CN110892352A - 无人机控制方法、装置及无人机 - Google Patents

无人机控制方法、装置及无人机 Download PDF

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Publication number
CN110892352A
CN110892352A CN201880039247.0A CN201880039247A CN110892352A CN 110892352 A CN110892352 A CN 110892352A CN 201880039247 A CN201880039247 A CN 201880039247A CN 110892352 A CN110892352 A CN 110892352A
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China
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foot rest
motor
yaw axis
processor
rotation angle
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Pending
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CN201880039247.0A
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English (en)
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谢文麟
刘彦辰
陈子寒
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN110892352A publication Critical patent/CN110892352A/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
    • G05D1/0858—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/32—Alighting gear characterised by elements which contact the ground or similar surface 
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C25/00—Alighting gear
    • B64C25/001—Devices not provided for in the groups B64C25/02 - B64C25/68
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C39/00—Aircraft not otherwise provided for
    • B64C39/02—Aircraft not otherwise provided for characterised by special use
    • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U70/00—Launching, take-off or landing arrangements
    • 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
    • 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
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories
    • G03B17/561—Support related camera accessories
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Automation & Control Theory (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

一种无人机控制方法、装置和无人机，所述无人机控制方法包括：在脚架(300)处于零位时，按照特定策略控制偏航轴电机(210)转动至不同的位置，特定策略包括：脚架(300)跟随偏航轴电机(210)同步转动；通过控制偏航轴电机(210)转动至不同的位置，确定脚架电机(310)和偏航轴电机(210)之间的第一参数；在脚架(300)跟随偏航轴转动的模式下，获取偏航轴电机(210)的实时转动角度；根据第一参数和偏航轴电机(210)的实时转动角度，控制脚架电机(310)的转动，可以防止累积误差导致脚架(300)与云台偏航轴对齐位置出现偏差。

Description

PCT国内申请，说明书已公开。

Claims (108)

  1. PCT国内申请，权利要求书已公开。
CN201880039247.0A 2018-07-27 2018-07-27 无人机控制方法、装置及无人机 Pending CN110892352A (zh)

Applications Claiming Priority (1)

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PCT/CN2018/097664 WO2020019350A1 (zh) 2018-07-27 2018-07-27 无人机控制方法、装置及无人机

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CN110892352A true CN110892352A (zh) 2020-03-17

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CN201880039247.0A Pending CN110892352A (zh) 2018-07-27 2018-07-27 无人机控制方法、装置及无人机

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US (1) US20210276700A1 (zh)
EP (1) EP3822732B1 (zh)
CN (1) CN110892352A (zh)
WO (1) WO2020019350A1 (zh)

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CN112887596A (zh) * 2021-01-21 2021-06-01 中国农业大学 一种无人机摄像头拍摄角度调整装置及方法
CN114489103A (zh) * 2022-01-21 2022-05-13 西南交通大学 一种耦合单轴云台的手机无人机及控制方法

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WO2017143500A1 (en) * 2016-02-22 2017-08-31 Sz Dji Osmo Technology Co., Ltd. Motor positional sensing

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CN206694765U (zh) * 2016-09-09 2017-12-01 深圳市大疆创新科技有限公司 一种负载组件以及挂载该负载组件的无人机
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CN108227754A (zh) * 2018-01-19 2018-06-29 深圳市科卫泰实业发展有限公司 一种双轴云台自动跟踪方法及系统
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112887596A (zh) * 2021-01-21 2021-06-01 中国农业大学 一种无人机摄像头拍摄角度调整装置及方法
CN114489103A (zh) * 2022-01-21 2022-05-13 西南交通大学 一种耦合单轴云台的手机无人机及控制方法
CN114489103B (zh) * 2022-01-21 2023-09-08 西南交通大学 一种耦合单轴云台的手机无人机及控制方法

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WO2020019350A1 (zh) 2020-01-30
US20210276700A1 (en) 2021-09-09
EP3822732B1 (en) 2022-06-15
EP3822732A4 (en) 2021-06-30
EP3822732A1 (en) 2021-05-19

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Application publication date: 20200317