CN113741497A - Control method and device for direction of holder and terminal - Google Patents
Control method and device for direction of holder and terminal Download PDFInfo
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- 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
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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
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Abstract
The embodiment of the application relates to a control method, a device and a terminal of a tripod head direction, the control method of the tripod head direction is applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises a tripod head, the unmanned aerial vehicle is in communication connection with the terminal, the terminal comprises an adjusting device, and the method comprises the following steps: a display interface of the control terminal enters a remote control interface; when the unmanned aerial vehicle is in a remote control state of the terminal, a direction control is generated in response to the first operation of the adjusting device based on the remote control interface, and the direction of the holder is adjusted based on the direction control. Through when unmanned vehicles is in the remote control state at the terminal, based on the remote control interface, respond to adjusting device's first operation, generate the direction control controlling part in order to adjust the direction of cloud platform, this application can improve the control efficiency of cloud platform direction.
Description
[ technical field ] A method for producing a semiconductor device
The application relates to the technical field of unmanned aerial vehicles, in particular to a method, a device and a terminal for controlling the direction of a holder.
[ background of the invention ]
With the continuous development of the unmanned aerial vehicle aerial photography technology, more and more consumer-grade unmanned aerial vehicles are also being produced and developed. Unmanned aerial vehicles are also becoming increasingly popular.
At present, unmanned vehicles includes the cloud platform usually, and at unmanned aerial vehicle at the flight in-process, unmanned vehicles's task execution mainly utilizes the remote controller to remove controlling through the flier, and the direction of cloud platform often needs to utilize the remote controller to remove controlling through the flier, and the flier adjusts the accuracy of the direction of cloud platform through the manual control remote controller not enough, leads to the control efficiency of cloud platform direction not high.
[ summary of the invention ]
The embodiment of the application provides a method, a device and a terminal for controlling the direction of a pan-tilt, so as to solve the problem that the accuracy of the direction of the pan-tilt adjusted by a flyer through a manual control remote controller is not enough, and improve the control efficiency of the direction of the pan-tilt.
In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:
in a first aspect, an embodiment of the present application provides a method for controlling a pan/tilt head direction, which is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes a pan/tilt head, the unmanned aerial vehicle is in communication connection with a terminal, the terminal includes an adjusting device, and the method includes:
controlling a display interface of the terminal to enter a remote control interface;
when the unmanned aerial vehicle is in a remote control state of the terminal, a direction control is generated in response to the first operation of the adjusting device based on the remote control interface, and the direction of the holder is adjusted based on the direction control.
In some embodiments, said adjusting the orientation of said pan/tilt head based on said orientation control comprises:
and responding to a second operation of the adjusting device, and adjusting the direction of the holder, wherein the second operation comprises a dragging operation of the direction control.
In some embodiments, said adjusting the orientation of said head in response to said second operation of said adjusting means comprises:
and determining the dragging direction of the direction control according to the dragging operation of the direction control, and adjusting the direction of the holder.
In some embodiments, the method further comprises:
after responding to the first operation of the adjusting device, if the operation of the adjusting device is not received within a preset time, the direction control is hidden.
In some embodiments, the terminal is communicatively connected to a plurality of unmanned aerial vehicles, the method further comprising:
generating first control windows corresponding to the unmanned aerial vehicles one by one in the remote control interface;
and generating a second control window in response to the operation of the first control window, wherein the area of the second control window is larger than that of the first control window.
In some embodiments, the method further comprises:
in the second control window, generating a directional control in response to a first operation of the adjustment device, wherein the first operation comprises a long press operation.
In some embodiments, the terminal comprises a terminal device and the adjusting means comprises a mouse.
In a second aspect, a control device of cloud platform direction is applied to unmanned vehicles, unmanned vehicles includes the cloud platform, an unmanned vehicles communication connection terminal, the terminal includes an adjusting device, the control device of cloud platform direction includes:
the remote control interface unit is used for controlling a display interface of the terminal to enter a remote control interface;
and the cradle head direction adjusting unit is used for responding to the first operation of the adjusting device to generate a direction control based on the remote control interface when the unmanned aerial vehicle is in a remote control state of the terminal, and adjusting the direction of the cradle head based on the direction control.
In a third aspect, an embodiment of the present application provides a terminal, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform the method of controlling a pan/tilt head orientation according to the first aspect.
In a fourth aspect, embodiments of the present application provide a non-volatile computer-readable storage medium, where computer-executable instructions are stored, and the computer-executable instructions are configured to enable a terminal to perform the method for controlling a pan/tilt head direction according to the first aspect.
Compared with the prior art, the control method of the tripod head direction provided by the embodiment of the application is applied to the unmanned aerial vehicle, the unmanned aerial vehicle comprises the tripod head, the unmanned aerial vehicle is in communication connection with a terminal, the terminal comprises an adjusting device, and the method comprises the following steps: controlling a display interface of the terminal to enter a remote control interface; when the unmanned aerial vehicle is in a remote control state of the terminal, a direction control is generated in response to the first operation of the adjusting device based on the remote control interface, and the direction of the holder is adjusted based on the direction control. Through when unmanned vehicles is in the remote control state at the terminal, based on the remote control interface, respond to adjusting device's first operation, generate the direction control controlling part in order to adjust the direction of cloud platform, this application can improve the control efficiency of cloud platform direction.
[ description of the drawings ]
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the figures in which like reference numerals refer to similar elements and which are not to scale unless otherwise specified.
Fig. 1 is a schematic diagram of an application environment provided in an embodiment of the present application;
FIG. 2 is a schematic diagram of an interaction process of an unmanned aerial vehicle according to an embodiment of the present application;
fig. 3 is a schematic flow chart of a method for controlling a pan/tilt head direction according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a remote control interface provided by an embodiment of the present application;
FIG. 5 is a schematic structural diagram of an adjusting device provided in an embodiment of the present application;
FIG. 6a is a schematic diagram of a first control window provided in an embodiment of the present application;
FIG. 6b is a diagram illustrating a second control window provided by an embodiment of the present application;
fig. 7 is a flowchart of another pan-tilt direction control method provided in the embodiment of the present application;
fig. 8 is a schematic structural diagram of a control device for a pan/tilt head direction according to an embodiment of the present disclosure;
fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present application.
[ detailed description ] embodiments
In order to facilitate an understanding of the present application, the present application is described in more detail below with reference to the accompanying drawings and specific embodiments. It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may be present. As used in this specification, the terms "upper," "lower," "inner," "outer," "bottom," and the like are used in an orientation or positional relationship indicated based on the orientation or positional relationship shown in the drawings for convenience in describing the present application and for simplicity in description, and do not indicate or imply that the referenced device or element must have a particular orientation, be constructed in a particular orientation, and be operated in a particular orientation, and therefore should not be construed as limiting the present application. Furthermore, the terms "first," "second," "third," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the present application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
In addition, the technical features mentioned in the different embodiments of the present application described below may be combined with each other as long as they do not conflict with each other.
The following illustrates an application environment of the method for controlling the pan/tilt head direction in the embodiment of the present application.
Referring to fig. 1, fig. 1 is a schematic diagram of an application scenario provided in an embodiment of the present application;
as shown in fig. 1, the application scenario includes an unmanned aerial vehicle 100, a remote controller end 200, and a terminal 300, where the unmanned aerial vehicle 100 is communicatively connected to the remote controller end 200 and the terminal 300, and the remote controller end 200 is communicatively connected to the terminal 300, for example: the unmanned aerial vehicle 100 is connected with the remote controller end 200 and the terminal 300 through wireless network communication, the remote controller end 200 is connected with the terminal 300 through wireless network communication, and the flying hand or the user can operate the remote controller end 200 to operate the unmanned aerial vehicle 100 through the wireless network, or the user can operate the terminal 200 to operate the unmanned aerial vehicle 100 through the wireless network.
In some embodiments, the unmanned aerial vehicle 100 includes: unmanned vehicles such as multi-rotor unmanned aerial vehicles, fixed-wing unmanned aerial vehicles, unmanned helicopters and mixed-wing unmanned aerial vehicles. In some embodiments, the drone 10 may also be any type of powered unmanned aerial vehicle including, but not limited to, a rotary wing drone, a fixed wing drone, an umbrella wing drone, an ornithopter drone, a helicopter model, and the like. In the present embodiment, a hybrid wing drone is taken as an example.
Further, the unmanned aerial vehicle 100 may have a corresponding volume or power according to the needs of actual conditions, so as to provide a load capacity, a flight speed, a flight endurance, and the like that can meet the use needs. One or more sensors may be added to the unmanned aerial vehicle 100, so that the unmanned aerial vehicle 100 can collect corresponding data.
For example, in some embodiments, the UAV 100 is provided with at least one sensor of an accelerometer, a gyroscope, a magnetometer, a GPS navigator, and a vision sensor.
The unmanned aerial vehicle 100 further includes a flight controller as a control core for unmanned aerial vehicle flight, data transmission, and the like, and integrates one or more modules to execute a corresponding logic control program.
In the embodiment of the application, unmanned vehicles includes an unmanned aerial vehicle control system, unmanned aerial vehicle control system includes state machine, flight control ware, unmanned aerial vehicle driving system and unmanned aerial vehicle sensor etc..
This unmanned aerial vehicle control system includes: the unmanned aerial vehicle comprises a state machine, a flight controller and an unmanned aerial vehicle power system, wherein the state machine is connected with the flight controller and the unmanned aerial vehicle power system, the input of the state machine is navigation data and a user interaction command, and the output of the state machine is a control command and a corresponding marker bit. Wherein, the user interaction command is an interaction command sent by a ground user, for example: the remote control stick data, the key control command and other commands can be realized in a state machine. Specifically, the control command and the corresponding flag bits output by the state machine include a position command, a speed command, an acceleration command, an altitude command, a climbing rate command, a climbing acceleration command, an attitude angle command, a heading angle rate command, an attitude mode flag bit and a position mode flag bit.
The flight controller is connected with the state machine and the flight controller and used for receiving a control command and a corresponding zone bit sent by the state machine, receiving navigation data sent by an unmanned aerial vehicle power system and outputting a motor rotating speed control command, wherein the flight controller comprises two flight modes, namely a position mode and an attitude mode, and the flight controller is mainly used for calculating the motor rotating speed command by adopting the control command and the navigation data through a certain algorithm so that the airplane realizes position and attitude control, namely the position and the attitude of the airplane reach an expected state. Specifically, the battery speed control command is, for example, a common rotorcraft, and the data is Pulse Width Modulation (PWM) for controlling the motor.
Specifically, the unmanned aerial vehicle power system is connected with the flight controller, and the unmanned aerial vehicle power system comprises an execution system and a state monitoring system of the unmanned aerial vehicle, and is used for receiving a motor rotating speed control command sent by the flight controller, realizing corresponding rotating speed, realizing corresponding attitude angle and position, processing sensor data, and indirectly or directly calculating navigation data. Specifically, the unmanned aerial vehicle power system processes unmanned aerial vehicle sensor data by adopting a fusion algorithm to obtain navigation data. For example, the unmanned aerial vehicle power system comprises a GPS, a gyroscope, an accelerometer and a magnetometer, and the position, the speed and the acceleration data of the unmanned aerial vehicle can be calculated through the GPS, the gyroscope, the accelerometer and the magnetometer. The position, speed and acceleration data of the unmanned aerial vehicle can be calculated through binocular vision, a gyroscope, an accelerometer and a magnetometer. The attitude angle and the attitude angle rate of the unmanned aerial vehicle can be calculated through a gyroscope, an accelerometer and a magnetometer.
In some embodiments, the remote controller end 200 includes a smart terminal, wherein the smart terminal may be any type of smart device for establishing a communication connection with the unmanned aerial vehicle 100, such as a mobile terminal like a mobile phone, a tablet computer, or a smart remote controller. The remote control end 200 may be equipped with one or more different user interaction devices for collecting user instructions or presenting and feeding back information to the user.
User interaction devices include, but are not limited to: the device comprises a key, a display screen, a touch screen, a loudspeaker, a remote control operating rod and the like. For example, the remote controller 200 may be equipped with a touch display screen, and receive a remote control instruction from the user to the unmanned aerial vehicle 100 through the touch display screen and display map information, that is, a map picture, to the user through the touch display screen, and display image information obtained by aerial photography, that is, an image-passing picture, to the user, and the user may also switch the image information currently displayed on the display screen through the remote control touch screen.
In some embodiments, the existing image vision processing technology can be fused between the unmanned aerial vehicle 100 and the remote controller end 200, so as to further provide more intelligent services. For example: the unmanned aerial vehicle 100 can analyze the image by the remote controller 200 in a mode of acquiring the image by the dual-optical camera, so that gesture control of the user on the unmanned aerial vehicle 100 is realized.
In some embodiments, the terminal 300 comprises a terminal device, wherein the terminal device comprises a computer device, a PC terminal, or the like for establishing a communication connection with the UAV 100, and the terminal 300 may be equipped with one or more different user interaction devices for collecting user instructions or presenting and feeding back information to the user.
User interaction devices include, but are not limited to: display screen, touch screen, speaker and mouse, keyboard and other devices. For example, the remote controller 200 may be equipped with a touch display screen, and receive a remote control instruction from a user to the unmanned aerial vehicle 100 through the touch display screen and display map information, that is, a map picture, to the user through the touch display screen, and display image information obtained by aerial photography, that is, a map-passing picture, to the user, and the user may also control the motion of the unmanned aerial vehicle through a mouse operation or a key operation of a keyboard, or control the pan-tilt direction of the unmanned aerial vehicle, the focal length of a pan-tilt camera of the unmanned aerial vehicle, and the like.
In some embodiments, the remote controller end 200 is a mobile terminal, and unlike the remote controller end 200, the terminal 300 is a fixed terminal, and a display screen of the terminal 300 is larger than that of the remote controller end 200, so that the terminal 300 can provide a global viewing angle for a user.
In some embodiments, the wireless network may be a wireless communication network for establishing a data transmission channel between two nodes based on any type of data transmission principle, such as a bluetooth network, a WiFi network, a wireless cellular network, or a combination thereof, located in different signal frequency bands.
The technical scheme of the application is described in the following with the accompanying drawings of the specification:
referring to fig. 2, fig. 2 is a schematic diagram of an interaction process of an unmanned aerial vehicle according to an embodiment of the present application;
as shown in fig. 2, the interaction process of the unmanned aerial vehicle includes:
step S201: the terminal sends a remote control request instruction;
specifically, the terminal sends a remote control request instruction to the remote controller, where the remote control request instruction is generated by inputting an instruction to the terminal by a user, for example: and clicking the remote controller end on a display screen of the terminal by a user to enable the terminal to generate a remote control request instruction and send the remote control request instruction to the remote controller end.
In this embodiment of the application, before the remote controller end receives a remote control request instruction sent by the terminal, the remote controller end establishes a communication connection with the unmanned aerial vehicle, for example: establishing a first communication pipeline between the remote controller end and the unmanned aerial vehicle, wherein the first communication pipeline is used for message interaction, command interaction or data interaction between the remote controller end and the unmanned aerial vehicle.
Step S202: the remote controller receives the remote control request command and generates a remote control confirmation command;
specifically, the remote controller receives a remote control request instruction sent by the terminal, and after receiving the remote control request instruction, presents a corresponding message in a display interface of the remote controller, and the user clicks a corresponding confirmation button in the display interface of the remote controller to generate a remote control confirmation instruction.
Step S203: the remote controller end sends a remote control confirmation instruction;
specifically, the remote controller sends a remote control confirmation instruction to the terminal, wherein the remote control confirmation instruction is used for confirming that the control right of the unmanned aerial vehicle is transferred to the terminal, namely, the terminal controls the unmanned aerial vehicle.
Step S204: the terminal receives a remote control confirmation instruction;
specifically, the terminal receives a remote control confirmation instruction sent by the remote controller, the remote control confirmation instruction is used for establishing communication connection between the terminal and the unmanned aerial vehicle, the unmanned aerial vehicle opens the control right of the terminal to the terminal, and the control right of the remote controller is suspended until the remote controller reacquires the control right of the unmanned aerial vehicle.
Step S205: entering a remote control state of the terminal;
specifically, after the terminal receives the remote control confirmation instruction, the remote controller terminal transfers the control right of the unmanned aerial vehicle to the terminal, namely, the terminal enters a remote control state of the terminal, and the terminal controls the unmanned aerial vehicle.
It will be appreciated that prior to receiving the remote control confirmation instruction, a communication connection has been established between the terminal and the unmanned aerial vehicle, for example: and establishing a second communication pipeline between the terminal and the unmanned aerial vehicle, wherein the second communication pipeline is used for message interaction, command interaction or data interaction between the terminal and the unmanned aerial vehicle.
In the embodiment of the present application, the first communication pipe and the second communication pipe may be based on the same communication protocol, or may be based on different communication protocols, for example: the first communication pipeline is based on a TCP network protocol, and the second communication pipeline is based on a Netty network protocol.
Step S206: the terminal enters a remote control interface;
specifically, after the terminal establishes communication connection with the unmanned aerial vehicle and obtains the control right of the unmanned aerial vehicle, the terminal enters a remote control interface.
Step S207: the terminal carries out remote control on the unmanned aerial vehicle based on a remote control interface;
specifically, the remote control interface is used for controlling the unmanned aerial vehicle, for example: the control method comprises the steps of controlling the flight direction of the unmanned aerial vehicle, controlling the direction of a cradle head of the unmanned aerial vehicle, controlling the focal length of a cradle head camera of the unmanned aerial vehicle and the like, wherein specific control commands are generated by a user through operating the terminal and are sent to the unmanned aerial vehicle, so that the unmanned aerial vehicle executes the control commands.
The following describes an embodiment of the present application by taking a terminal as a PC terminal:
referring to fig. 3, fig. 3 is a schematic flow chart of a method for controlling a pan/tilt head direction according to an embodiment of the present application;
the control method of the cradle head direction is applied to the unmanned aerial vehicle, the unmanned aerial vehicle comprises a cradle head, the cradle head is provided with a cradle head camera, the unmanned aerial vehicle is in communication connection with a terminal, the terminal comprises an adjusting device, and the adjusting device is used for controlling the focal length of the cradle head camera of the unmanned aerial vehicle.
In this embodiment, the terminal includes a terminal device, for example: computer equipment, a PC terminal and other electronic equipment which are in communication connection with the unmanned aerial vehicle. Specifically, the main execution body of the control method of the holder direction is one or more processors of the terminal.
As shown in fig. 3, the method for controlling the direction of the pan/tilt head includes:
step S31: controlling a display interface of the terminal to enter a remote control interface;
specifically, after the terminal starts screen display, if at least one unmanned aerial vehicle is in communication connection with the terminal, the display interface of the terminal is controlled to enter a remote control interface from a live broadcast interface, and specifically, the display interface of the terminal enters the remote control interface of the unmanned aerial vehicle. And after the terminal starts screen display, the display interface is in a live interface.
Step S32: when the unmanned aerial vehicle is in a remote control state of a terminal, a direction control is generated in response to a first operation of the adjusting device based on the remote control interface, and the direction of the holder is adjusted based on the direction control;
specifically, when the control right of the unmanned aerial vehicle is transferred to the terminal by the remote controller end, so that the unmanned aerial vehicle is in a remote control state of the terminal, the direction control is generated in response to the operation of the adjusting device. Specifically, please refer to fig. 4 again, fig. 4 is a schematic diagram of a remote control interface according to an embodiment of the present disclosure;
as shown in fig. 4, the remote control interface includes a guide interface of the pan/tilt: how to change the direction of the pan-tilt is presented by way of dynamic guidance, for example: the position of the direction control is pressed through the adjusting device, and the direction control is dragged to change the direction of the holder.
Wherein, the guide interface of this cloud platform direction still includes a control that resets, and this control that resets is used for resetting cloud platform direction, for example: triggering the reset control through the clicking operation of a cursor corresponding to the adjusting device, and generating a reset option, wherein the reset option includes a plurality of centering modes, for example: the user selects one of the centering modes through the cursor to generate a reset instruction, and sends the reset instruction to the unmanned aerial vehicle so as to reset the tripod head direction of the unmanned aerial vehicle.
Referring to fig. 5 again, fig. 5 is a schematic structural diagram of an adjusting device according to an embodiment of the present disclosure;
as shown in fig. 5, the adjusting device 50 includes: a left key 51, a right key 52 and a roller 53, the roller 53 being used to adjust the focal length of the pan-tilt-head camera.
Specifically, in response to a first operation of the adjusting means, wherein the first operation includes: a moving operation, a gesture operation, a sliding operation, a clicking operation, a long-press operation, or a dragging operation of the adjustment device, for example: the adjusting device corresponds to a cursor control in the remote control interface, and when a user performs a first operation on the adjusting device in the remote control interface, the cursor control performs a corresponding operation, for example: when the adjusting device moves, the cursor control synchronously moves, and the terminal responds to the movement of the adjusting device to generate the direction control in the remote control interface.
In this embodiment of the application, adjusting the direction of the pan/tilt head based on the direction control includes:
and responding to a second operation of the adjusting device, and adjusting the direction of the holder, wherein the second operation comprises a dragging operation of the direction control.
Specifically, the second operation includes a moving operation, a gesture operation, a sliding operation, a clicking operation, a long-press operation, or a dragging operation of the adjustment device, for example:
the second operation includes a drag operation on the direction control, such as: dragging the direction control to a preset direction, generating a direction adjusting instruction, and sending the direction adjusting instruction to the unmanned aerial vehicle so as to adjust the tripod head direction of the unmanned aerial vehicle and adjust the tripod head direction of the unmanned aerial vehicle to be the same as the preset direction;
alternatively, the second operation includes a click operation on the direction control, for example: click the first position of this direction control, confirm the first direction that this first position corresponds, generate direction adjustment instruction to send this direction adjustment instruction to unmanned vehicles, with the cloud platform direction of adjustment unmanned vehicles, adjust this unmanned vehicles' cloud platform direction toward first direction, for example: and adjusting the degree of the tripod head direction according to the number of times of the clicking operation, wherein each clicking operation corresponds to a preset degree, and the adjusted degree is equal to the number of times of clicking and the preset degree.
Specifically, the adjusting the direction of the holder in response to the second operation of the adjusting device includes:
and determining the dragging direction of the direction control according to the dragging operation of the direction control, and adjusting the direction of the holder.
Specifically, the adjusting device corresponds to a cursor control, for example: the adjusting device is a mouse, when a user presses a left key of the mouse for a long time, the direction control is selected, after the direction control is dragged, the dragging direction and the dragging angle of the direction control are determined, the terminal generates a direction adjusting instruction and sends the direction adjusting instruction to the unmanned aerial vehicle, so that the unmanned aerial vehicle determines a first adjusting direction and a first adjusting angle after receiving the direction adjusting instruction, and adjusts the tripod head direction of the unmanned aerial vehicle based on the first adjusting direction and the first adjusting angle, wherein the first adjusting direction is the same as the dragging direction, and the first adjusting angle is the same as the dragging angle.
In an embodiment of the present application, the method further includes:
after responding to the first operation of the adjusting device, if the operation of the adjusting device is not received within a preset time, the direction control is hidden. For example: the preset time is 2 seconds, after the terminal responds to the first operation of the adjusting device, within the time of 2 seconds, the terminal does not receive the operation of the adjusting device, the direction control is hidden in the remote control interface until the terminal responds to the first operation of the adjusting device again, and the direction control is called.
In an embodiment of the present application, the terminal is communicatively connected to a plurality of unmanned aerial vehicles, and the method further includes:
generating first control windows corresponding to the unmanned aerial vehicles one by one in the remote control interface;
and generating a second control window in response to the operation of the first control window, wherein the area of the second control window is larger than that of the first control window.
Specifically, please refer to fig. 6a, fig. 6a is a schematic diagram of a first control window according to an embodiment of the present disclosure;
as shown in fig. 6a, the remote control interface includes a plurality of first control windows, where each of the first control windows corresponds to one unmanned aerial vehicle one to one, and represents that the unmanned aerial vehicle establishes a communication connection with the terminal. Each first control window comprises a window adjusting control, and the window adjusting control is used for converting the first control window into a second control window.
When the terminal responds to the operation on the first control window, a second control window is generated, wherein the operation on the first control window comprises a first operation on a window adjusting control, such as: and (5) clicking operation.
Referring to fig. 6b again, fig. 6b is a schematic diagram of a second control window according to an embodiment of the present disclosure;
as shown in fig. 6b, when the terminal responds to the operation on the first control window, a second control window is generated, wherein the area of the second control window is larger than that of the first control window, and when the first control window is converted into the second control window, it is characterized that the unmanned aerial vehicle corresponding to the first control window is in a remote control state of the terminal, so that the pan-tilt direction is controlled through the second control window. For example: and controlling the unmanned aerial vehicle to enter the remote control state of the terminal while generating the second control window, namely, when the terminal responds to the click operation of the window adjusting control, sending a remote control request instruction to the unmanned aerial vehicle so as to enable the unmanned aerial vehicle to enter the remote control state of the terminal.
In an embodiment of the present application, the method further includes:
in the second control window, generating a directional control in response to a first operation of the adjustment device, wherein the first operation comprises a long press operation.
Specifically, in the second control window, a direction control is generated in response to a first operation of the adjusting device, and in the second control window, the direction of the pan/tilt head is adjusted in response to a second operation of the adjusting device, where the first operation includes: adjusting a moving operation, a gesture operation, a sliding operation, a clicking operation, a long-time pressing operation or a dragging operation of the device; the second operation includes: a moving operation, a gesture operation, a sliding operation, a clicking operation, a long-press operation, or a dragging operation of the adjustment device. Because the area of second control window is far greater than first control window to, make the user adjust the direction of cloud platform more conveniently, improve the adjustment efficiency of cloud platform direction.
Referring to fig. 7, fig. 7 is a flowchart of another pan/tilt head direction control method according to an embodiment of the present application;
as shown in fig. 7, the method for controlling the direction of the pan/tilt head includes:
step S701: entering a live broadcast window;
specifically, after the terminal is started, if the terminal is in communication connection with at least one unmanned aerial vehicle, the display interface of the terminal enters a live broadcast window, namely the display interface is in a live broadcast interface.
Step S702: presenting a guide interface of the direction of the holder;
wherein, the guide interface of this cloud platform direction is used for guiding the user to carry out the direction adjustment, for example: and presenting the guide information of the rapid operation of the holder, wherein the guide information better guides the user to adjust the direction by adopting a micro-effective mode of slowly moving up and down, left and right.
Step S703: closing the guide interface;
specifically, after receiving the closing instruction, the guidance interface of the cradle head direction is closed.
Step S704: adjusting the direction of the holder based on the direction control;
and (6) ending.
In an embodiment of the present application, a method for controlling a direction of a pan-tilt is provided, where the method is applied to an unmanned aerial vehicle, where the unmanned aerial vehicle includes the pan-tilt, the unmanned aerial vehicle is communicatively connected to a terminal, the terminal includes an adjusting device, and the method includes: when the unmanned aerial vehicle is in a remote control state of a terminal, controlling a display interface of the terminal to enter a remote control interface; and responding to the first operation of the adjusting device based on the remote control interface to generate a direction control, and adjusting the direction of the holder based on the direction control. The display interface of the terminal connected with the unmanned aerial vehicle in a communication mode is controlled to enter the remote control interface, and the direction control is generated to adjust the direction of the cradle head in response to the first operation of the adjusting device based on the remote control interface.
It should be noted that, in the foregoing embodiments, a certain order does not necessarily exist between the foregoing steps, and it can be understood by those skilled in the art from the description of the embodiments of the present application that, in different embodiments, the foregoing steps may have different execution orders, that is, may be executed in parallel, may also be executed in an exchange manner, and the like.
As another aspect of the embodiments of the present application, an embodiment of the present application provides a control device for a cradle head direction, where the control device for the cradle head direction is applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a cradle head, the unmanned aerial vehicle is in communication connection with a terminal, and the terminal includes an adjusting device.
Please refer to fig. 8, fig. 8 is a schematic structural diagram of a device for controlling a pan/tilt head direction according to an embodiment of the present disclosure;
as shown in fig. 8, the device 80 for controlling the direction of the pan/tilt head includes:
a remote control interface unit 801, configured to control a display interface of the terminal to enter a remote control interface;
and a cradle head direction adjusting unit 802, configured to generate a direction control in response to the first operation of the adjusting device based on the remote control interface when the unmanned aerial vehicle is in a remote control state of the terminal, and adjust the direction of the cradle head based on the direction control.
In this application embodiment, through providing the controlling means of a cloud platform direction, be applied to unmanned vehicles, unmanned vehicles includes the cloud platform, an unmanned vehicles communication connection terminal, the terminal includes an adjusting device, the controlling means of cloud platform direction includes: the remote control interface unit is used for controlling a display interface of the terminal to enter a remote control interface; and the cradle head direction adjusting unit is used for responding to the first operation of the adjusting device to generate a direction control based on the remote control interface when the unmanned aerial vehicle is in a remote control state of the terminal, and adjusting the direction of the cradle head based on the direction control. Through when unmanned vehicles is in the remote control state at the terminal, based on the remote control interface, respond to adjusting device's first operation, generate the direction control controlling part in order to adjust the direction of cloud platform, this application can improve the control efficiency of cloud platform direction.
It should be noted that the control device for the pan/tilt direction can execute the control method for the pan/tilt direction provided in the embodiments of the present application, and has the corresponding functional modules and beneficial effects of the execution method. For details of the control device for the pan/tilt direction, reference may be made to the method for controlling the pan/tilt direction provided in the embodiments of the present application.
Referring to fig. 9, fig. 9 is a schematic structural diagram of a terminal according to an embodiment of the present application;
as shown in fig. 9, the terminal 90 includes: a processor 901, a memory 902, and a communication module 903. The processor 901, the memory 902 and the communication module 903 establish communication connection between any two components in a bus manner.
The memory 902, which is a non-transitory computer-readable storage medium, may be used to store non-transitory software programs, non-transitory computer-executable programs, and modules, such as program instructions/modules corresponding to the method for controlling the direction of the pan/tilt head in the embodiment of the present application. The processor 801 implements the method of controlling the pan-tilt direction in the above-described method embodiments by running non-transitory software programs, instructions, and modules stored in the memory 802.
The memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function; the storage data area may store data created according to use of the remote control device, and the like. Further, the memory 902 may include high speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, memory 902 may optionally include memory located remotely from processor 901, which may be connected to the UAV via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
The memory 902 stores instructions executable by the at least one processor 901; the at least one processor 901 is configured to execute the instructions to implement the method for controlling the pan/tilt head direction in any of the above-mentioned method embodiments.
The communication module 903 is a functional module for establishing a communication connection and providing a physical channel. The communication module 903 may be any type of wireless or wired communication module including, but not limited to, a WiFi module or a bluetooth module, etc.
Further, embodiments of the present application also provide a non-transitory computer-readable storage medium, which stores computer-executable instructions, which are executed by one or more processors 901, and can cause the one or more processors 901 to execute the method for controlling the pan-tilt direction in any method embodiment described above.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. Some or all of the modules are selected according to actual needs to achieve the purpose of the scheme of the embodiment.
Through the above description of the embodiments, those skilled in the art will clearly understand that each embodiment can be implemented by software plus a general hardware platform, and certainly can also be implemented by hardware. It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above may be implemented by associated hardware as a computer program in a computer program product, the computer program being stored in a non-transitory computer-readable storage medium, the computer program comprising program instructions that, when executed by an associated apparatus, cause the associated apparatus to perform the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The product can execute the control method of the direction of the holder provided by the embodiment of the application, and has the corresponding functional modules and beneficial effects of the control method of the direction of the holder. For details of the technology that are not described in detail in this embodiment, reference may be made to the method for controlling the direction of the pan/tilt head provided in the embodiment of the present application.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the same; within the context of the present application, where technical features in the above embodiments or in different embodiments can also be combined, the steps can be implemented in any order and there are many other variations of the different aspects of the present application as described above, which are not provided in detail for the sake of brevity; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present application.
Claims (10)
1. The control method of the tripod head direction is applied to an unmanned aerial vehicle, the unmanned aerial vehicle comprises the tripod head, the unmanned aerial vehicle is in communication connection with a terminal, the terminal comprises an adjusting device, and the method comprises the following steps:
controlling a display interface of the terminal to enter a remote control interface;
when the unmanned aerial vehicle is in a remote control state of the terminal, a direction control is generated in response to the first operation of the adjusting device based on the remote control interface, and the direction of the holder is adjusted based on the direction control.
2. The method of claim 1, wherein adjusting the orientation of the pan/tilt head based on the orientation control comprises:
and responding to a second operation of the adjusting device, and adjusting the direction of the holder, wherein the second operation comprises a dragging operation of the direction control.
3. The method of claim 2, wherein said adjusting the orientation of the pan/tilt head in response to the second operation of the adjustment device comprises:
and determining the dragging direction of the direction control according to the dragging operation of the direction control, and adjusting the direction of the holder.
4. The method of claim 2, further comprising:
after responding to the first operation of the adjusting device, if the operation of the adjusting device is not received within a preset time, the direction control is hidden.
5. The method of claim 1, wherein the terminal is communicatively connected to a plurality of unmanned aerial vehicles, the method further comprising:
generating first control windows corresponding to the unmanned aerial vehicles one by one in the remote control interface;
and generating a second control window in response to the operation of the first control window, wherein the area of the second control window is larger than that of the first control window.
6. The method of claim 5, further comprising:
in the second control window, generating a directional control in response to a first operation of the adjustment device, wherein the first operation comprises a long press operation.
7. The method according to any of claims 1-6, wherein the terminal comprises a terminal device and the adjusting means comprises a mouse.
8. The utility model provides a controlling means of cloud platform direction which characterized in that is applied to unmanned vehicles, unmanned vehicles includes the cloud platform, an unmanned vehicles communication connection terminal, the terminal includes an adjusting device, the controlling means of cloud platform direction includes:
the remote control interface unit is used for controlling a display interface of the terminal to enter a remote control interface;
and the cradle head direction adjusting unit is used for responding to the first operation of the adjusting device to generate a direction control based on the remote control interface when the unmanned aerial vehicle is in a remote control state of the terminal, and adjusting the direction of the cradle head based on the direction control.
9. A terminal, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the memory stores instructions executable by the at least one processor to enable the at least one processor to perform a method of controlling a pan-tilt direction according to any one of claims 1-7.
10. A non-transitory computer-readable storage medium storing computer-executable instructions for enabling a terminal to perform the method of controlling the orientation of a pan/tilt head according to any one of claims 1 to 7.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110982410.0A CN113741497A (en) | 2021-08-25 | 2021-08-25 | Control method and device for direction of holder and terminal |
| PCT/CN2022/114562 WO2023025202A1 (en) | 2021-08-25 | 2022-08-24 | Control method and apparatus for direction of gimbal, and terminal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110982410.0A CN113741497A (en) | 2021-08-25 | 2021-08-25 | Control method and device for direction of holder and terminal |
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| Publication Number | Publication Date |
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| CN113741497A true CN113741497A (en) | 2021-12-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110982410.0A Pending CN113741497A (en) | 2021-08-25 | 2021-08-25 | Control method and device for direction of holder and terminal |
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| Country | Link |
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| CN (1) | CN113741497A (en) |
| WO (1) | WO2023025202A1 (en) |
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