 (zh) * 2020-09-22 2022-03-31 深圳市大疆创新科技有限公司 拍摄控制方法、装置、系统及存储介质

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CN112189333B (zh) * 2019-08-13 2022-04-15 深圳市大疆创新科技有限公司 跟随拍摄、云台控制方法、拍摄装置、手持云台和拍摄系统
CN114710623A (zh) * 2019-08-13 2022-07-05 深圳市大疆创新科技有限公司 基于手持云台的拍摄方法、手持云台及存储介质
CN112154656B (zh) * 2019-09-25 2022-10-11 深圳市大疆创新科技有限公司 一种拍摄方法和拍摄设备
CN113260942A (zh) * 2020-09-22 2021-08-13 深圳市大疆创新科技有限公司 手持云台控制方法、手持云台、系统及可读存储介质

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