WO2016172882A1 - Procédé, appareil et système de commande de panoramique et d'inclinaison - Google Patents

Procédé, appareil et système de commande de panoramique et d'inclinaison Download PDF

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Publication number
WO2016172882A1
WO2016172882A1 PCT/CN2015/077809 CN2015077809W WO2016172882A1 WO 2016172882 A1 WO2016172882 A1 WO 2016172882A1 CN 2015077809 W CN2015077809 W CN 2015077809W WO 2016172882 A1 WO2016172882 A1 WO 2016172882A1
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WO
WIPO (PCT)
Prior art keywords
remote control
pan
tilt
control signal
communication device
Prior art date
Application number
PCT/CN2015/077809
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English (en)
Chinese (zh)
Inventor
郭海
官治良
张冬军
张志薇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2015/077809 priority Critical patent/WO2016172882A1/fr
Priority to CN201580002778.9A priority patent/CN105830129A/zh
Publication of WO2016172882A1 publication Critical patent/WO2016172882A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • G—PHYSICS
    • G08—SIGNALLING
    • G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
    • G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications

Definitions

  • the invention relates to a cloud platform, and in particular to a cloud platform control method, device and system.
  • the gimbal is a support table for carrying loads to keep the load stable.
  • the pan/tilt includes communication devices for communicating with the remote control device to control the pan/tilt.
  • the traditional cloud platform can only achieve one-to-one matching between its communication equipment and remote control equipment. That is, one remote controller can only control one cloud platform at the same time, and multiple remote control devices cannot simultaneously control the same cloud platform, which makes the cloud platform There are restrictions on the use of certain application scenarios.
  • a pan/tilt control method includes: establishing a communication connection with a plurality of remote control devices; and when receiving a remote control signal from the remote control device, if the remote control signal satisfies a control condition, according to control data in the remote control signal Control the pan/tilt.
  • a pan/tilt control device comprising: a communication module, configured to establish a communication connection with a plurality of remote control devices; and a control module, configured to: when receiving a remote control signal from the remote control device, if the remote control signal satisfies a control condition And controlling the pan/tilt according to the control data in the remote control signal.
  • a pan/tilt control system includes a plurality of remote control devices and a pan/tilt, wherein: each remote control device is configured to control the pan/tilt; the pan/tilt is used to establish a communication connection with each remote control device when receiving When the remote control signal from the remote control device is reached, if the remote control signal satisfies the control condition, the pan/tilt is controlled according to the control data in the remote control signal.
  • the invention solves the limitation that the traditional pan/tilt can only realize the one-to-one remote control receiving, and realizes the control of the single pan/tilt by the plurality of remote control devices.
  • FIG. 1 is a block diagram of a preferred embodiment of a pan/tilt control system of the present invention.
  • Figure 2 is a schematic diagram of a gimbal.
  • FIG. 3 is a functional block diagram of the pan/tilt control device of FIG. 1.
  • FIG. 4 is a flow chart of a preferred embodiment of the pan/tilt control method of the present invention.
  • PTZ control system 1 Yuntai 2 Remote control device 3 PTZ control device 20 communication device twenty one Controller twenty two Storage device twenty three Setting module 200 Communication module 201 Control module 202 Determination unit 2020 control unit 2021
  • the pan/tilt control system 1 includes a pan/tilt 2 and a plurality of remote control devices 3 that are installed and run in the pan/tilt 2.
  • the pan/tilt 2 comprises a communication device 21, which communicates with the plurality of remote control devices 3 via wireless signals.
  • Each remote control device 3 is operated by an operator.
  • the pan/tilt control device 20 is configured to implement multi-point control of the pan/tilt 2 by the plurality of remote control devices 3.
  • the control of the pan/tilt 2 by the remote control device 3 may include controlling relative movements of the components of the pan-tilt 2, controlling relative movement of a load (eg, a camera) carried by the pan-tilt 2, for example, causing the load
  • the direction is changed around the heading axis, the pitch axis, and/or the roll axis with respect to a fixed reference coordinate system.
  • the remote control device 3 can also control other functions of the load. For example, if the load is a camera, the remote control device 3 can cause the camera to perform remote power on or off, picture reduction or enlargement, light balance control, shutter speed control, shooting mode control, or control of any other type of camera function.
  • the pan/tilt head 2 is a three-axis pan/tilt head, as shown in FIG. 2 .
  • the three-axis pan/tilt can rotate the load (the load in FIG. 2 as a camera) about a heading axis, a pitch axis, and/or a roll axis.
  • the pan/tilt 2 can be hand-held or mounted on any fixed or moving object.
  • the pan/tilt 2 is mounted on an aircraft (eg, an unmanned aerial vehicle).
  • the remote control device 3 may be any type of device used to control the pan/tilt 2.
  • the remote control device may be a mobile device, such as a smart phone, a tablet computer, a notebook computer, a personal digital assistant, a wearable device (such as glasses, a wristband, an armband, a glove, a helmet, a pendant) or any Other types of mobile devices.
  • the pan/tilt 2 also includes a controller 22 and a storage device 23.
  • the controller 22 is configured to execute and process various types of commands and data of the pan/tilt 2.
  • the storage device 23 is configured to store various types of data of the pan/tilt 2. In other embodiments, the storage device 23 may be a memory external to the PTZ 2 .
  • the pan/tilt control device 20 can be divided into one or more modules (see FIG. 2), which are stored in the storage device 23 and are controlled by one or more controllers (this embodiment is A controller 22) is executed to implement the present invention.
  • the pan/tilt control device 20 includes a setting module 200, a communication module 201, and a control module 202.
  • the setting module 200 is configured to set a control priority of the remote control device 3.
  • the pan/tilt 2 is controlled using three remote control devices 3 (referred to as a first remote control device, a second remote control device, and a third remote control device), the first remote control device having a higher control priority than the second remote control The device, the second remote control device has a higher control priority than the third remote control device.
  • the communication module 201 is configured to establish a communication connection between the communication device 21 and the plurality of remote control devices 3.
  • the communication module 201 sets the frequency hopping period of the communication device 21 to T, and corresponding to each remote control device 3, sets a frequency point of the communication device 21, according to the set communication device 21
  • the frequency hopping period controls the communication device 21 to perform frequency hopping, and each frequency hopping causes the communication device 21 to jump to the same frequency point with one of the remote control devices 3 to establish the communication device during the frequency hopping period. 21 and a communication connection between the remote control device 3.
  • the frequency hopping period of the remote control device 3 may be NT, where N is the number of the remote control devices 3.
  • the frequency hopping periods of the three remote control devices 3 are both 3T.
  • the communication module 201 corresponds to each remote control device 3, and sets a frequency point of the communication device 21 and a duration of stay at each frequency point, according to the set communication device 21
  • the duration of the stay at a frequency point controls the communication device 21 to perform frequency hopping, and each frequency hopping causes the communication device 21 to jump to the same frequency point with one of the remote control devices 3 to establish the said duration within the corresponding stay duration
  • the communication device 21 sets the first frequency point and the second frequency point corresponding to the first remote control device, at the first frequency point and the second frequency.
  • the communication device 21 stays for a first time period (for example, 1 s); corresponding to the second remote control device, the third frequency point and the fourth frequency point are set, and at the third frequency point and the fourth frequency point, the communication device 21 stays at the third The second time length (for example, 3 s) is set.
  • the third frequency point and the sixth frequency point are set corresponding to the third remote control device.
  • the communication device 21 stays for the third time length (for example, 5 s). That is to say, the frequency point switching of the communication device 21 (and the remote control device 3) may be aperiodic, and the duration of the stay of the communication device 21 at each frequency point may be a default value or may be set by the user.
  • the duration of the stay of the communication device 21 at different frequency points may be the same or different.
  • the duration of the stay of the communication device 21 at the first frequency point and the second frequency point may be the same or different.
  • the frequency points of the remote control device 3 are included in the frequency points of the communication device 21, and the different remote control devices 3 do not have the same frequency point.
  • the communication device 21 includes a first frequency point, a second frequency point, a third frequency point, a fourth frequency point, and a fifth frequency point.
  • the sixth frequency point the first remote control device includes the first frequency point and the second frequency point, and the second remote control device includes the third frequency point and the fourth frequency point, and the third remote control device
  • the fifth frequency point and the sixth frequency point are included.
  • Each frequency point corresponds to one channel, which is the center frequency of the channel.
  • the control module 202 is configured to, when receiving the remote control signal from the remote control device 3, control the pan/tilt 2 according to the control data in the remote control signal if the remote control signal satisfies the control condition.
  • the control module 202 can control the remote control device 3 to send control data to the communication device 21 after frequency hopping. That is, after the frequency hopping occurs in a remote control device 3, the remote control device 3 that controls the frequency hopping is controlled to transmit control data to the communication device 21 at the frequency point after the frequency hopping.
  • the communication device 21 and the remote control device 3 jump to the same frequency point, the communication device 21 is in an active transmission state, and the remote control device 3 is in a passive transmission state.
  • the remote control device 3 transmits control data to the communication device 21 after receiving a data transmission request from the communication device 21.
  • the following describes how the communication device 21 and the remote control device 3 frequency hop and how the remote control device 3 transmits control data to the communication device 21 by using the three remote control devices 3 to control the pan/tilt 2 as an example.
  • the communication device 21 and the first remote control device jump to the frequency point F(n) (e.g., the first frequency point).
  • the communication device 21 transmits a data transmission request request1 to the first remote control device.
  • the first remote control device After receiving the data transmission request request1, the first remote control device returns control data Ack data1 to the communication device 21 at the frequency point F(n).
  • the communication device 21 and the second remote control device jump to the frequency point F(n+1) (e.g., the third frequency point).
  • the communication device 21 transmits a data transmission request request2 to the second remote control device.
  • the second remote control device After receiving the data transmission request request2, the second remote control device returns control data Ack data2 to the communication device 21 at the frequency point F(n+1).
  • the communication device 21 and the third remote control device jump to the frequency point F(n+2) (e.g., the fifth frequency point).
  • the communication device 21 transmits a data transmission request request3 to the third remote control device.
  • the third remote control device After receiving the data transmission request request3, the third remote control device returns control data Ack data3 to the communication device 21 at the frequency point F(n+2).
  • the control module 202 determines whether each received remote control signal satisfies the control condition according to the set control priority, and satisfies the control.
  • the conditional remote control signal is analyzed, and the pan/tilt 2 is controlled based on the control data in the remote control signal obtained by the analysis.
  • control module 202 can include a determining unit 2020 and a control unit 2021.
  • the determining unit 2020 is configured to determine, according to the remote control device identifier carried in each remote control signal, the control priority of the remote control device corresponding to each remote control signal when receiving the remote control signal from the remote control device 3
  • the remote control signal in which the control priority is the highest is determined as a remote control signal that satisfies the control condition.
  • the control unit 2021 is configured to analyze the remote control signal that satisfies the control condition, and control the pan/tilt 2 according to the control data in the remote control signal obtained by the analysis.
  • the three remote control devices 3 are used to control the pan/tilt
  • the first remote control device has the highest control priority
  • the remote control signal received from the first remote control device satisfies a control condition, and controls the pan/tilt 2 based on control data in a remote control signal received from the first remote control device.
  • FIG. 4 there is shown a flow chart of a preferred embodiment of the pan/tilt control method of the present invention.
  • the method is used to implement control of a single pan/tilt by a plurality of remote control devices.
  • the pan/tilt includes a communication device that communicates with the plurality of remote control devices via wireless signals.
  • the method of the embodiment of the present invention can be implemented by the above-mentioned pan/tilt control device.
  • the order of the steps in the flowchart may be changed according to different requirements, and some steps may be omitted.
  • Step S401 the setting module sets a control priority of the remote control device.
  • the pan/tilt is controlled by using three remote control devices (referred to as a first remote control device, a second remote control device, and a third remote control device), and the first remote control device has a higher control priority than the second remote control device.
  • the second remote control device has a higher control priority than the third remote control device.
  • Step S402 the communication module establishes a communication connection between the communication device and the plurality of remote control devices.
  • the communication module sets the frequency hopping period of the communication device to T, and corresponding to each remote control device, sets a frequency point of the communication device, and controls according to the set frequency hopping period of the communication device.
  • the communication device performs frequency hopping, and each frequency hopping causes the communication device to jump to the same frequency point with one of the remote control devices to establish a communication between the communication device and the remote control device during the frequency hopping period Communication connection.
  • the frequency hopping period of the remote control device may be NT, where N is the number of the remote control devices. For example, in the above example in which the pan/tilt is controlled using three remote control devices, the frequency hopping periods of the three remote control devices are both 3T.
  • the communication module corresponds to each remote control device, and sets a frequency point of the communication device and a duration of stay at each frequency point, according to the set communication device at each frequency point.
  • the duration of the stay controls the communication device to perform frequency hopping, and each frequency hopping causes the communication device to jump to the same frequency point with one of the remote control devices to establish the communication device and the remote control device within a corresponding stay duration Communication between the connections.
  • the communication device sets the first frequency point and the second frequency point corresponding to the first remote control device, and at the first frequency point and the second frequency point, The communication device stays for a first time period (for example, 1 s); corresponding to the second remote control device, the third frequency point and the fourth frequency point are set, and at the third frequency point and the fourth frequency point, the communication device stays for a second time (for example, 3s) Corresponding to the third remote control device, the fifth frequency point and the sixth frequency point are set, and at the fifth frequency point and the sixth frequency point, the communication device stays for a third time period (for example, 5s).
  • a first time period for example, 1 s
  • the third frequency point and the fourth frequency point are set
  • the communication device stays for a second time (for example, 3s)
  • the fifth frequency point and the sixth frequency point are set, and at the fifth frequency point and the sixth frequency point
  • the communication device stays for a third time period (for example, 5s).
  • the frequency point switching of the communication device may be aperiodic, and the duration of the stay of the communication device at each frequency point may be a default value or may be set by the user. It should be noted that, corresponding to the same remote control device, the duration of the stay of the communication device at different frequency points may be the same or different. For example, corresponding to the first remote control device, the length of time that the communication device stays at the first frequency point and the second frequency point may be the same or different.
  • Step S403 the control module receives a remote control signal from the plurality of remote control devices.
  • the control module may control the remote control device to send control data to the communication device after frequency hopping. That is to say, after the frequency hopping occurs in a remote control device, the remote control device that controls the frequency hopping is sent to the communication device at the frequency point after the frequency hopping.
  • the communication device is in an active transmission state, and the remote control device is in a passive transmission state. That is, the remote control device transmits control data to the communication device after receiving a data transmission request from the communication device.
  • the following describes how to use the three remote control devices to control the pan/tilt to explain how the communication device and the remote control device frequency hop and how the remote control device sends control data to the communication device.
  • the communication device and the first remote control device jump to frequency point F(n) (e.g., the first frequency point).
  • the communication device transmits a data transmission request request1 to the first remote control device.
  • the first remote control device After receiving the data transmission request request1, the first remote control device returns control data Ack data1 to the communication device at the frequency point F(n).
  • the communication device and the second remote control device jump to the frequency point F(n+1) (e.g., the third frequency point).
  • the communication device transmits a data transmission request request2 to the second remote control device.
  • the second remote control device After receiving the data transmission request request2, the second remote control device returns control data Ack data2 to the communication device at the frequency point F(n+1).
  • the communication device and the third remote control device jump to the frequency point F(n+2) (e.g., the fifth frequency point).
  • the communication device transmits a data transmission request request3 to the third remote control device.
  • the third remote control device After receiving the data transmission request request3, the third remote control device returns control data Ack data3 to the communication device at the frequency point F(n+2).
  • Step S404 the control module determines whether the remote control signal satisfies the control condition. If the remote control signal does not satisfy the control condition, the process returns to step S403.
  • the control module determines whether each received remote control signal satisfies the control condition according to the set control priority, and satisfies the control condition.
  • the remote control signal is analyzed, and the pan/tilt 2 is controlled based on the control data in the remote control signal obtained by the analysis.
  • Determining whether each received remote control signal satisfies the control condition according to the set control priority may include: determining a control priority of the remote control device corresponding to each remote control signal according to the remote control device identifier carried in each received remote control signal The remote control signal in which the control priority is the highest is determined as a remote control signal that satisfies the control condition. For example, in the above example using three remote control devices to control the pan/tilt, if three remote control devices send control data to the communication device, the first remote control device has the highest control priority, then from the The remote control signal received by the first remote control device satisfies the control condition.
  • step S405 the control module controls the pan/tilt based on the control data in the remote control signal. For example, in the above example in which the pan/tilt is controlled using three remote control devices, the remote control signal received from the first remote control device satisfies the control condition, and then according to the control in the remote control signal received from the first remote control device The data controls the pan/tilt.
  • the method steps correspond to corresponding modules and devices in FIG. 1-2.
  • the remote control device can be wirelessly connected to the remote control devices of the plurality of pan/tilt.
  • the same remote control device can be used to simultaneously control the plurality of pan/tilt.
  • the pan/tilt control system can include a remote control device and a plurality of pan/tilt.
  • the remote control device is configured to communicate with the plurality of pan/tilt to simultaneously control the plurality of pan/tilt.
  • Each pan/tilt is configured to control the pan/tilt according to the control data in the remote control signal after receiving the remote control signal sent by the remote control device.
  • the pan/tilt control method provided by the present invention establishes communication between the communication device of the gimbal and the remote control device by means of frequency. After the frequency is successful, when multiple remote control devices simultaneously issue remote control commands, the commands sent by multiple remote control devices are processed according to the control optimization level of each remote control device.
  • the invention solves the limitation that the traditional pan/tilt can only realize the one-to-one remote control receiving, and realizes the control of the single pan/tilt by the plurality of remote control devices.

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  • Engineering & Computer Science (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Selective Calling Equipment (AREA)

Abstract

L'invention concerne un procédé de commande de panoramique et d'inclinaison, comprenant les étapes consistant à : établir une connexion de communication avec une pluralité de dispositifs de commande à distance ; et lors de la réception de signaux de commande à distance à partir des dispositifs de commande à distance, si les signaux de commande à distance satisfont à des conditions de commande, commander, en fonction de données de commande dans les signaux de commande à distance, un panoramique et une inclinaison. La présente invention concerne également un appareil et un système de commande de panoramique-inclinaison. La présente invention permet de réaliser la commande sur un seul système de panoramique et inclinaison au moyen d'une pluralité de dispositifs de commande à distance.
PCT/CN2015/077809 2015-04-29 2015-04-29 Procédé, appareil et système de commande de panoramique et d'inclinaison WO2016172882A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
PCT/CN2015/077809 WO2016172882A1 (fr) 2015-04-29 2015-04-29 Procédé, appareil et système de commande de panoramique et d'inclinaison
CN201580002778.9A CN105830129A (zh) 2015-04-29 2015-04-29 云台控制方法、装置及系统

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PCT/CN2015/077809 WO2016172882A1 (fr) 2015-04-29 2015-04-29 Procédé, appareil et système de commande de panoramique et d'inclinaison

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CN107004343B (zh) * 2016-10-25 2019-09-17 深圳市大疆灵眸科技有限公司 计算机可读介质、跟焦器系统、云台系统、云台、云台的数据传输控制方法及装置
WO2019023887A1 (fr) * 2017-07-31 2019-02-07 深圳市大疆创新科技有限公司 Procédé de rotation de dispositif de panoramique-inclinaison-zoom, dispositif de panoramique-inclinaison-zoom, aéronef, et procédé et système permettant de commander la rotation d'un dispositif de panoramique-inclinaison-zoom
CN108700891B (zh) * 2017-08-30 2022-06-17 深圳市大疆创新科技有限公司 无人机的控制方法、无人机和机器可读存储介质
WO2019127341A1 (fr) * 2017-12-29 2019-07-04 深圳市大疆创新科技有限公司 Procédé et dispositif de commande de panoramique-inclinaison, et support de stockage lisible par ordinateur
CN110603504A (zh) * 2018-07-26 2019-12-20 深圳市大疆创新科技有限公司 多云台的控制方法、装置、无人机、介质及电子设备
WO2020037617A1 (fr) * 2018-08-23 2020-02-27 深圳市大疆创新科技有限公司 Procédé de commande de cardan, cardan et système de commande de cardan
WO2020133474A1 (fr) * 2018-12-29 2020-07-02 华为技术有限公司 Procédé et dispositif de communication
CN109445464B (zh) * 2019-01-08 2021-06-25 深圳市道通智能航空技术股份有限公司 一种飞行控制方法及飞行控制系统
CN115529254A (zh) * 2022-08-30 2022-12-27 河南中光学集团有限公司 一种基于光电转台的协同网络控制方法

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