CN110945452A - 云台和无人机控制方法、云台及无人机 - Google Patents

云台和无人机控制方法、云台及无人机 Download PDF

Info

Publication number
CN110945452A
CN110945452A CN201880039246.6A CN201880039246A CN110945452A CN 110945452 A CN110945452 A CN 110945452A CN 201880039246 A CN201880039246 A CN 201880039246A CN 110945452 A CN110945452 A CN 110945452A
Authority
CN
China
Prior art keywords
aerial vehicle
unmanned aerial
attitude
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.)
Pending
Application number
CN201880039246.6A
Other languages
English (en)
Inventor
王映知
刘帅
林光远
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN110945452A publication Critical patent/CN110945452A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/681—Motion detection
    • H04N23/6812—Motion detection based on additional sensors, e.g. acceleration sensors
    • 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
    • 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; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
    • G05D1/0094—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot 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 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
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/50—Constructional details
    • H04N23/53—Constructional details of electronic viewfinders, e.g. rotatable or detachable
    • H04N23/531—Constructional details of electronic viewfinders, e.g. rotatable or detachable being rotatable or detachable
    • 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
    • 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
    • H04N23/63—Control of cameras or camera modules by using electronic viewfinders
    • H04N23/633—Control of cameras or camera modules by using electronic viewfinders for displaying additional information relating to control or operation of the camera
    • H04N23/635—Region indicators; Field of view indicators
    • 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
    • H04N23/64—Computer-aided capture of images, e.g. transfer from script file into camera, check of taken image quality, advice or proposal for image composition or decision on when to take image
    • 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
    • H04N23/667—Camera operation mode switching, e.g. between still and video, sport and normal or high- and low-resolution modes
    • 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
    • H04N23/67—Focus control based on electronic image sensor signals
    • H04N23/675—Focus control based on electronic image sensor signals comprising setting of focusing regions
    • 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
    • H04N23/68—Control of cameras or camera modules for stable pick-up of the scene, e.g. compensating for camera body vibrations
    • H04N23/682—Vibration or motion blur correction
    • H04N23/685—Vibration or motion blur correction performed by mechanical compensation
    • H04N23/687—Vibration or motion blur correction performed by mechanical compensation by shifting the lens or sensor position
    • 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
    • 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
    • H04N23/698—Control of cameras or camera modules for achieving an enlarged field of view, e.g. panoramic image capture
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/70—Circuitry for compensating brightness variation in the scene
    • H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/95—Computational photography systems, e.g. light-field imaging systems
    • H04N23/951—Computational photography systems, e.g. light-field imaging systems by using two or more images to influence resolution, frame rate or aspect ratio
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U30/00—Means for producing lift; Empennages; Arrangements thereof
    • B64U30/20—Rotors; Rotor supports

Abstract

一种云台(200)和无人机控制方法、云台(200)及无人机，其中，所述云台控制方法包括：获取当前时刻无人机的姿态和云台(200)的姿态；预测无人机的飞行速度；根据所获取的当前时刻无人机的姿态和云台(200)的姿态、及所预测的无人机的飞行速度，控制云台(200)的转动，以使云台(200)相对无人机的角度位于特定角度范围内；特定角度范围内，无人机的桨组件(400)出现在云台(200)上的拍摄装置(300)的拍摄画面的画面比例低于预设比例阈值。利用该方法，能够控制云台(200)相对机身的角度在特定角度范围内，确保了桨组件(400)在拍摄画面中的画面比例较小或拍摄画面中不存在桨组件(400)，确保了拍摄画面的可用；当无人机悬停或者飞行速度较小时，能够确保拍摄画面的平稳性。

Description

PCT国内申请，说明书已公开。

Claims (56)

  1. PCT国内申请，权利要求书已公开。
CN201880039246.6A 2018-07-23 2018-07-23 云台和无人机控制方法、云台及无人机 Pending CN110945452A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2018/096612 WO2020019106A1 (zh) 2018-07-23 2018-07-23 云台和无人机控制方法、云台及无人机

Publications (1)

Publication Number Publication Date
CN110945452A true CN110945452A (zh) 2020-03-31

Family

ID=69180849

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201880039246.6A Pending CN110945452A (zh) 2018-07-23 2018-07-23 云台和无人机控制方法、云台及无人机

Country Status (4)

Country Link
US (1) US11245848B2 (zh)
EP (1) EP3828661A4 (zh)
CN (1) CN110945452A (zh)
WO (1) WO2020019106A1 (zh)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112180962A (zh) * 2020-09-30 2021-01-05 苏州臻迪智能科技有限公司 无人机的飞行控制方法及装置、电子设备、存储介质
CN112179375A (zh) * 2020-08-20 2021-01-05 中国科学院深圳先进技术研究院 安全保护装置的控制方法及相关装置
WO2023123254A1 (zh) * 2021-12-30 2023-07-06 深圳市大疆创新科技有限公司 无人机的控制方法、装置、无人机及存储介质

Families Citing this family (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US11945579B1 (en) * 2020-03-28 2024-04-02 Snap Inc. UAV with manual flight mode selector
US11691730B1 (en) * 2022-04-28 2023-07-04 Beta Air, Llc Systems and methods for the remote piloting of an electric aircraft
CN115190237B (zh) * 2022-06-20 2023-12-15 亮风台（上海）信息科技有限公司 一种确定承载设备的转动角度信息的方法与设备

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102211670A (zh) * 2011-05-17 2011-10-12 云南电网公司普洱供电局 固定翼无人机定点拍摄系统及其排查输电线路故障的方法
CN103587708A (zh) * 2013-11-14 2014-02-19 上海大学 超小型无人旋翼飞行器野外定点零盲区自主软着陆方法
CN106598073A (zh) * 2016-12-27 2017-04-26 武汉理工大学 基于四旋翼无人机的岸桥起重机结构检测系统
WO2017128074A1 (zh) * 2016-01-26 2017-08-03 深圳市大疆灵眸科技有限公司 驱动装置、云台、拍摄设备和无人飞行器以及可移动设备
WO2017128050A1 (zh) * 2016-01-26 2017-08-03 深圳市大疆创新科技有限公司 无人飞行器及多目成像系统
CN107065924A (zh) * 2017-03-15 2017-08-18 普宙飞行器科技（深圳）有限公司 无人机车载起降系统、可车载起降无人机及降落方法
CN107589691A (zh) * 2017-08-11 2018-01-16 北京小米移动软件有限公司 无人机的拍摄控制方法及装置
CN207292469U (zh) * 2017-08-31 2018-05-01 深圳曼塔智能科技有限公司 多姿态传感器云台装置、相机和无人机飞行器

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US8844896B2 (en) * 2011-06-07 2014-09-30 Flir Systems, Inc. Gimbal system with linear mount
CN108375983A (zh) * 2014-05-21 2018-08-07 深圳市大疆创新科技有限公司 一种遥控装置、控制系统以及控制方法
CN104808674A (zh) * 2015-03-03 2015-07-29 广州亿航智能技术有限公司 多旋翼飞行器的控制系统、终端及机载飞控系统
CN105373132A (zh) * 2015-11-26 2016-03-02 北京浩恒征途航空科技有限公司 一种基于自动巡航无人机的低空遥感系统及遥感方法
CN109415126B (zh) * 2016-07-08 2021-12-07 深圳市大疆创新科技有限公司 用于改进的移动平台成像的系统和方法
CN209805921U (zh) * 2016-11-04 2019-12-17 智动航科有限公司 无人驾驶飞行器
US20200064868A1 (en) * 2016-12-06 2020-02-27 Amimon Ltd. Unmanned aerial vehicle control
CN108253966B (zh) * 2016-12-28 2021-08-06 昊翔电能运动科技(昆山)有限公司 无人机飞行三维模拟显示方法
WO2018120132A1 (zh) * 2016-12-30 2018-07-05 深圳市大疆创新科技有限公司 控制方法、装置、设备及无人飞行器
CN108163203B (zh) * 2017-12-31 2020-10-13 深圳市道通智能航空技术有限公司 一种拍摄控制方法、装置及飞行器

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102211670A (zh) * 2011-05-17 2011-10-12 云南电网公司普洱供电局 固定翼无人机定点拍摄系统及其排查输电线路故障的方法
CN103587708A (zh) * 2013-11-14 2014-02-19 上海大学 超小型无人旋翼飞行器野外定点零盲区自主软着陆方法
WO2017128074A1 (zh) * 2016-01-26 2017-08-03 深圳市大疆灵眸科技有限公司 驱动装置、云台、拍摄设备和无人飞行器以及可移动设备
WO2017128050A1 (zh) * 2016-01-26 2017-08-03 深圳市大疆创新科技有限公司 无人飞行器及多目成像系统
CN106598073A (zh) * 2016-12-27 2017-04-26 武汉理工大学 基于四旋翼无人机的岸桥起重机结构检测系统
CN107065924A (zh) * 2017-03-15 2017-08-18 普宙飞行器科技（深圳）有限公司 无人机车载起降系统、可车载起降无人机及降落方法
CN107589691A (zh) * 2017-08-11 2018-01-16 北京小米移动软件有限公司 无人机的拍摄控制方法及装置
CN207292469U (zh) * 2017-08-31 2018-05-01 深圳曼塔智能科技有限公司 多姿态传感器云台装置、相机和无人机飞行器

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
CHENGYU CAO等: "Active control of visual sensor for navigation and guidance", 《COMPUTATIONAL MANAGEMENT SCIENCE》 *
李湘清: "基于运动补偿的小型无人机云台控制器设计方法", 《系统工程与电子技术》 *
王雨峰: "基于双目视觉的桥梁检测无人机两轴云台设计与实现", 《中国新技术新产品》 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112179375A (zh) * 2020-08-20 2021-01-05 中国科学院深圳先进技术研究院 安全保护装置的控制方法及相关装置
CN112179375B (zh) * 2020-08-20 2022-08-09 中国科学院深圳先进技术研究院 安全保护装置的控制方法及相关装置
CN112180962A (zh) * 2020-09-30 2021-01-05 苏州臻迪智能科技有限公司 无人机的飞行控制方法及装置、电子设备、存储介质
WO2023123254A1 (zh) * 2021-12-30 2023-07-06 深圳市大疆创新科技有限公司 无人机的控制方法、装置、无人机及存储介质

Also Published As

Publication number Publication date
EP3828661A1 (en) 2021-06-02
US20210120176A1 (en) 2021-04-22
US11245848B2 (en) 2022-02-08
WO2020019106A1 (zh) 2020-01-30
EP3828661A4 (en) 2021-07-07

Similar Documents

Publication Publication Date Title
CN110945452A (zh) 云台和无人机控制方法、云台及无人机
CN110692027B (zh) 用于提供无人机应用的易用的释放和自动定位的系统和方法
US20200346753A1 (en) Uav control method, device and uav
WO2018098784A1 (zh) 无人机的控制方法、装置、设备和无人机的控制系统
WO2017181512A1 (zh) 无人机的飞行控制方法和装置
CN105045279A (zh) 一种利用无人飞行器航拍自动生成全景照片的系统及方法
CN114679540A (zh) 拍摄方法和无人机
US11272105B2 (en) Image stabilization control method, photographing device and mobile platform
CN110716579B (zh) 目标跟踪方法及无人飞行器
WO2019128275A1 (zh) 一种拍摄控制方法、装置及飞行器
CN110771137A (zh) 延时拍摄控制方法和设备
US20230384803A1 (en) Autonomous orbiting method and device and uav
CN110568860A (zh) 一种无人飞行器的返航方法、装置及无人飞行器
CN110892731B (zh) 视频播放速度控制方法及系统、控制终端和可移动平台
US20210014427A1 (en) Control device, imaging device, mobile object, control method and program
CN111344651A (zh) 无人机的控制方法和无人机
CN113795805A (zh) 无人机的飞行控制方法和无人机
WO2020244648A1 (zh) 一种飞行器控制方法、装置及飞行器
CN110291013B (zh) 云台的控制方法、云台及无人飞行器
CN113491100A (zh) 无人机系统及其控制方法和装置
CN108778931B (zh) 一种摄像装置的转动控制方法、控制设备以及飞行器
US20230033760A1 (en) Aerial Camera Device, Systems, and Methods
US11066182B2 (en) Control apparatus, camera apparatus, flying object, control method and program
CN114556256A (zh) 飞行控制方法、视频编辑方法、装置、无人机及存储介质
CN113942656A (zh) 云台的控制方法、云台及无人飞行器

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
AD01 Patent right deemed abandoned
AD01 Patent right deemed abandoned

Effective date of abandoning: 20240119