KR102670994B1 - Unmanned Aerial Vehicle and the Method for controlling thereof - Google Patents

Abstract

The present invention discloses an unmanned flying vehicle and a control method thereof. The unmanned flying device according to one aspect of the present invention includes a housing, at least one sensor built in or provided in the housing, a camera built in or provided in the housing, a plurality of propellers connected to the housing, and at least one of the plurality of propellers. a motor module that provides rotational force to a propeller, built into the housing, and comprising at least one processor electrically connected to the sensor and the motor module, and a memory electrically connected to the processor, wherein the processor Detects motion of the housing in the housing grip state using detection information from one or more sensors, determines a drive mode related to flight of the housing using the sensed motion of the housing, and determines a drive mode related to flight of the housing, and motors the motor according to the determined drive mode. instructions that control the module; and storing instructions for controlling camera setting information for the camera to correspond to the driving mode. In addition, various embodiments are possible.

Description

Unmanned Aerial Vehicle and the Method for controlling the same}

Various embodiments of the present invention relate to an unmanned aerial vehicle capable of starting the unmanned aerial vehicle from places other than the ground and a method of controlling the same.

Recently, unmanned aerial vehicles such as drones, which are manufactured to perform designated missions unmanned, have been widely used. Unmanned aerial vehicles are used in various industrial fields such as aerial photography and pesticide spraying, increasing user convenience. The unmanned aerial vehicle may wirelessly receive a control signal from a remote control device and fly (or drive) in response to the control signal. A conventional unmanned aerial vehicle can take off and move vertically in response to a control signal from a remote control device while placed on the ground.

Since the conventional unmanned aerial vehicle starts from the ground, it cannot be driven in places where it is difficult to put down the unmanned aerial vehicle, such as where there is water, cliffs, or mud on the ground.

Various embodiments of the present invention can provide an unmanned aerial vehicle that can be driven by throwing an unmanned aerial vehicle and a method of controlling the same.

The unmanned flying device according to one aspect of the present invention includes a housing, at least one sensor built in or provided in the housing, a camera built in or provided in the housing, a plurality of propellers connected to the housing, and at least one of the plurality of propellers. a motor module that provides rotational force to a propeller, built into the housing, and comprising at least one processor electrically connected to the sensor and the motor module, and a memory electrically connected to the processor, wherein the processor Detects motion of the housing in the housing grip state using detection information from one or more sensors, determines a drive mode related to flight of the housing using the sensed motion of the housing, and determines a drive mode related to flight of the housing, and motors the motor according to the determined drive mode. instructions that control the module; and storing instructions for controlling camera setting information for the camera to correspond to the driving mode.

A method of controlling an unmanned flying vehicle using at least one processor according to another aspect of the present invention includes: detecting motion of a housing in a housing grip state using a sensor; determining a driving mode related to flight of the housing using the sensed motion of the housing; And an operation of controlling at least one propeller among a plurality of propellers of the unmanned flying vehicle according to the determined driving mode.

An unmanned aerial vehicle according to another aspect of the present invention includes a housing; A sensor built into or provided in the housing; A plurality of propellers connected to the housing; a navigation circuit that provides rotational force to at least one propeller among the plurality of propellers; a processor built into the housing and electrically connected to the camera, sensor, and navigation circuit; and a memory electrically connected to the processor built in the housing, wherein the memory includes: a first command, executed by the processor, for checking a state of holding the housing using the sensor; a second command to determine whether the housing has been thrown by a user using the sensor; a third command that uses the sensor to detect motion for a specified period of time after being thrown by the user; a fourth command for selecting one mode from a plurality of modes using the detected motion; and storing a fifth command for controlling the navigation circuit that drives the plurality of propellers in the selected mode.

According to various embodiments of the present invention, an unmanned aerial vehicle can be driven in various modes.

According to various embodiments of the present invention, when taking images through an unmanned aircraft, the unmanned aircraft can be moved without adjustment by the user.

1 is a configuration diagram illustrating an unmanned flying vehicle system according to various embodiments of the present invention.
Figure 2 is a diagram showing the external appearance of an unmanned flying vehicle according to various embodiments of the present invention.
Figure 3 is a configuration diagram showing an unmanned flying vehicle according to various embodiments of the present invention.
Figure 4a is a conceptual diagram of an attitude orientation reference system (AHRS) according to various embodiments of the present invention.
Figure 4b is a graph showing output signals of an attitude direction reference device according to various embodiments of the present invention.
5A to 5C are diagrams illustrating flight states of an unmanned aerial vehicle for each drive mode according to various embodiments of the present invention.
FIG. 6A is a diagram for explaining the rotation radius in the first mode according to various embodiments of the present invention.
FIG. 6B is a diagram for explaining the moving distance in the second mode according to various embodiments of the present invention.
Figure 7 is a diagram illustrating an unmanned flying vehicle according to various embodiments of the present invention.
FIG. 8 is a diagram illustrating a configuration example of an electronic device according to various embodiments.
FIG. 9 is a diagram illustrating a program module (platform structure) of an electronic device according to various embodiments.
10 and 11 are flowcharts showing a method for controlling an unmanned flying vehicle according to an embodiment of the present invention.

Hereinafter, various embodiments of this document are described with reference to the attached drawings. The examples and terms used herein are not intended to limit the technology described in this document to specific embodiments, and should be understood to include various modifications, equivalents, and/or substitutes for the examples. In connection with the description of the drawings, similar reference numbers may be used for similar components. Singular expressions may include plural expressions, unless the context clearly indicates otherwise. In this document, expressions such as “A or B” or “at least one of A and/or B” may include all possible combinations of the items listed together. Expressions such as “first,” “second,” “first,” or “second,” can modify the corresponding components regardless of order or importance, and are used to distinguish one component from another. It is only used and does not limit the corresponding components. When a component (e.g., a first) component is said to be "connected (functionally or communicatively)" or "connected" to another (e.g., second) component, it means that the component is connected to the other component. It may be connected directly to a component or may be connected through another component (e.g., a third component).

In this document, “configured to” means “suitable for,” “having the ability to,” or “changed to,” depending on the situation, for example, in terms of hardware or software. ," can be used interchangeably with "made to," "capable of," or "designed to." In some contexts, the expression “a device configured to” may mean that the device is “capable of” working with other devices or components. For example, the phrase "processor configured (or set) to perform A, B, and C" refers to a processor dedicated to performing the operations (e.g., an embedded processor), or by executing one or more software programs stored on a memory device. , may refer to a general-purpose processor (e.g., CPU or application processor) capable of performing the corresponding operations.

Electronic devices according to various embodiments of the present document include, for example, smartphones, tablet PCs, mobile phones, video phones, e-book readers, desktop PCs, laptop PCs, netbook computers, workstations, servers, PDAs, and PMPs. (portable multimedia player), MP3 player, medical device, camera, or wearable device. Wearable devices may be accessory (e.g., watches, rings, bracelets, anklets, necklaces, glasses, contact lenses, or head-mounted-device (HMD)), fabric or clothing-integrated (e.g., electronic clothing), In some embodiments, the electronic device may include at least one of body attached (e.g., skin pad or tattoo) or bioimplantable circuitry, for example, a television, a digital video disk (DVD) player, etc. Audio, refrigerator, air conditioner, vacuum cleaner, oven, microwave, washing machine, air purifier, set-top box, home automation control panel, security control panel, media box (e.g. Samsung HomeSync ^TM , Apple TV ^TM , or Google TV ^TM ) , it may include at least one of a game console (e.g., Xbox ^TM , PlayStation ^TM ), an electronic dictionary, an electronic key, a camcorder, or an electronic picture frame.

In another embodiment, the electronic device may include various medical devices (e.g., various portable medical measurement devices (such as blood sugar monitors, heart rate monitors, blood pressure monitors, or body temperature monitors), magnetic resonance angiography (MRA), magnetic resonance imaging (MRI), CT (computed tomography), radiography, or ultrasound, etc.), navigation devices, satellite navigation systems (GNSS (global navigation satellite system)), EDR (event data recorder), FDR (flight data recorder), automobile infotainment devices, marine electronic equipment (e.g. marine navigation devices, gyro compasses, etc.), avionics, security devices, head units for vehicles, industrial or home robots, drones, ATMs at financial institutions, point-of-sale (POS) at stores. of sales), or Internet of Things devices (e.g., light bulbs, various sensors, sprinkler devices, fire alarms, thermostats, street lights, toasters, exercise equipment, hot water tanks, heaters, boilers, etc.). According to some embodiments, the electronic device may be a piece of furniture, a building/structure, or a vehicle, an electronic board, an electronic signature receiving device, a projector, or various measuring devices (e.g., water, electrical, It may include at least one of gas, radio wave measuring equipment, etc.). In various embodiments, the electronic device may be flexible, or may be a combination of two or more of the various devices described above. Electronic devices according to embodiments of this document are not limited to the above-described devices. In this document, the term user may refer to a person using an electronic device or a device (e.g., an artificial intelligence electronic device) using an electronic device.

Figure 1 is a configuration diagram showing an unmanned flying vehicle system according to various embodiments of the present invention, and Figure 2 is a diagram showing the external appearance of an unmanned flying vehicle according to another embodiment of the present invention.

Referring to FIG. 1, an unmanned flying vehicle system 12 according to various embodiments of the present invention may include a remote control device 10 and an unmanned flying vehicle 20.

According to various embodiments, the remote control device 10 may wirelessly transmit a control signal for remotely controlling the unmanned air vehicle 20 according to a user's operation to the unmanned air vehicle 20. The adjustment signal may be a signal that controls the flight, attitude, navigation, etc. of the unmanned aircraft 20. For example, the remote control device 10 may communicate with the unmanned aerial vehicle 20 through infrared communication, radio frequency (RF) communication, Wi-Fi (wireless fidelity) communication, zigBee communication, and Bluetooth (bluetooth). ) communication, laser communication, and UWB (ultra wideband) communication can be communicated using at least one communication method.

According to various embodiments, the remote control device 10 may be a dedicated device (eg, remote controller) for controlling the unmanned flying vehicle 20. Alternatively, the remote control device 10 may be a device in which a first application configured to control the unmanned flying vehicle 20 is installed. For example, the device on which the first application is installed may be various portable devices such as smartphones, portable terminals, tablets, and smart pads.

According to various embodiments, the unmanned flying vehicle 20 may start flying, change its attitude, or change its navigation according to a control signal received from the remote control device 10. For example, the unmanned aircraft 20 controls the motor by generating a signal to move a plurality of propellers based on the control signal received from the remote control device 10, and thus the speed and attitude value pitch (Y) of the unmanned aircraft 20 )/roll(X)/yaw(Z), etc. can be changed. The propeller changes the rotational force of the motor into propulsion, so by controlling the rotational speed of each propeller, the unmanned aerial vehicle 20 can fly in various ways, such as taking off, rotating, changing direction, or flying in a fixed position. You can.

In various embodiments, the unmanned air vehicle 20 may be referred to as a quadcopter (4 propellers), a hexacopter (6 propellers), an octocopter (8 propellers), etc., depending on the number of propellers (or number of rotors). You can. This unmanned aerial vehicle 20 can fly based on two principles: lift/torque. In one embodiment, the unmanned aerial vehicle 20 rotates a portion (e.g., half) of the propeller clockwise (CW) and the remaining portion (e.g., the remaining half) rotates counter clockwise (CCW). It can rotate and fly depending on the command. As another embodiment, the unmanned aircraft 20 can change the direction of the air flow generated by the propeller (rotor) by adjusting the tilting direction of the body, and control the direction of travel by changing the direction of the air flow. You can. For example, the unmanned aircraft 20 reduces the speed of the propeller provided in front of the desired direction and increases the speed of the propeller that drives the propeller provided behind the desired direction, thereby moving in the desired direction. It can be tilted. When the unmanned aircraft 20 is tilted in the direction in which it will proceed, the air not only flows up and down the propeller, but also moves slightly behind the direction in which it will proceed, which causes the unmanned aircraft 20 to form an air layer according to the law of action/reaction. The more you are pushed back, the more you can move forward in the direction you want to proceed.

According to various embodiments, the unmanned flying vehicle 20 may be controlled according to the operation of the remote control device 10 or the user's motion. For example, the unmanned aerial vehicle 20 may be driven in a remote control mode, such as the former, or may be driven in a motion control mode, such as the latter. Each of the control modes may be set by an adjustment signal for selecting the control mode from the remote control device 10 or an input device (eg, button, touch screen, or microphone) mounted on the unmanned aerial vehicle 20.

In various embodiments, the unmanned aerial vehicle 20 may fly according to steering signals from the remote control device 10 when in a remote control mode. For example, the unmanned aircraft 20 determines at least one of the direction of movement, distance of movement, and whether to rotate in response to an adjustment signal received from the remote control device 10, and responds to at least one propeller according to the determined flight conditions. You can control the motor to fly in response to the control signal.

In various embodiments, when the unmanned aerial vehicle 20 is in the motion control mode, the unmanned aerial vehicle 20 may be started by detecting a user's startup instruction motion and driving at least one propeller in response to the startup instruction motion. For example, the start-up instruction motion may be an action in which a user throws the unmanned flying vehicle 20.

In various embodiments, the unmanned aircraft 20 is driven by a user selected by using the grip motion (or housing motion) in which the user holds and moves the unmanned aircraft 20 and the motion before and after the point at which the unmanned aircraft 20 is thrown. The mode can be determined. For example, when a user holds and moves and throws the unmanned flying vehicle 20, at least one information of geomagnetism, angular velocity, and acceleration configured in at least a portion of the unmanned flying vehicle 20 is detected, and at least one information is stored. You can use this to determine the driving mode selected by the user. The driving mode may be, for example, a rotation mode, a selfie mode, etc.

In various embodiments, the unmanned air vehicle 20 determines at least one flight condition of movement direction, movement distance, and rotation in response to the determined drive mode, and operates a motor corresponding to at least one propeller according to the determined flight condition. It can be controlled and flown to correspond to each driving mode. As such, in various embodiments, the drive mode is determined by combining the direction in which the user throws the unmanned aircraft 20, the acceleration, etc., and the motion in which the unmanned aircraft 20 is held and moved, thereby determining the drive mode according to the user's intention. Reliability can be increased.

According to various embodiments, the unmanned flying vehicle 20 is equipped with at least one camera and can photograph a photographing target using the at least one camera. The at least one camera may be installed at a location advantageous for taking pictures when the unmanned air vehicle 20 is flying, for example, in an area that is not obscured by a propeller or the like in the front or front lower part of the unmanned air vehicle 20. In various embodiments, the unmanned aerial vehicle 20 may control at least one camera to correspond to the determined driving mode. The driving mode may be, for example, a first mode (rotation mode), a second mode (first selfie mode), a third mode (second selfie mode), etc. Each driving mode will be described later with reference to FIGS. 3 to 5C.

In the embodiment of FIG. 1 , the unmanned air vehicle 20 is shown as an example in the form of a disk, but the unmanned air vehicle 20 may also be configured in the shape of a helicopter as shown in FIG. 2 . As such, the unmanned flying vehicle 20 can be configured in various forms that can be easily held and thrown by the user.

Figure 3 is a schematic diagram showing the configuration of an unmanned flying vehicle according to various embodiments of the present invention. FIG. 4A is a conceptual diagram of an attitude and heading reference system (AHRS) according to various embodiments of the present invention, and FIG. 4B is a graph showing output signals of the attitude and heading reference system according to various embodiments of the present invention. am.

Referring to FIG. 3, the unmanned flying vehicle 20 according to various embodiments includes a sensor module 100, a camera module 200, a memory 300, a communication module 400, an output module 450, and a motor module 500. ), and may include a processor 600. In various embodiments, some components may be omitted or additional components may be included. Alternatively, in various embodiments, some of the components may be combined to form a single entity, but the functions of the components before combination may be performed in the same manner.

In various embodiments, the unmanned air vehicle 20 is configured in a shape that facilitates flight and can fly according to the rotation of a plurality of propellers rotatably coupled to one area of the housing, such as the top, left and right, etc. The housing may house each component of the unmanned air vehicle 20 or may fix at least a portion of each component.

According to various embodiments, the sensor module 100 includes a gyro sensor, a barometer, an ultrasonic sensor, a magnetic sensor, an acceleration sensor, a proximity sensor, an optical sensor, a grip sensor, and a GPS sensor. It may include at least one of (e.g. 150 in FIG. 7). At least one of the sensors of the sensor module 100 may exist separately from the sensor module 100. For example, the GPS sensor (eg, 150 in FIG. 7) may be provided separately from the sensor module 100 (eg, FIG. 7). Below, each sensor will be explained.

The gyro sensor can measure the three-axis angular velocity of the unmanned flying vehicle 20. The barometer can measure changes in atmospheric pressure and/or atmospheric pressure. The ultrasonic sensor can measure using distance information from the ground. The magnetic sensor is a terrestrial magnetism sensor (compass sensor) and can detect geomagnetic information. The acceleration sensor can measure three-axis acceleration (acceleration information) of the unmanned flying vehicle 20. The proximity sensor can measure the proximity state and distance of an object, and may include an ultrasonic sensor that outputs ultrasonic waves and can measure the distance to the object from a signal reflected from the object. The optical sensor can calculate the current location by recognizing floor topography or patterns. The GPS sensor (eg 150 in FIG. 7) can calculate the current coordinates (x, y, z) of the unmanned flying vehicle 20 using GPS signals.

In various embodiments, the sensor module 100 may include a grip sensor capable of determining at least one of the user's grip, grip position, grip type, grip area, or grip strength. The grip sensor is provided on at least a part of the unmanned air vehicle 20, and when it detects the user's grip, it can output grip information corresponding to the grip area. For example, the grip sensor may be created in the entire area of the unmanned aerial vehicle 20. The grip sensor may be created in at least a portion of the unmanned aerial vehicle 20 where the user mainly grips the unmanned aerial vehicle 20. For example, when the unmanned flying vehicle 20 has a disk shape as shown in FIG. 1, the grip sensor may be created in at least a portion of the area A between the propellers. As shown in FIG. 2 , when the unmanned aerial vehicle 20 has a helicopter shape, the grip sensor may be created in at least a portion of the leg area B of the unmanned aerial vehicle 20 . Detection information (or amount of change in detection information) at the moment when the grip sensor determines that the grip has been released may be used to determine the drive mode of the processor 600 or generate a drive signal.

In various embodiments, sensor module 100 may include an attitude and heading reference system (AHSR). The attitude and orientation reference device may be an inertial sensor or an inertial measurement unit (IMU). As shown in FIG. 4A, the attitude direction reference device includes a gyro sensor, an acceleration sensor, and a magnetic sensor, and can output attitude values (ϕ, θ, ψ) of the unmanned aircraft 20 by fusing the three sensor values. . The attitude values (ϕ, θ, ψ)[deg] may be angles based on x, y, and z according to GPS coordinates. As shown in FIG. 4B, the attitude direction reference device may output the effective angular velocity (rms) and the effective acceleration value of the unmanned flying vehicle 20 in addition to the attitude value.

According to various embodiments, the camera module 200 is mounted on the housing of the unmanned flying vehicle 20 and can capture at least one of a still image, a panoramic image, and a video of a photographing target according to instructions from the processor 600. The camera module 200 may include at least one camera. The camera module 200 is coupled to an angle adjusting unit (e.g., 830 in FIG. 7) that adjusts the angle, and the angle can be adjusted by the angle adjusting unit.

The memory 300 may be volatile memory (eg, RAM, etc.), non-volatile memory (eg, ROM, flash memory, etc.), or a combination thereof. For example, the memory 300 may store commands or data related to at least one component of the unmanned flying vehicle 20 .

According to various embodiments, the memory 300 may include first information for determining each control mode, second information for determining whether the unmanned aircraft 20 will fly, third information for determining the driving mode, and/or Fourth information for controlling the motor module 500, etc. may be stored. Hereinafter, the first to fourth information will be described.

For example, the first information may include a control mode determination value for determining whether the control mode selected by the user is a remote control mode or a motion control mode. The second information may include information for detecting the occurrence of a user's start command. For example, the second information may include a geomagnetic reference value that can determine whether the unmanned flying vehicle 20 falls freely when the user throws the unmanned flying vehicle 20. The third information determines a pattern corresponding to an initial flight value including first reference information for determining a pattern corresponding to a grip motion and at least one of an initial attitude value and an initial acceleration value after flight of the unmanned flying vehicle 20. It may include at least one of the second standard information for: The fourth information may be information about a method of controlling the motor module 500 to control the flight of the unmanned aircraft 20 in response to the flight attitude value and flight distance. The memory 300 may store fifth information (or commands) for controlling a navigation circuit that drives the motor module 500 or a plurality of propellers in the selected driving mode. According to one embodiment, the memory (e.g. memory (300)) may store instructions related to a flight pattern corresponding to the grip motion.

According to various embodiments, the communication module 400 may receive an adjustment signal from the remote control device 10 in a remote control mode, convert the adjustment signal into a form interpretable by the processor 600, and output the adjustment signal. For example, the communication module 400 includes infrared communication, RF (Radio Frequency) communication, Wi-Fi communication, ZigBee communication, Bluetooth communication, laser communication, and UWB (Ultra Wideband). ) It is possible to communicate with the remote control device 10 using at least one communication method during communication. In various embodiments, the communication module 400 transmits information about the flight state of the unmanned aircraft 20 (hereinafter referred to as 'flight state information') received from the processor 600 to a remote control device through at least one communication method. It can be sent to (10).

According to various embodiments, the output module 450 may include at least one of a sound output means and a display. The sound output means may be, for example, a speaker, receiver, earphone, etc. The display may include, for example, a liquid crystal display (LCD), a light-emitting diode (LED) display, an organic light-emitting diode (OLED) display, or a microelectromechanical system (MEMS) display, or an electronic paper display. there is.

According to various embodiments, the motor module 500 (or motor circuit) may include a motor driving unit corresponding to the number of a plurality of propellers. Each motor driving unit can control the driving of each motor at a speed and direction according to instructions from the processor 600 to control the rotation speed and direction of each propeller connected to each motor. For example, the motor driving unit may include at least one of a motor that rotates each propeller and a motor driving circuit that drives the motor.

The processor 600 may include, for example, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, an application specific integrated circuit (ASIC), (Field Programmable Gate Arrays, FPGA), an application processor ( It may include at least one of an AP) and a microprocessor (MPU; microprocessor unit) and may have a plurality of cores. The application processor (AP) can control the camera module 200 or process images of the camera module 200. The microprocessor is provided as many as the number of motor driving units and can output a control signal for controlling the motor driving units in response to a driving signal from the processor 600. Each component of the processor 600 may be a separate hardware module or a software module implemented by at least one processor. For example, the functions performed by each module included in the processor may be performed by one processor or may be performed by separate processors. The processor 600 may execute calculations or data processing related to control and/or communication of at least one other component of the unmanned air vehicle 20.

According to various embodiments, the processor 600 may control the motor module 500 to fly, rotate, maintain an attitude, or move the unmanned aircraft 20. For example, the processor 600 may rotate the unmanned aerial vehicle 20 by controlling the motor module 500 to rotate some of the plurality of propellers clockwise and others counterclockwise. . For another example, the processor 600 controls the motor module 500 to reduce the speed of the propeller provided in front of the direction in which the unmanned aircraft 20 will proceed and increase the speed of the propeller provided in the rear of the direction in which the unmanned aircraft 20 will proceed. Accordingly, the unmanned aircraft 20 can be moved in the direction in which it will travel. For another example, the processor 600 maintains an attitude value that is horizontal to the ground and controls the motor module 500 so that all propellers rotate at the same speed, thereby allowing the unmanned aircraft 20 to fly in place.

According to various embodiments, the processor 600 may confirm the control mode selected by the user using an adjustment signal from the remote control device 10. As another embodiment, the processor 600 may check user input through an input device (not shown) and check the selected control mode. In this case, the unmanned flying vehicle 20 may further include an input device (not shown).

According to various embodiments, if the selected control mode is the remote control mode, the processor 600 may determine whether the unmanned aircraft 20 will fly and flight conditions based on the adjustment signal received from the remote control device 10. For example, upon receiving an adjustment signal indicating flight start from the remote control device 10, the processor 600 can control the motor module 500 to take off the unmanned aircraft 20 from the ground. The processor 600 determines at least one driving variable among the attitude value and speed of the unmanned flying vehicle 20 in response to an adjustment signal from the remote control device 10, and controls the motor module 500 according to the determined driving variable. Accordingly, the unmanned flying vehicle 20 can be flown in response to the adjustment signal. The attitude value may be a variable that determines whether the unmanned air vehicle 20 rotates and its direction of travel. In various embodiments, the processor 600 may transmit information about the flight state of the unmanned aircraft 20 (hereinafter referred to as 'flight state information') to the remote control device 10 through the communication module 400. there is.

According to various embodiments, if the selected mode is a motion control mode, the processor 600 may control the motor module 500 so that the unmanned aircraft 20 flies based on information detected through the sensor module 100. . The processor 600 may drive at least some of the sensors included in the sensor module 100 (hereinafter referred to as first sensors) to detect the driving mode and the user's starting motion in the motion control mode. The first sensors may include at least one of a grip sensor, an acceleration sensor, a gyro sensor, and a magnetic sensor.

According to various embodiments, the processor 600 may check whether the user is holding the unmanned flying vehicle 20 based on the grip information from the grip sensor among the detection information from the first sensors. The grip information may be information capable of detecting whether there is a grip, grip area, grip position, etc. When the user holds the unmanned aircraft 20, the processor 600 can detect grip motion to select a driving mode based on acceleration information from the acceleration sensor and angular velocity information from the gyro sensor 831. . The plurality of grip motions are a combination of motions that move the unmanned flying vehicle 20 in various forms and motions that cover a proximity sensor or camera, and can be very diverse. For example, the plurality of grip motions include a first motion of holding and rotating the unmanned aircraft 20, a second motion of holding the unmanned aircraft 20 and standing it upright, and a third motion of shaking the unmanned aircraft 20 up and down. It can be included.

According to various embodiments, the processor 600 may check a flight pattern (eg, flight condition) corresponding to the detected grip motion among a plurality of first reference information. The plurality of first reference information may be generated by acquiring and combining sensing information (e.g., at least one of geomagnetic information, acceleration information, and angular velocity information) of the sensor module 100 while performing a plurality of grip motions. For example, when the processor 600 detects a first motion in which the unmanned flying vehicle 20 is held and rotated using a grip motion, the processor 600 may determine that the flight pattern is a rotational flight. When the processor 600 detects the second motion of vertically standing the unmanned aircraft 20 using a grip motion, it can confirm that the flight pattern is a horizontal movement flight. When the processor 600 detects the third motion of shaking the unmanned aircraft 20 up and down with a grip motion, the processor 600 can confirm that the flight pattern is a designated movement flight.

According to various embodiments, in addition to the grip motion, the processor 600 may confirm the flight pattern by additionally using information detected by at least one of an image captured using the camera module 200 and a proximity sensor. For example, a fourth motion in which at least one of the camera and the proximity sensor is obscured may be detected along with the first motion of holding and rotating the unmanned flying vehicle 20. When the processor 600 detects the fourth motion information received from at least one of the camera and the proximity sensor together with the first motion information received from the grip sensor, the flight pattern selected by the user is changed to another pattern set in response to the fourth motion. (e.g. elliptical flight). As such, in various embodiments, in addition to the motion of holding and moving the unmanned flying vehicle 20, detection information using other sensors can be additionally used to expand the selection range for the flight pattern.

According to various embodiments, the processor 600 may use detection information from the sensor module 100 to confirm the occurrence of a start-up command motion of a user who wants to start the unmanned flying vehicle 20. For example, when the processor 600 confirms the grip and release of the unmanned flying vehicle 20 using information received from the grip sensor, it may determine that the user's start-instruction motion has occurred. For another example, the processor 600 detects the user's start-up instruction motion when the processor 600 confirms that the unmanned aircraft 20 is released from the grip (released from the hand) from the grip information and then confirms that the geomagnetic change is greater than the designated geomagnetic reference value from the geomagnetic information. can do. For example, the start-up instruction motion may be a motion in which the user throws the unmanned flying vehicle 20 or causes it to fall freely.

According to various embodiments, the processor 600 detects the user's start-up command motion of the unmanned flying vehicle 20 at a first time, or at a second time before or after a certain time (e.g., 1 second) than the first time. Initial flight values including at least one of initial attitude values (ϕ, θ, ψ), displacement, and initial velocity values may be detected. For example, the processor 600 may detect the initial posture value using angular velocity information. The processor 600 may detect at least one of displacement and initial velocity using acceleration information.

According to various embodiments, the processor 600 may confirm a flight pattern corresponding to the initial flight value using second reference information for determining a pattern corresponding to the initial flight value. For example, the processor 600 uses the initial attitude value and displacement (x, y, z coordinate changes) to determine whether the unmanned aircraft 20 is thrown to rotate, horizontally, or upward or downward. You can check it. The processor 600 determines that, if the unmanned aircraft 20 is thrown to rotate, the flight pattern corresponding to the initial flight value is a rotation flight pattern, and if the unmanned aircraft 20 is thrown to perform, the flight pattern corresponding to the initial flight value is confirmed. If the pattern is confirmed to be a horizontal movement pattern, and the unmanned aircraft 20 is thrown upward or downward, it can be confirmed that the flight pattern corresponding to the initial flight value is the designated movement pattern.

According to various embodiments, the processor 600 may determine a driving mode corresponding to the grip motion and the flight pattern corresponding to the initial flight value. The driving mode may be a mode in which at least one of the flight method and camera setting information of the unmanned aircraft 20 is set differently. The flight method may include, for example, at least one of rotation flight, horizontal movement flight, and movement flight to a designated location. The camera setting information may include at least one of composition information, setting information, or environmental information.

5A to 5C are diagrams illustrating the flight form of an unmanned aerial vehicle for each drive mode according to various embodiments of the present invention.

Referring to FIG. 5A , according to one embodiment, the processor 600 may operate in a first mode (rotation mode) based on information received from at least one sensor module 100. For example, after the processor 600 confirms that the flight pattern corresponding to the grip motion is a rotational flight pattern, the change in yaw angle of the unmanned aircraft 20 among the angular velocity information is greater than or equal to the first threshold according to the second reference information. If confirmed, the driving mode can be determined as the first mode (eg, rotation mode). When the processor 600 determines that it is operating in the first mode (rotation mode) based on information received from at least one sensor module 100, the unmanned flying vehicle 20 moves to the first mode based on the reference point C. The motor module 500 can be controlled to rotate while being spaced apart by a distance r1 (or maintaining the first radius). The reference point (C) may be a point at a certain height (e.g., 20 cm) above the tip of the user's head. The certain height may be set through the remote control device 10, may be a default value, or may be determined by the force with which the unmanned flying vehicle 20 is thrown. In the first embodiment, the processor 600 may determine the rotation direction (eg, clockwise or counterclockwise) of the unmanned aerial vehicle 20 depending on whether the yaw angle is a positive or negative value. The processor 600 may perform photography by driving the camera module 200 at a designated point in time, for example, when rotation begins based on a reference point. The processor 600 may control the camera module 200 to track a photographing target (eg, a user) in the first mode.

Referring to FIG. 5B , according to one embodiment, the processor 600 may operate in a second mode (eg, first selfie mode) based on information received from at least one sensor module 100. For example, after the processor 600 confirms that the flight pattern corresponding to the grip motion is a horizontal movement pattern, the change in yaw angle of the unmanned aircraft 20 from the angular velocity information is less than the first threshold and the change in pitch angle is less than the second threshold ( If it is confirmed that it is less than the second standard information, the driving mode can be determined as the second mode. In the second mode, the processor 600 may control the motor module 500 to maintain the position and fly at a first position moved by a second distance in the horizontal direction from the starting position of the unmanned flying vehicle 20. The processor 600 may perform photography by driving the camera module 200 at a designated time, for example, when the camera module 200 has completed moving a certain distance in the horizontal direction. The processor 600 of the unmanned flying vehicle 20 according to one embodiment controls at least a portion of the motor module 500 or at least a portion of the camera module 200 to track and capture a photographed object after completing movement of a certain distance in the horizontal direction. You may be instructed to do so.

The first distance in FIG. 5A and the second distance in FIG. 5B may be determined corresponding to the initial acceleration value of the unmanned flying vehicle 20. This will be described later with reference to FIGS. 6A and 6B.

Referring to FIG. 5C , according to one embodiment, the processor 600 may operate in a third mode (eg, a second selfie mode) based on information received from at least one sensor module 100. For example, after the processor 600 confirms that the flight pattern corresponding to the grip motion is a designated movement pattern, the change in yaw angle of the unmanned aircraft 20 is less than the first threshold and the change in pitch angle is more than the second threshold from the angular velocity information. If this is confirmed, the driving mode can be determined as the third mode (second selfie mode).

In the third mode, the processor 600 may control the motor module 500 so that the unmanned flying vehicle 20 flies at a second position moved by a specified distance d1 and height h1 while maintaining the second position. there is. The specified distance (d1) and height (h1) may be default values stored in the memory 300. Additionally, the specified distance and height may be changeable values input in advance through the remote control device 10 or another device (not shown). For example, after starting the motor module 500 (e.g., point D), the processor 600 determines the current location coordinates (x) based on location information (e.g., GPS coordinates) from a GPS sensor (or optical sensor). , y), and the altitude coordinate (z) can be confirmed using the atmospheric pressure information (or distance information from the ground) from the atmospheric pressure sensor (or ultrasonic sensor). In addition, the processor 600 can control the motor module 500 so that the unmanned aircraft 20 moves by a specified distance (d1) based on the current position coordinates and moves by a specified height (h1) based on altitude coordinates. there is. Alternatively, the processor 600 may control the motor module 500 to move by a specified height (h1) based on altitude coordinates and to move by a specified distance (d1) based on current location coordinates. The processor 600 may perform photography by driving the camera module 200 at a designated point in time, for example, when movement to a designated height and altitude is completed.

According to one embodiment, the processor 600 provides information received from at least one sensor module 100, such as a flight pattern corresponding to a grip motion and a flight instruction motion (e.g., initial attitude value and initial acceleration value). Determining the driving mode using at least one of the patterns may fail. Alternatively, the processor 600 fails to detect the initial flight value for a specified period of time after detecting the flight pattern corresponding to the grip motion, or the initial flight value (initial acceleration and initial angular velocity) or the change in the initial flight value changes to the specified value. It may be less than (e.g. 0). For example, after performing a grip motion, the user can place the unmanned flying vehicle 20 in his hand and hold it without throwing it. At this time, if there is no change in the three-axis acceleration value after being grasped, the processor 600 can confirm that the unmanned aircraft 20 is in the hand and not on the ground. The processor 600 may further use detection information from an ultrasonic sensor (or barometric pressure sensor) to determine whether the device is on the ground or in a hand.

In this case, the processor 600 may control the motor module 500 to move to a second position corresponding to a specified distance and height and fly while maintaining the position. Alternatively, the processor 600 may control the motor module 500 so that the unmanned flying vehicle 20 hovers at a random location, for example, the location where the motor module 500 was started. In the latter case, the user can adjust the position of the waiting unmanned aircraft 20 to a desired position using the remote control device 10. Alternatively, the processor 60 may control the unmanned aircraft 20 not to fly.

In the various embodiments described above, the processor 600 may control the navigation circuit based on fifth information that controls the navigation circuit that drives a plurality of propellers in response to the drive mode in the selected drive mode.

According to various embodiments, the processor 600 determines a motion performed while holding the unmanned aircraft 20 and a motion for flying the unmanned aircraft based on information received from at least one sensor module 100, and the user By determining the drive mode corresponding to the flight pattern according to the user's intention, the user can more accurately identify the flight pattern he or she wants to drive the unmanned aircraft. According to various embodiments, the processor 600 may check the flight pattern using other sensing information (such as grip and captured images) other than motion detection through at least one sensor module 100, thereby providing a flight pattern using motion. Can provide a variety of selections.

According to various embodiments, the processor 600 may determine a driving mode and then guide the determined driving mode through the output module 450. For example, when the flight pattern is confirmed through motion recognition, the processor 600 may provide the determined driving mode to the user through voice, display, vibration, or LED. According to various embodiments, when motion recognition fails, the processor 600 may operate in a default mode or may provide information that motion recognition has failed to the user. For example, after checking the flight pattern with a grip motion, if the initial flight value is less than a specified value, hovering or landing on the ground is performed, or information that motion recognition has failed is provided to the user through the output module 450. can do.

According to various embodiments, the processor 600 configures at least one of composition information, setting information, and environment information (ISO, WB, AF) of the camera included in the camera module 200 according to camera setting information specified for each driving mode. can be controlled.

Referring to Table 1 above, the processor 600 can adjust composition information to correspond to each driving mode (key 1, 2, 3, ¨). For example, the processor 600 may adjust at least one of the angles between the camera module 200 and the unmanned flying vehicle 20 and the photographing target (eg, a user). The processor 600 may adjust the angle between the camera module 200 and the photographing target using an angle adjusting unit (eg, a gimbal module in FIG. 7) included in the camera module 200. The processor 600 may control the motor module 500 to adjust the angle between the unmanned flying vehicle 20 (eg, the center of the camera module 200) and the photographing target. As such, in various embodiments, it is possible to control camera setting information as well as flight conditions of the unmanned aerial vehicle.

Referring to Table 1 above, the processor 600 can adjust the setting information of the camera included in the camera module 200 according to each driving mode. For example, the processor 600 may set the setting information to panorama mode (or video mode) in the first mode. For another example, the processor 600 may control setting information as a full shot in the second mode. The processor 600 may set the setting information to portrait mode in the third mode.

According to various embodiments, the processor 600 operates the motor module 500 so that the unmanned aircraft 20 starts off (e.g., lands) after a specified time in each driving mode or after completion of a specified operation (e.g., shooting). You can control it. For example, the processor 600 may control the motor module 500 so that the unmanned flying vehicle 20 lands after performing rotational flight photography a specified number of times (eg, once) in the first mode. For another example, the processor 600 may control the motor module 500 so that the unmanned aerial vehicle 20 lands when a certain number of shots (eg, once) are completed in the second and third modes.

In various embodiments, the processor 600 moves the unmanned air vehicle 20 to the started position (e.g., the position where the grip is released) in each drive mode after a specified time or after completion of a specified operation to land on the ground. can land on According to one embodiment, the processor 600 sets the motor module 500 to move to the started position in each drive mode after a specified time or after completion of a specified operation and wait until it detects the user's grip. You can control it. To this end, the processor 600 records the starting position (x, y) and altitude (z) in the memory 300 when starting the motor module 500, moves to the recorded position, and uses the grip information based on the grip information. It can fly while maintaining its current position until it detects that it is being held by the user. As such, various embodiments may support a function of stably landing after completing a desired operation in each driving mode.

6A and 6B are diagrams for explaining a moving distance control method according to various embodiments of the present invention. FIG. 6A is a diagram for explaining a turning radius in a first mode according to various embodiments of the present invention, and FIG. 6B is a diagram for explaining a moving distance in a second mode according to various embodiments of the present invention.

Referring to FIG. 6A, even in the first mode, the processor 600 checks the force by which the user throws the unmanned flying vehicle 20 using the 3-axis initial acceleration value, and determines the rotation radius according to the range to which the force belongs as in conditional statement 1 below. (R1~R3, R1<R2<R3) can be determined.

[Conditional statement 1]

if(strength of force < a')

Distance to move = R1

if else(a' ≤ force < b')

Distance to move = R2

else(b' ≤ force)

Distance to travel = R3

Referring to conditional statement 1 above, if the confirmed force is less than a', the processor 600 sets the radius to R1 (short distance, constant) (① in FIG. 6A), and if the confirmed force is more than a' but less than b', , the radius can be set to R2 (middle distance, constant) (② in Figure 6a), and if the confirmed force is more than b', the radius can be set to R3 (far distance, constant) (③ in Figure 6a).

a' and b' in conditional statement 1 may be the same as a and b, or may be set differently from a and b. As described above, the processor 600 may change and set the force range values a' and b' according to at least one of grip information, learned initial acceleration value, and user information.

According to various embodiments, the processor 600 may change and set camera setting information (e.g., focal length) to a short distance, middle distance, or long distance depending on the movement distance and radius. For example, the processor 600 may adjust camera setting information (e.g., composition, angle, or environmental information) according to the moving distance and radius.

In various embodiments, the processor 600 determines the range of the user's force based on the grip area received from the sensor module 100, and when the user flies the unmanned aircraft 20 by considering the determined range of force, the processor 600 determines the range of the user's force. The moving distance of the aircraft 20 can be determined.

Referring to FIG. 6B, the processor 600 uses the 3-axis initial acceleration value in the second mode (e.g., the first selfie mode) to determine the force that the user throws the unmanned aircraft 20, for example, the initial acceleration of the unmanned aircraft 20. You can check the force corresponding to the acceleration value in the direction of travel. The processor 600 may determine the distance to move according to the range to which the confirmed force belongs.

[Conditional sentence 2]

if(strength of force < a)

Distance to move = D1

if else(a ≤ force < b)

Distance to move = D2

else(b ≤ force)

Distance to travel = D3

Referring to conditional statement 2 above, if the confirmed force is less than a, the processor 600 sets the movement distance to D1 (short distance, constant) (① in FIG. 6B), and if the confirmed force is more than a but less than b, the processor 600 sets the movement distance to D1 (short distance, constant). The distance can be set to D2 (middle distance, constant) (② in Figure 6b), and if the confirmed force is more than b, the distance to be moved can be set to D3 (far distance, constant) (③ in Figure 6a).

According to various embodiments, the processor 600 may change and set a and b using at least one of grip information and initial learning acceleration value. For example, the processor 600 may calculate the grip area from the grip information and determine the force range (for children < for adults) a and b corresponding to the grip area. For another example, the processor 600 can learn the initial acceleration value corresponding to the grip area and change settings to A and B for children and adults using the learned force range. In various embodiments, the processor 600 may check user settings (e.g., child, female, male, etc.) entered through the remote control device 10 and change settings a and b to correspond to the user settings.

According to various embodiments, the moving distance (short distance, middle distance, long distance) may be set differently depending on the environment in which the unmanned flying vehicle 20 is driven. For example, the driving environment is set to outdoors through the remote control device 10, or the processor is based on information collected from the sensor module 100 (e.g., an illuminance sensor or an ultrasonic sensor, etc.) of the unmanned air vehicle 20. If 600 determines that the location is outdoors, the processor 600 may set the remote distance to 10 m. For another example, the driving environment is set to indoor through the remote control device 10, or the processor 600 sets the driving environment to indoor based on information collected from the sensor module 100 of the unmanned air vehicle 20. If determined, the processor 600 may set the remote distance to 5m. The point at which the processor 600 determines whether it is outdoors or indoors may be performed when the environment changes (for example, when moving from indoors to outdoors) or when flight begins. The processor 600 can be set to correspond to short distance, middle distance, and long distance.

Figure 7 is a diagram illustrating an unmanned flying vehicle according to various embodiments of the present invention. Since FIG. 7 is a diagram for explaining the board configuration and gimbal function of the unmanned flying vehicle 20, the description in FIG. 7 focuses on components excluding components that overlap with the components described above with FIG. 3. Accordingly, in FIG. 7, components that perform the same or similar functions as those in FIG. 3 are given the same figure numbers.

Referring to FIG. 7, the unmanned flying vehicle 20 according to various embodiments may include a plurality of printed circuit boards (hereinafter referred to as 'boards'), for example, first to third boards 810, 820, and 830. there is. The first to third boards 810, 820, and 830 can each mount the following components.

According to various embodiments, the first substrate 810 includes most components of the unmanned aircraft 20, such as the sensor module 100, memory 300, communication module 400, motor module 500, and processor ( 600) and power block 700 can be mounted. For example, the power block 700 includes a battery 710 that supplies power to the unmanned flying vehicle 20 and a power converter 720 that changes the power level of the battery 710 to the driving power of other components. It can be included.

According to one embodiment, the processor 600 may include an application processor (AP), a microprocessor unit (MPU), or a micro controller unit (MCU).

According to various embodiments, the second substrate 820 may mount the camera module 200. The camera module 200 may be tilt controlled by the gimbal control module 832. In various embodiments, the second board 820 and the third board 830 are composed of FPCBs, and each can be connected to the first board 810 through at least one connector 811.

According to various embodiments, the third substrate 830 may include a sensor 831, a gimbal control module 832, a motor driving module 833 (or a motor driving circuit), and a motor 834. Below, each driving element will be described.

The sensor 831 may include a gyro sensor and an acceleration sensor. The motor 834 may include a roll motor that moves the camera module 200 in the roll direction and a pitch motor that moves the camera module 200 in the pitch direction. The roll direction and pitch direction may be the same as the roll direction and pitch direction of the unmanned aerial vehicle 20. The motor driving module 833 may control at least one motor 834 (eg, a roll motor, a pitch motor) according to a control signal from the gimbal control module 832. The gimbal control module 832 may analyze at least one of the angular velocity and acceleration information received from the sensor 831 and generate compensation data according to the movement of the unmanned flying vehicle 20 based on the analysis result. Compensation data may be data for controlling at least a portion of the pitch or roll of the camera module 200. The gimbal control module 832 may generate a control signal for the motor driving module 833 based on compensation data and drive at least one motor 834 according to the control signal. The gimbal control module 832 compensates for the roll and pitch of the camera module 200 so as to offset the rotational movement of the unmanned air vehicle 20, so that the camera module 200 is maintained regardless of the movement of the unmanned air vehicle 20. It can be controlled to have this constant slope. Accordingly, in various embodiments, the camera module 200 is maintained in an upright state even when the unmanned flying vehicle 20 moves, for example, rotates, and can stably capture images.

In the above-described embodiment, the case where the motor 834 includes a roll motor and a pitch motor has been described as an example. However, unlike this, the motor 834 may further include a yaw motor. Gimbal control module 832 may be included in processor 600. Alternatively, the first to third substrates 810, 820, and 830 according to the above-described embodiment may be composed of one substrate. Components provided on the first to third substrates 810, 820, and 830 may be located on different substrates.

FIG. 8 is a diagram illustrating a configuration example of an electronic device according to various embodiments. In FIG. 8, an unmanned aerial vehicle (UAV)/drone is described as an electronic device 900.

The electronic device 900 (e.g., unmanned aerial vehicle 20) includes one or more processors 910 (e.g., AP), communication module 920, interface 955, input device 950, sensor module 940, It may include a memory 930, an audio module 980, an indicator 997, a power management module 995, a battery 996, a camera module 971, and a movement control module 960, and a gimbal module 970. ) may further be included.

The processor 910 (e.g., 600 in FIG. 3) may control a number of hardware or software components connected to the processor 910 by running, for example, an operating system or application program, and perform various data processing and calculations. It can be done. The processor 910 may run an operating system or application program to generate a flight command for the electronic device 900. For example, the processor 910 may generate a movement command using data received from the camera module 971, sensor module 940, or communication module 920.

The processor 910 can generate a movement command by calculating the relative distance of the acquired subject, can generate an altitude movement command of the unmanned imaging device using the vertical coordinates of the subject, and can generate an altitude movement command of the unmanned imaging device using the horizontal coordinates of the subject. Horizontal and azimuth commands can be generated.

The communication module 920 (eg, 400 in FIG. 3) may include, for example, a cellular module, a WiFi module, a Bluetooth module, a GNSS module, an NFC module, and an RF module. The communication module 920 according to various embodiments of the present invention receives control signals from the electronic device 900 and transmits status information and image data information of the electronic device 900 to an external electronic device (e.g., remote control device 10). Can be transmitted. The RF module can transmit and receive communication signals (e.g., RF signals). The RF module may include, for example, a transceiver, a power amp module (PAM), a frequency filter, a low noise amplifier (LNA), or an antenna. The GNSS module can output location information (longitude, latitude, altitude, GPS speed, GPS heading) such as latitude, longitude, altitude, speed, and heading information while the electronic device 900 is moving. Location information can be calculated by measuring accurate time and distance through the GNSS module. The GNSS module can obtain not only latitude, longitude, and altitude positions, but also accurate time along with 3D speed information. The electronic device 900 according to one embodiment may transmit information for checking the real-time movement status of the electronic device 900 to a remote control device (eg, 10) through the communication module 920.

The interface 955 is a device for inputting and outputting data with other electronic devices. For example, using USB or an optical interface, RS-232, or RJ45, commands or data input from another external device can be transmitted to other component(s) of the electronic device 900, or Commands or data received from other component(s) may be output to the user or other external device.

The input device 950 may include, for example, a touch panel, a key, or an ultrasonic input device 950. The touch panel may use at least one of, for example, a capacitive type, a resistive type, an infrared type, or an ultrasonic type. Additionally, the touch panel may further include a control circuit. Keys may include, for example, physical buttons, optical keys, or keypads. The ultrasonic input device can detect ultrasonic waves generated from an input tool through a microphone and check data corresponding to the detected ultrasonic waves. Control input of the electronic device 900 may be received through the input device 950. For example, when the physical power key is pressed, the electronic device 900 may be turned off.

The sensor module 940 (e.g., 100 in FIG. 3) is a gesture sensor capable of detecting the motion and/or gesture of a subject, and a gyro sensor capable of measuring the angular velocity of a flying unmanned imaging device. , a barometer capable of measuring changes in atmospheric pressure and/or atmospheric pressure, a magnetic sensor capable of measuring the Earth's magnetic field (terrestrial magnetism sensor, compass sensor), and the acceleration of the flying electronic device 900. An acceleration sensor that measures the proximity state and distance of an object (including an ultrasonic sensor that outputs ultrasonic waves and can measure the distance by measuring the signal reflected from the object), An optical sensor (OFS, optical flow) that can calculate location by recognizing floor topography or patterns, a biometric sensor for user authentication, and a temperature/humidity sensor (temperature-humidity) that can measure temperature and humidity. sensor), an illuminance sensor capable of measuring illuminance, and a UV (ultra violet) sensor capable of measuring ultraviolet rays. The sensor module 940 according to various embodiments may calculate the posture of the electronic device 900. The posture information of the electronic device 900 can be shared with the movement module control.

The memory 930 (eg, 300 in FIG. 3) may include internal memory and external memory. Commands or data related to at least one other component of the electronic device 900 may be stored. The memory 930 may store software and/or programs. A program may include a kernel, middleware, an application programming interface (API), and/or an application program (or “application”).

The audio module 980 (eg, 450 in FIG. 3) can, for example, convert sound and electrical signals in two directions. It may include speakers and microphones, and can process input or output sound information.

The indicator 997 (e.g., 450 in FIG. 3) may display a specific state, such as an operating state or a charging state, of the electronic device 900 or a part thereof (e.g., the processor 910). Alternatively, the flight status and operation mode of the electronic device 900 may be displayed.

The power management module 995 may manage power of the electronic device 900, for example. According to one embodiment, the power management module 995 may include a power management integrated circuit (PMIC), a charging IC, or a battery 996 or a fuel gauge. PMIC may have wired and/or wireless charging methods. The wireless charging method includes, for example, a magnetic resonance method, a magnetic induction method, or an electromagnetic wave method, and may further include an additional circuit for wireless charging, for example, a coil loop, a resonance circuit, or a rectifier. there is. The battery 996 gauge may, for example, measure the remaining amount of the battery 996, voltage, current, or temperature during charging.

Battery 996 may include, for example, rechargeable cells and/or solar cells.

The camera module 971 (eg, 200 in FIG. 3) may be configured in the electronic device 900 or, if the electronic device includes a gimbal, in the gimbal module 970. The camera module 971 may include a lens, an image sensor, an image processor, and a camera control unit. The camera control unit can adjust the composition and/or camera angle (shooting angle) with the subject by adjusting the up, down, left, and right angles of the camera lens based on the composition information and/or camera control information output from the processor 910. The image sensor may include a row driver, a pixel array, and a column driver. The image processing unit may include an image pre-processing unit, an image post-processing unit, a still image codec, a video codec, etc. The image processing unit may be included in the processor 910. The camera control unit can control focusing and tracking.

The camera module 971 can perform a shooting operation in driving mode. The camera module 971 may be affected by the movement of the electronic device 900. In order to minimize changes in shooting of the camera module 971 due to movement of the electronic device 900, it may be located on the gimbal module 970.

The movement control module 960 (eg, 600 and 500 in FIG. 3) may control the posture and movement of the electronic device 900 using the location and posture information of the electronic device 900. The movement control module 960 can control the roll, pitch, yaw, throttle, etc. of the electronic device 900 according to the acquired position and posture information. The movement control module controls autonomous flight movements based on hovering flight movements and autonomous flight commands (distance movement, altitude movement horizontal and azimuth commands, etc.) provided to the processor 910, and controls flight movements according to received user input commands. can do. For example, the mobile module may be a quadcopter and may include a plurality of mobile control modules (MPUs, microprocessor units), motor drive modules, motor modules, and propellers. The movement control module (MPU) may output control data to rotate the propeller in response to flight motion control. The motor driving module may convert motor control data corresponding to the output of the movement control module into a driving signal and output it. The motors may control the rotation of the corresponding propeller based on the driving signal from the corresponding motor driving module.

The gimbal module 970 (e.g., 831, 832, and 833 in FIG. 7) may include, for example, a gimbal control module 974, a sensor 972, a motor drive module 973, and a motor 975. The gimbal module 970 may include a camera module 971. The gimbal module 970 may generate compensation data according to the movement of the electronic device 900. Compensation data may be data for controlling at least a portion of the pitch, roll, or yaw of the camera module 971. For example, the roll motor, pitch motor, and yaw motor 975 may compensate for the roll, pitch, and yaw angle of the camera module 971 according to the movement of the electronic device 900. The camera module 971 is mounted on a gimbal module to offset movement due to rotation (e.g., pitch and roll) of the electronic device 900 (e.g., multicopter), thereby maintaining the upright position of the camera module 971. It can be stabilized. The gimbal module 970 can capture stable images by maintaining a constant tilt of the camera module 971 regardless of the movement of the electronic device 900. Gimbal control module 974 may include a sensor module 974 that includes a gyro sensor and an acceleration sensor. The gimbal control module 974 may generate a control signal for the motor driving module 973 and drive the motor 975 by analyzing measured values of sensors including a gyro sensor and an acceleration sensor.

FIG. 9 is a diagram illustrating a program module (platform structure) of an electronic device according to various embodiments.

An electronic device (eg, electronic device 900) may include an application platform and a flight platform. The electronic device 900 wirelessly receives control signals from an external electronic device (e.g., remote control device 10) and controls flight according to an application platform and navigation algorithm for driving and providing services to the electronic device 900. It may include at least one flight platform, etc.

The application platform may perform connectivity, image control, sensor control, charging control, or operation change according to a user application of the components of the electronic device 900. The application platform may run on a processor (e.g., processor 910). The flight platform may execute the flight, attitude control, and navigation algorithms of the electronic device 900. The flight platform may run on processor 910 or movement control module 960.

The application platform can transmit control signals to the flight platform while performing communication, video, sensor, and charging control.

According to various embodiments, the processor 910 may acquire an image of a photographed subject through the camera module 971. The processor 910 may analyze the acquired image and generate a command for flight control of the electronic device 900. For example, the processor 910 may generate size information, movement state, relative distance and altitude between the photographing device and the subject, and azimuth information of the acquired subject. Using the calculated information, a follow control signal for the electronic device 900 can be generated. The flight platform can control the movement control module based on the received control signal to fly the electronic device 900 (control the attitude and movement of the electronic device).

According to various embodiments, the position, flight attitude, attitude angular velocity, acceleration, etc. of the electronic device 900 may be measured through the sensor module 940 including a GPS module. The output information of the sensor module 940 including the GPS module can be generated and can be basic information of a control signal for navigation/autopilot of an electronic device. Information from barometric sensors that can measure altitude through air pressure differences resulting from the flight of an unmanned imaging device and ultrasonic sensors that perform precise altitude measurements at low altitudes can also be used as basic information. In addition, the control data signal received from the remote controller, the battery status information of the electronic device 900, etc. can also be used as basic information for the control signal.

The electronic device 900 may fly using, for example, a plurality of propellers. The propeller can change the rotational force of the motor into propulsion. Depending on the number of rotors (number of propellers), the electronic device 900 can be called a quadcopter if it has 4 rotors, a hexacopter if it has 6 rotors, and an octocopter if it has 8 rotors.

The electronic device 900 can control the propeller based on the received control signal. Electronic devices can fly on two principles: lift/torque. For rotation, the electronic device 900 can rotate half of the multi-propeller clockwise (CW) and half counterclockwise (CCW). The 3D coordinates of the drone's flight can be determined by pitch(Y)/roll(X)/yaw(Z). The electronic device can fly by tilting back and forth/right and left. Tilting the electronic device 900 may change the direction of the air flow generated in the propeller module (rotor). For example, if the electronic device 900 leans forward, air may not only flow up and down but also go out slightly behind. As a result, the electronic device 900 allows the gas to move forward according to the law of action/reaction as the air layer is pushed back. The electronic device 900 can be tilted by reducing the speed in the front direction and increasing the speed in the rear direction. Since this method is common to all directions, the electronic device 900 can be tilted and moved only by controlling the speed of the motor module (rotor).

The electronic device 900 receives the steering signal generated from the application platform from the flight platform and controls the motor module to control and move the pitch(Y)/roll(X)/yaw(Z) of the electronic device 900. Flight control can be performed according to the route.

The unmanned air vehicle (e.g., 20) includes a housing, at least one sensor built in or provided in the housing, a camera built in or provided in the housing, a plurality of propellers connected to the housing, and a rotational force to at least one propeller of the plurality of propellers. a motor module that provides a motor module, which is built into the housing and includes at least one processor electrically connected to the sensor and the motor module and a memory electrically connected to the processor, wherein the processor Detecting the motion of the housing in the housing grip state using sensing information, determining a drive mode related to flight of the housing using the detected motion of the housing, and controlling the motor module according to the determined drive mode. instructions; and storing instructions for controlling camera setting information for the camera to correspond to the driving mode.

The sensor includes: a first sensor for detecting whether the user is holding the hand; and a second sensor that detects at least one of geomagnetism, angular velocity, and acceleration.

The instructions include: the processor confirms a flight pattern corresponding to the motion of the housing using first reference information, and determines the initial attitude value and initial attitude before or after releasing the grip on the housing using second reference information. A flight pattern corresponding to an initial flight value including at least one of the acceleration values is confirmed, and a drive mode corresponding to the motion of the housing and the flight pattern corresponding to the initial flight value is determined.

The unmanned aircraft further includes a proximity sensor, and the instructions cause the processor to use the first reference information to determine a flight pattern corresponding to the motion of the housing and information from at least one of the camera and the proximity sensor. It is characterized by

The instructions are characterized in that the processor controls the processor to hover at a specified height and altitude or not to fly if there is no change in the initial flight value even after waiting for a specified time after releasing the grip on the housing.

The instructions are characterized in that the processor controls the motor module to move to and hover at a designated location and altitude if a flight pattern corresponding to the motion of the housing or a flight pattern corresponding to the initial flight value is not confirmed.

The instructions are such that the processor causes the unmanned aerial vehicle to rotate and fly in a flight pattern according to the motion of the housing, and when the processor detects that the change in the yaw angle of the unmanned aerial vehicle from the initial flight value is greater than a first threshold, the unmanned aerial vehicle is configured to rotate. The motor module is controlled to rotate based on a reference point.

The instructions are such that the processor causes the flight pattern according to the motion of the housing to move the unmanned aerial vehicle horizontally to fly, and the change in yaw angle from the initial flight value is less than a first threshold and the pitch angle is less than a second threshold. When detected, the motor module is controlled to maintain the position at which the unmanned air vehicle has moved a certain distance.

The instructions are characterized in that the processor determines a distance to move the unmanned aerial vehicle in response to the driving mode by considering the user's power corresponding to the initial flight value.

The instructions allow the processor to determine a grip area based on grip information from the sensor, determine a plurality of comparison variables to be compared with the user's force based on the grip area, and determine the user's force and the plurality of comparison variables. The comparison variable is compared to determine one of a plurality of designated distances as the moving distance.

The instructions allow the processor to move the motor module to a position where the motor module is started or to a grip release point after a designated time in the drive mode, after completion of a designated drive, or after a designated number of shots using the camera, and to fly the motor module while maintaining its attitude. It is characterized by controlling the module.

According to various embodiments, the device further includes an output module including at least one of a display, a speaker, and an LED, and the instructions allow the processor to guide the determined driving mode through the output module.

The camera setting information is characterized in that it includes at least one of composition information, setting information, and environmental information.

The unmanned flying vehicle 20 according to various embodiments of the present invention includes a housing, a sensor built or provided in the housing, a plurality of propellers connected to the housing, a navigation circuit that provides rotational force to at least one propeller of the plurality of propellers, It may include a processor built in the housing and electrically connected to the camera, sensor, and navigation circuit, and a memory electrically connected to the processor built in the housing. The memory may store first to fifth instructions executed by the processor. The first command may be a command for checking the housing grip state using the sensor. The second command may be a command to check whether the housing has been thrown by the user using the sensor. The third command may be a command to detect motion for a specified period of time after being thrown by the user using the sensor. The fourth command may be a command for selecting one mode from a plurality of modes using the detected motion. The fifth command may be a command for controlling the navigation circuit that drives the plurality of propellers in the selected mode.

The sensor may include at least one of a geomagnetic sensor, an angular velocity sensor, and an acceleration sensor. The sensor may further include a capacitive sensor provided in the housing.

The unmanned air vehicle according to various embodiments further includes at least one camera provided in the housing, and the plurality of modes include a first mode of flying the unmanned air vehicle in a preselected pattern through an external user interface of the unmanned air vehicle, A second mode in which the unmanned aerial vehicle primarily flies horizontally while the camera tracks the target, and a third mode in which the unmanned aerial vehicle rotates around the target while the camera tracks the target.

In an unmanned aerial vehicle according to various embodiments, if the detected motion is mainly static, the selected mode is the first mode, if the detected motion is mainly horizontal, the selected mode is the second mode, and the detected If the motion is at least partially circular, the selected mode may be a third mode.

Figure 10 is a flowchart showing a method for controlling an unmanned flying vehicle according to an embodiment of the present invention.

In operation 1010, a processor (eg, 600) may recognize a grip using sensing information (eg, grip area) from a sensor module (eg, 100, 150). For example, the processor (eg, 600) may recognize the grip using the determination result from the grip sensor.

In operation 1020, the processor (eg, 600) may collect the amount of change in at least one sensor value while being grasped. For example, the processor (eg, 600) may analyze the amount of change in sensor values from at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor.

In operation 1030, a processor (eg, 600) may recognize grip release using sensing information from a sensor module (eg, 100, 150). For example, the processor (eg, 600) may recognize grip release using the determination result from the grip sensor.

In operation 1040, the processor (eg, 600) may fly or perform a designated operation based on the collected information. For example, the processor (eg, 600) may determine at least one of whether to fly, a flight method, and camera setting information based on the collected information, and may fly in the determined flight method or set the determined camera setting information.

At operation 1010, if the grip is not recognized, at operation 1050, the processor (e.g., 600) determines whether an adjustment signal is received and, if so, determines whether to fly or perform a specified action based on the adjustment signal. You can.

Figure 11 is a flowchart showing a method for controlling an unmanned flying vehicle according to an embodiment of the present invention.

Referring to FIG. 11, in operation 1105, a processor (eg, processor 600) may check whether the motion control mode is in motion control mode. The processor 600 determines the control mode by checking a signal from a remote control device (e.g., remote control device 10), operation of a switch provided on the unmanned air vehicle (e.g., unmanned air vehicle 20), or a user's voice input. You can check.

In operation 1110, when in the motion control mode, the processor 600 instructs at least one sensor included in the sensor module (e.g., the sensor module 100) to operate, and the sensor Sensing information from the module 100 may be analyzed. In operation 1110, the processor 600 may detect a motion (grip motion) performed by the user to hold the unmanned flying vehicle 20 and select a driving mode from the sensing information. The grip motion includes, for example, a first motion of holding and rotating the unmanned air vehicle 20, a second motion of holding the unmanned air vehicle 20 and standing it upright, and shaking the unmanned air vehicle 20 up and down. It can be diverse, such as the third motion.

At operation 1115, the processor 600 may confirm a flight pattern corresponding to the grip motion. For example, when the processor 600 detects the first motion as a grip motion, it can confirm that the flight pattern is a rotational flight. When the processor 600 detects the second motion through the grip motion, it can confirm that the flight pattern is a horizontal movement flight. When the processor 600 detects the third motion through the grip motion, it can confirm that the flight pattern is a designated movement flight.

In operation 1120, the processor 600 may check whether the user's start-up instruction motion occurs based on the sensing information. For example, if the processor 600 confirms that the grip release (release of the hand) of the unmanned aircraft 20 from the grip information and then confirms that the geomagnetic change is greater than the designated geomagnetic reference value from the geomagnetic information, the start-up instruction motion occurs. It can be judged that For example, the start-up command motion may be a motion in which the user throws the unmanned flying vehicle 20 or causes it to fall freely.

In operation 1125, the processor 600 creates a flight pattern based on the detection information at the time when the user's start-up instruction motion is detected (the first time) or at the second time before or after a certain amount of time (e.g., 1 second) before or after the first time. can confirm. The processor 600 may check the flight pattern selected by the user using at least one of the initial attitude value (ϕ, θ, ψ), displacement, and initial velocity value of the unmanned air vehicle 20. For example, the processor 600 uses the initial attitude value and displacement to determine whether the unmanned aircraft 20 is thrown at a rotation angle - for example, whether the change in yaw angle according to the initial attitude value is greater than or equal to the first threshold - in the horizontal direction. You can check whether it was thrown downwards or upwards. The processor 600 determines that the selected flight pattern is a rotational flight pattern if the unmanned vehicle 20 is thrown to rotate, and determines that the selected flight pattern is a horizontal movement pattern if the unmanned vehicle 20 is thrown in a horizontal direction. If the flying object 20 is thrown upward or downward, the selected flight pattern can be confirmed to be the designated movement pattern. The processor 600 may detect an initial posture value using angular velocity information and detect a displacement using acceleration information.

In operation 1130, the processor 600 may determine the driving mode using the grip motion and the flight pattern corresponding to the initial flight value. For example, after the processor 600 confirms that the flight pattern corresponding to the grip motion is a rotational flight pattern, the processor 600 determines that the amount of change in the sensor value of the sensor module 100 (e.g., change in yaw angle) is greater than or equal to the first threshold. If confirmed, the driving mode can be determined as the first mode. For another example, if the processor 600 confirms that the flight pattern corresponding to the grip motion is a horizontal movement pattern and then confirms from the angular velocity information that the amount of change in the sensor value is less than the first threshold and the change in the vertical direction is less than the second threshold, The driving mode may be determined as the second mode. For another example, after confirming that the flight pattern corresponding to the grip motion is a designated movement pattern, the processor 600 determines that the amount of change in the sensor value is less than the first threshold and the change in the vertical direction is more than the second threshold, can be determined as the third mode. In various embodiments, the processor 600 generates a force range value a according to at least one of grip information (e.g., grip area), learned initial acceleration value, and user information in each driving mode, as in the conditional statements 1 and 2 described above. b can be set, and the turning radius or moving distance of the unmanned flying vehicle 20 can be determined according to the range to which the force according to the initial acceleration value belongs. The processor 600 may change and set camera setting information (e.g., focal length) to a short distance, middle distance, or long distance depending on the movement distance and radius.

In operation 1135, if the determined driving mode is the first mode, in operation 1140, the processor 600 operates a motor module (e.g., motor module 500) so that the unmanned aircraft 20 rotates and flies based on the reference point. ) can be controlled. The processor 600 performs shooting by driving a camera module (e.g., camera module 200) at a designated point in time (e.g., at a certain time interval or a certain rotational position, etc.) in the first mode, but the camera module 200 is the shooting target. You can control tracking (e.g. users). For example, the processor 600 may control the angle of the camera module 200 so that the camera module 200 maintains a specified angle with respect to the photographing target during rotational flight in the first mode.

In operation 1145, if the determined driving mode is the second mode, in operation 1150, the processor 600 configures the motor module to maintain the position of the unmanned aircraft 20 at a position that has moved horizontally a certain distance based on the reference point. (500) can be controlled. The processor 600 may control camera setting information in the second mode. In the second mode, the processor 600 may control the angle of the camera module 200 so that the camera module 200 is at a designated angle with respect to the photographing target.

In operation 1155, the processor 600 may switch to the third mode if at least one flight pattern is not confirmed. The processor 600 may control the motor module 500 so that the unmanned flying vehicle 20 moves at a specified distance and height in the third mode. The specified distance and height may be default values stored in memory (e.g., memory 300), or may be values set by the remote control device 10, etc.

In operation 1160, the processor 600 may maintain the first to third modes for a designated time or until the designated operation is completed. For example, in the first mode, the processor 600 controls the motor module 500 to perform rotational flight a specified number of times (e.g., once) or for a specified time (e.g., 1 minute), and performs the rotational flight. The camera module 200 can be controlled so that filming continues during operation. For another example, the processor 600 may control the motor module 500 so that the unmanned aerial vehicle 20 lands when one shot is completed in the second and third modes.

If it is confirmed that the control mode selected by the user is the remote control mode in operation 1110, the processor 600 may control the motor module 500 in response to the adjustment signal from the remote control device 10 in operation 1165.

In FIG. 11 , the processor 600 determines the remote control mode and the motion control mode, and then the processor 600 controls each control mode separately. However, unlike this, the processor 600 may automatically be driven in the remote control mode and motion control mode without separately determining the control mode.

A method of controlling an unmanned aircraft using at least one processor according to an embodiment of the present invention includes detecting motion of the housing in a housing grip state using a sensor, and controlling the housing to fly using the sensed motion of the housing. It is characterized by comprising an operation of determining a related drive mode and an operation of controlling at least one propeller among a plurality of propellers of the unmanned air vehicle according to the determined drive mode.

The determining operation includes an operation of checking a flight pattern corresponding to the motion of the housing using designated first reference information, an initial attitude value before or after releasing the grip on the housing using designated second reference information, and An operation of confirming a flight pattern corresponding to an initial flight value including at least one of the initial acceleration values, and an operation of determining a drive mode corresponding to the motion of the housing and the flight pattern confirmed in the initial flight value. do.

Above, the configuration of the present invention has been described in detail with reference to the accompanying drawings, but this is merely an example, and those skilled in the art will be able to make various modifications and changes within the scope of the technical idea of the present invention. Of course this is possible. Therefore, the scope of protection of the present invention should not be limited to the above-described embodiments, but should be determined by the description of the claims below.

Claims (20)

In the unmanned flying device,
housing;
One or more sensors built into or provided in the housing;
A camera built into or provided in the housing;
A plurality of propellers connected to the housing;
a motor module providing rotational force to at least one propeller among the plurality of propellers;
a processor built into the housing and electrically connected to the one or more sensor and motor modules; and
Includes a memory electrically connected to the processor,
The memory, the processor,
Detecting motion of the housing in a holding state of the housing using detection information from the one or more sensors,
A flight pattern is created using first reference information corresponding to the detected motion of the housing and second reference information corresponding to an initial flight value including at least one of an initial attitude value and an initial acceleration value after release of the grip state. Check,
determine a drive mode associated with flight of the housing corresponding to the flight pattern;
Control the motor module according to the determined driving mode,
Storing instructions for controlling camera setting information for the camera to correspond to the driving mode,
The processor executes the instructions,
If the detected motion of the housing indicates rotational flight and the change in the yaw angle of the unmanned flying device detected from the initial flight value is less than or equal to a first threshold, the motor module is controlled so that the unmanned flying device rotates based on the reference point. do,
If the detected motion of the housing indicates horizontal movement flight, and the change in the yaw angle of the unmanned flying device detected from the initial flight value is less than the first threshold and the pitch angle is less than the second threshold, the unmanned flying device is constant An unmanned flying device characterized in that the motor module is controlled to maintain a position in a position that has moved a distance. In claim 1, wherein the one or more sensors:
A first sensor for detecting whether the user is holding a grip; and
An unmanned flying device comprising a second sensor that detects at least one of geomagnetism, angular velocity, and acceleration. delete In paragraph 1:
Further comprising a proximity sensor, wherein the instructions include the processor,
An unmanned flying device characterized in that, using the first reference information, a flight pattern corresponding to the motion of the housing and information from at least one of the camera and the proximity sensor is confirmed. delete In claim 1, the instructions are such that the processor,
If the flight pattern is not confirmed, the unmanned flying device is configured to control the motor module to move to a designated location and hover at the designated location. delete delete In claim 1, the instructions are such that the processor,
An unmanned flying device characterized in that the distance to be moved by the unmanned flying device is determined in response to the driving mode in consideration of the user's power corresponding to the initial flight value. In claim 9, the instructions are such that the processor,
Determine a grip area based on grip information from the one or more sensors, determine a plurality of comparison variables to be compared with the user's force based on the grip area, and compare the user's strength with the plurality of comparison variables. An unmanned flying device characterized in that one of a plurality of designated distances is determined as the moving distance. In claim 1, the instructions are such that the processor,
After a designated time in the drive mode, after completion of the designated drive, or after a designated number of shots using the camera, the motor module is controlled to move to the starting position or grip release point and fly while maintaining the attitude. Unmanned flying device. In paragraph 1:
further comprising an output module including at least one of a display, a speaker, and an LED;
The instructions are for causing the processor to guide the determined driving mode through the output module. delete delete delete housing;
A sensor built into or provided in the housing;
A plurality of propellers connected to the housing;
a navigation circuit that provides rotational force to at least one propeller among the plurality of propellers;
a camera provided in the housing;
a processor built into the housing and electrically connected to the camera, sensor, and navigation circuit; and
Includes a memory electrically connected to the processor built in the housing,
The memory is executed by the processor,
a first command for checking a gripping state of the housing using the sensor;
a second command to determine whether the housing has been thrown by a user using the sensor;
a third command that detects motion for a specified period of time after being thrown by the user using the sensor;
a fourth command for selecting one mode from a plurality of modes using the detected motion; and
storing a fifth command for controlling the navigation circuit driving the plurality of propellers in the selected mode,
The plurality of modes include a first mode in which the unmanned aerial vehicle flies in a pre-selected pattern through an external user interface of the unmanned aerial vehicle, a second mode in which the unmanned aerial vehicle flies horizontally while the camera tracks an object, and the camera a third mode in which the unmanned aerial vehicle rotates around the object while tracking the object;
If the detected motion is static, the selected mode is the first mode,
If the detected motion is horizontal, the selected mode is the second mode,
If the detected motion is at least partially circular, the selected mode is the third mode.
delete delete delete delete

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