CN114126964A - 可移动平台的控制方法、装置、可移动平台及存储介质 - Google Patents

可移动平台的控制方法、装置、可移动平台及存储介质 Download PDF

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Publication number
CN114126964A
CN114126964A CN202080029313.3A CN202080029313A CN114126964A CN 114126964 A CN114126964 A CN 114126964A CN 202080029313 A CN202080029313 A CN 202080029313A CN 114126964 A CN114126964 A CN 114126964A
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China
Prior art keywords
movable platform
target object
mode
sub
control
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Pending
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CN202080029313.3A
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English (en)
Inventor
邬奇峰
钱杰
崔耀天
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN114126964A publication Critical patent/CN114126964A/zh
Pending legal-status Critical Current

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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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots 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
    • 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
    • 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
    • G05D1/102—Simultaneous control of position or course in three dimensions specially adapted for aircraft specially adapted for vertical take-off of aircraft
    • 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
    • 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)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

一种可移动平台的控制方法、装置、可移动平台及存储介质。本申请实施例通过获取用于控制可移动平台的控制杆量，并根据可移动平台的位置和可移动平台拍摄的目标对象的位置，将控制杆量转换为可移动平台的控制指令，该控制指令可控制可移动平台以可移动平台和目标对象的连线为基准相对于目标对象进行移动，相比于现有技术中控制杆量以可移动平台的机体正向或某一固定方向为基准，可使用户更加直观的感受到自己对控制设备的操作与构图之间的关系，从而节省了用户将目标对象控在画面中预设位置的时间和精力，使得用户明确如何控制控制设备可以拍摄出比较好的画面，尤其是目标对象为运动的物体时，大大降低了用户通过控制设备对可移动平台的控制难度。

Description

PCT国内申请，说明书已公开。

Claims (39)

  1. PCT国内申请，权利要求书已公开。
CN202080029313.3A 2020-03-31 2020-03-31 可移动平台的控制方法、装置、可移动平台及存储介质 Pending CN114126964A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/082381 WO2021195944A1 (zh) 2020-03-31 2020-03-31 可移动平台的控制方法、装置、可移动平台及存储介质

Publications (1)

Publication Number Publication Date
CN114126964A true CN114126964A (zh) 2022-03-01

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CN202080029313.3A Pending CN114126964A (zh) 2020-03-31 2020-03-31 可移动平台的控制方法、装置、可移动平台及存储介质

Country Status (3)

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US (1) US20230018021A1 (zh)
CN (1) CN114126964A (zh)
WO (1) WO2021195944A1 (zh)

Citations (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104898699A (zh) * 2015-05-28 2015-09-09 小米科技有限责任公司 飞行控制方法及装置、电子设备
CN105676865A (zh) * 2016-04-12 2016-06-15 北京博瑞爱飞科技发展有限公司 目标跟踪方法、装置和系统
CN106909172A (zh) * 2017-03-06 2017-06-30 重庆零度智控智能科技有限公司 环绕跟踪方法、装置和无人机
CN107000839A (zh) * 2016-12-01 2017-08-01 深圳市大疆创新科技有限公司 无人机的控制方法、装置、设备和无人机的控制系统
US20170269594A1 (en) * 2016-03-16 2017-09-21 Bryan Sydnor Controlling an Unmanned Aerial System
US20180114058A1 (en) * 2016-10-25 2018-04-26 Parrot Drones Drone piloted in a spherical coordinate system by a gestural with multi-segment members, control method and associated computer program
CN108780316A (zh) * 2016-02-29 2018-11-09 深圳市大疆创新科技有限公司 用于飞行装置的移动控制的方法和系统
CN109196441A (zh) * 2016-05-16 2019-01-11 深圳市大疆创新科技有限公司 用于协调设备动作的系统和方法
CN110892714A (zh) * 2018-07-20 2020-03-17 深圳市大疆创新科技有限公司 移动机器人的控制方法、装置、设备及存储介质

Patent Citations (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104898699A (zh) * 2015-05-28 2015-09-09 小米科技有限责任公司 飞行控制方法及装置、电子设备
CN108780316A (zh) * 2016-02-29 2018-11-09 深圳市大疆创新科技有限公司 用于飞行装置的移动控制的方法和系统
US20170269594A1 (en) * 2016-03-16 2017-09-21 Bryan Sydnor Controlling an Unmanned Aerial System
CN105676865A (zh) * 2016-04-12 2016-06-15 北京博瑞爱飞科技发展有限公司 目标跟踪方法、装置和系统
CN109196441A (zh) * 2016-05-16 2019-01-11 深圳市大疆创新科技有限公司 用于协调设备动作的系统和方法
US20190196513A1 (en) * 2016-05-16 2019-06-27 SZ DJI Technology Co., Ltd. Systems and methods for coordinating device actions
US20180114058A1 (en) * 2016-10-25 2018-04-26 Parrot Drones Drone piloted in a spherical coordinate system by a gestural with multi-segment members, control method and associated computer program
CN107000839A (zh) * 2016-12-01 2017-08-01 深圳市大疆创新科技有限公司 无人机的控制方法、装置、设备和无人机的控制系统
CN106909172A (zh) * 2017-03-06 2017-06-30 重庆零度智控智能科技有限公司 环绕跟踪方法、装置和无人机
CN110892714A (zh) * 2018-07-20 2020-03-17 深圳市大疆创新科技有限公司 移动机器人的控制方法、装置、设备及存储介质

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US20230018021A1 (en) 2023-01-19

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