WO2018010473A1 - Unmanned aerial vehicle cradle head rotation control method based on smart display device - Google Patents
Unmanned aerial vehicle cradle head rotation control method based on smart display device Download PDFInfo
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- WO2018010473A1 WO2018010473A1 PCT/CN2017/082973 CN2017082973W WO2018010473A1 WO 2018010473 A1 WO2018010473 A1 WO 2018010473A1 CN 2017082973 W CN2017082973 W CN 2017082973W WO 2018010473 A1 WO2018010473 A1 WO 2018010473A1
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- angle change
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- 230000033001 locomotion Effects 0.000 claims abstract description 4
- 238000004891 communication Methods 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000000694 effects Effects 0.000 abstract description 2
- 238000003384 imaging method Methods 0.000 description 2
- 239000004984 smart glass Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
Definitions
- the present invention relates to the field of intelligent display devices, and in particular to a method for controlling the rotation of a drone based on an intelligent display device.
- Intelligent display devices are the most popular wearable devices at present, just like smart phones, smart display devices have independent operating systems, and users can install software, games and other software service providers to provide programs through voice or action. Manipulating the functions of adding schedules, map navigation, interacting with friends, taking photos and videos, making video calls with friends, and accessing wireless networks via mobile communication networks.
- the existing smart display device generally changes the posture of the smart display device by swinging the head of the user wearing the smart display device, thereby adjusting the shooting angle of the image capturing device, so as to capture an aerial image satisfactory to the user.
- the existing intelligent display device simply changes the shooting angle of the camera device. If the angle of the shooting angle is too large, the lens of the camera cannot be prevented from being blocked, and the camera device may also capture the drone.
- the tripod which can not capture the image that the user wants, is inconvenient to operate.
- a method for controlling a rotation of a drone based on an intelligent display device including the following steps:
- the step of acquiring the angle change data of the smart display device according to the posture information comprises:
- angle change data includes pitch angle change data, and Navigation angle change data and roll angle change data.
- the step of transmitting the wireless signal to the drone control system comprises:
- the wireless signal is transmitted to the drone control system by an operating frequency of 2.4G.
- the step of converting the angle change data into a wireless signal and transmitting the wireless signal to the drone control system comprises:
- the step of transmitting the wireless signal to the drone control system comprises:
- the wireless signal is transmitted to the drone control system by means of broadcast transmission.
- the method further includes:
- an unmanned aerial platform pan-tilt control method based on an intelligent display device includes the following steps:
- the wireless signal includes a PPM signal converted from multiple PWM signals
- the step of parsing the wireless signal to obtain the corresponding angle change data includes: converting a wireless signal into a PPM signal;
- Demodulating the PWM signal results in angle change data of the smart display device.
- the step of demodulating the PWM signal to obtain angle change data comprises:
- a smart display device-based drone pan-tilt control method includes the following steps:
- the above-described intelligent display device-based drone pan-tilt rotation control method acquires attitude information generated by the mobile device by using an attitude sensor built in the smart display device; and acquires angle change data of the smart display device according to the posture information Converting the angle change data into a wireless signal, and transmitting the wireless signal to a drone control system; the drone control system receives a wireless signal sent by the smart display device; parsing the wireless signal to obtain a The corresponding angle change data is described; the rotation of the UAV pan/tilt motor is driven according to the angle change data to control the rotation of the UAV pan/tilt.
- the intelligent display device-based UAV pan/tilt rotation control method realizes adjusting the camera shooting picture by controlling the rotation of the pan/tilt, avoiding the situation that the camera of the traditional control method is blocked, so that the camera can capture all directions.
- the aerial image optimizes the control method of the intelligent display device for the drone.
- FIG. 1 is a flow chart of a method for controlling a rotation of a drone based on an intelligent display device according to an embodiment of the present invention
- FIG. 2 is a flow chart of a method for controlling the rotation of a drone based on an intelligent display device according to another embodiment of the present invention
- FIG. 3 is a flow chart of a method for controlling the rotation of a drone based on an intelligent display device according to another embodiment of the present invention.
- FIG. 1 is a schematic diagram of a drape control control method based on an intelligent display device according to an embodiment of the present invention, including the following steps:
- Step S101 acquiring posture information generated by the mobile device by using an attitude sensor built in the smart display device;
- the user when the user wears the smart display device on the head, the user causes the smart display device to move by moving the head, and then the posture sensor built in the smart display device can obtain the smart display device movement. ⁇ generated gesture information.
- the attitude sensor in this embodiment may include a gravity accelerometer, a motion sensor such as a gyroscope and the like, and a three-axis accelerometer or a three-axis gyroscope may be selected according to actual needs to obtain no.
- Attitude information such as three-dimensional posture data and orientation data of the human machine.
- Step S102 Acquire, according to the posture information, angle change data of the smart display device.
- the intelligent display device-based UAV pan/tilt rotation control method of the present invention includes:
- the angle change data described in this embodiment may include, but is not limited to, pitch angle change data, yaw angle change data, and roll angle change data, etc., which are used for subsequent steps to provide a rotational orientation of the UAV pan/tilt head. in accordance with.
- Step S103 Convert the angle change data into a wireless signal, and send the wireless signal to the human-machineless control system to control the rotation angle of the UAV pan/tilt.
- the unmanned aerial platform of the embodiment has three rotating shafts, which are respectively used to control the change of the pitch angle, the yaw angle and the roll angle of the drone, and the motor through the pan/tilt is rotated.
- the wireless signal is used to control the rotation of the motor, thereby driving the rotation of the pan/tilt head, controlling the change of the pitch angle of the drone, thereby adjusting the angle of the camera device fixed on the rotating shaft to shoot differently. Angle image of the landscape.
- the smart display device of the present invention can be configured as glasses, that is, smart glasses, so that the user can directly wear the smart glasses at the eye position by rotating the user's head.
- the camera mounted on the UAV pan/tilt can capture a full range of aerial images.
- the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention is configured to control the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
- the step S103 of converting the angle change data into a wireless signal and transmitting the wireless signal to the drone control system may include:
- the angle change data is converted into a wireless signal through a serial communication interface, and the wireless signal is sent to the drone control system to control the rotation of the drone head.
- the intelligent display device-based UAV pan/tilt rotation control method of the present application after receiving the wireless signal, the UAV control system needs to control the UAV pan/tilt by driving the motor to rotate Rotation, therefore, after the UAV control system receives the wireless signal, the wireless signal needs to be processed first, because the wireless signal received by the UAV control system is the RC signal, ie, PPM (Pulse Position)
- Modulation, pulse position modulation) signal, and the PWM (Pulse Width Modulation) signal can be controlled by the pan/tilt motor. This requires converting the PPM signal into a PWM signal and then using P.
- the WM signal drives the motor to rotate, which in turn controls the rotation of the drone.
- the above-described intelligent display device-based drone pan-tilt rotation control method acquires attitude information generated by the mobile device by using an attitude sensor built in the smart display device; and acquires angle change data of the smart display device according to the posture information. Converting the angle change data into a wireless signal, and transmitting the wireless signal to a drone control system to control a rotation angle of the drone head.
- the unmanned aerial platform pan/tilt rotation control method based on the intelligent display device of the present invention realizes adjusting the photographing screen of the camera by controlling the rotation angle of the gimbal, thereby avoiding the situation that the camera of the traditional control method is blocked, so that The camera is capable of capturing a full range of aerial images, optimizing the way the intelligent display device controls the drone.
- the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention is configured to control the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
- the step S103 of transmitting the wireless signal to the drone control system may further include:
- the wireless signal is transmitted to the drone control system by an operating frequency of 2.4G.
- the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention is configured to control the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
- the step of transmitting the wireless signal to the drone control system is S103, which may further include:
- the wireless signal is transmitted to the drone control system by way of broadcast transmission.
- the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention further includes the following steps:
- the intelligent display device-based UAV pan/tilt rotation control of the present invention displays the aerial image captured by the camera device mounted on the unmanned aerial platform to the user through the display module of the smart display device, and gives the user an immersive experience.
- FIG. 2 is a flowchart of a method for controlling a pan/tilt rotation control of an unmanned aerial vehicle based on an intelligent display device according to another embodiment of the present invention, including the following steps:
- Step S201 Receive a wireless signal sent by the smart display device, where the wireless signal includes angle change data of the smart display device;
- Step S202 Parsing the wireless signal to obtain the corresponding angle change data
- the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention is configured to control the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
- the wireless signal includes a PPM signal converted from multiple PWM signals
- the step S202 of parsing the wireless signal to obtain the corresponding angle change data includes
- Demodulating the PWM signal results in angle change data of the smart display device.
- the PPM signal is converted into a PWM signal for driving the motor rotation
- the wireless signal transmitted by the smart display device is received at the unmanned aerial platform
- the obtained wireless signal needs to be parsed through the above steps to obtain angle change data of the intelligent display device, and the drone control system adjusts the rotational orientation of the unmanned aerial platform according to the obtained angle change data, so as to control the unmanned position.
- the camera device on the pan/tilt camera captures an aerial image that meets the requirements; moreover, the camera device also avoids shooting the drone stand when shooting.
- the intelligent display device-based drone pan tilt control method of the present invention the step of demodulating the PWM signal to obtain angle change data includes:
- the angle change data described in this embodiment may include, but is not limited to, pitch angle change data, yaw angle change data, and roll angle change data, etc., for the subsequent steps of providing the rotational orientation of the UAV pan/tilt head. in accordance with.
- Step S203 Driving the rotation of the UAV pan/tilt according to the angle change data, and controlling the rotation angle of the UAV pan/tilt Degree.
- the above-described intelligent display device-based drone pan-tilt rotation control method by receiving a wireless signal transmitted by the smart display device; wherein the wireless signal includes angle change data of the smart display device; Performing analysis to obtain the corresponding angle change data; driving the drone head rotation according to the angle change data, and controlling the rotation angle of the drone head.
- the unmanned aerial platform pan/tilt rotation control method based on the intelligent display device of the present invention realizes adjusting the photographing screen of the camera by controlling the rotation angle of the gimbal, thereby avoiding the situation that the camera of the traditional control method is blocked, so that The camera is capable of capturing a full range of aerial images, optimizing the way the intelligent display device controls the drone.
- FIG. 3 is a flowchart of a method for controlling a pan/tilt rotation control of an unmanned aerial vehicle based on an intelligent display device according to another embodiment of the present invention, including the following steps:
- Step S301 Acquire the posture information generated by the mobile device by using the posture sensor built in the smart display device;
- Step S302 Acquire the angle change data of the smart display device according to the posture information;
- the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention is configured to control the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
- step S302 of acquiring the angle change data of the smart display device according to the posture information includes:
- Step S303 Convert the angle change data into a wireless signal, and send the wireless signal to the human-machineless control system;
- the intelligent display device-based drone pan tilt control method of the present invention the angle change data is converted into a wireless signal, and the wireless signal is sent to an unmanned Step S103 of the machine control system may include:
- the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present application after receiving the wireless signal, the drone control system controls the drone by driving the motor to rotate The pan/tilt rotates. Therefore, after the drone control system receives the wireless signal, the wireless signal needs to be processed first, because the wireless signal received by the drone control system is the modulo signal, that is, PPM (Pulse Position)
- PWM Pulse Width
- the WM signal drives the motor to rotate, which in turn controls the rotation of the drone.
- Step S304 Receive a wireless signal sent by the smart display device, where the wireless signal includes angle change data of the smart display device;
- Step S305 Parsing the wireless signal to obtain the corresponding angle change data
- the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention is configured to control the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
- the wireless signal includes a PPM signal converted from multiple PWM signals
- the step S202 of parsing the wireless signal to obtain the corresponding angle change data includes
- Demodulating the PWM signal results in angle change data of the smart display device.
- the PPM signal is converted into a PWM signal for driving the motor rotation
- the wireless signal transmitted by the smart display device is received at the unmanned aerial platform
- the obtained wireless signal needs to be parsed through the above steps to obtain angle change data of the intelligent display device, and the drone control system adjusts the rotational orientation of the unmanned aerial platform according to the obtained angle change data, so as to control the unmanned position.
- the camera device on the pan/tilt camera captures an aerial image that meets the requirements; moreover, the camera device also avoids shooting the drone stand when shooting.
- the step of demodulating the PWM signal to obtain angle change data includes:
- the angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system is calculated based on the posture information, and angle change data is obtained.
- the angle change data described in this embodiment may include, but is not limited to, pitch angle change data, yaw angle change data, and roll angle change data, etc., and the rotation orientation of the unmanned aerial platform is used for the subsequent steps. For the basis.
- Step S306 The UAV pan/tilt is driven to rotate according to the angle change data, and the rotation angle of the UAV pan/tilt is controlled.
- the drone control system uses the received angle change data to drive the rotation of the UAV pan/tilt motor, thereby controlling the rotation angle of the UAV pan/tilt.
- the intelligent display device-based drone pan/tilt rotation control method of the present invention can communicate with the drone control system by using Bluetooth or WIFI, specifically, the intelligent display device Can use the built-in Bluetooth module to use 2.4G Bluetooth antenna, transmit Bluetooth signal, realize Bluetooth to serial TTL, adopt full-duplex, transparent transmission working mode, UAV control system uses 2. 4G receiving module to receive intelligent display device to send The wireless signal; or the intelligent display device communicates with the drone control system using the built-in WIFI module. Thereafter, the low voltage linear regulator 104 supplies power to the WIFI module.
- the WIFI module operates at a frequency of 2.4 GHz, radiates WIFI signals, implements WIFI to serial TTL, full-duplex, transparent transmission mode, and the drone control system uses a 2.4G receiving module to receive wireless transmissions from the intelligent display device. signal.
- the above-described intelligent display device-based UAV pan/tilt rotation control method acquires attitude information generated by the mobile device by using an attitude sensor built in the smart display device; and acquires angle change data of the smart display device according to the posture information. Converting the angle change data into a wireless signal, and transmitting the wireless signal to a drone control system; the drone control system receives a wireless signal sent by the smart display device; parsing the wireless signal to obtain a Corresponding angle change data; according to angle change The data drives the UAV pan/tilt to control the rotation angle of the UAV pan/tilt.
- the unmanned aerial platform pan/tilt rotation control method based on the intelligent display device of the present invention realizes adjusting the photographing screen of the camera by controlling the rotation angle of the gimbal, thereby avoiding the situation that the camera of the traditional control method is blocked, so that The camera is capable of capturing a full range of aerial images, optimizing the way the intelligent display device controls the drone. Therefore, it has industrial applicability.
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Abstract
An unmanned aerial vehicle cradle head rotation control method based on a smart display device. The method comprises: acquiring, by using an attitude sensor built into a smart display device, attitude information generated during movement; acquiring, according to the attitude information, angle change data of the smart display device; converting the angle change data into a wireless signal, and transmitting the wireless signal to an unmanned aerial vehicle control system to control the rotation of the unmanned aerial vehicle cradle head. According to the described technical solution, the unmanned aerial vehicle cradle head rotation control method based on a smart display device is realized in order to adjust the image capturing perspective of the camera by controlling the rotation of the cradle head, preventing the camera from being blocked when a traditional control method is used. In effect, an omnidirectional aerial image can be shot by the camera, and the control method for the smart display device used for the unmanned aerial vehicle is optimized.
Description
基于智能显示设备的无人机云台转动控制方法 技术领域 UAV pan/tilt rotation control method based on intelligent display device
[0001] 本发明涉及智能显示设备领域, 特别是涉及一种基于智能显示设备的无人机云 台转动控制方法。 [0001] The present invention relates to the field of intelligent display devices, and in particular to a method for controlling the rotation of a drone based on an intelligent display device.
背景技术 Background technique
[0002] 智能显示设备是当下最流行的可穿戴设备, 就像智能手机一样, 智能显示设备 具有独立的操作系统, 可以由用户安装软件、 游戏等软件服务商提供的程序, 可通过语音或动作操控完成添加日程、 地图导航、 与好友互动、 拍摄照片和视 频、 与朋友展幵视频通话等功能, 还可以通过移动通讯网络来实现无线网络的 接入。 [0002] Intelligent display devices are the most popular wearable devices at present, just like smart phones, smart display devices have independent operating systems, and users can install software, games and other software service providers to provide programs through voice or action. Manipulating the functions of adding schedules, map navigation, interacting with friends, taking photos and videos, making video calls with friends, and accessing wireless networks via mobile communication networks.
[0003] 随着无人机技术的日益成熟和价格的平民化, 越来越多的人将智能显示设备和 无人机结合起来进行航拍, 例如通过云台在无人机上搭载摄像机进行拍摄, 摄 像机拍摄的画面还可以通过无线传输模块传输至智能显示设备上, 用户可以很 直观地通过智能显示设备看到摄像机拍摄到的空中图像, 以达到沉浸式的用户 体验。 [0003] With the increasing maturity of drone technology and the civilianization of prices, more and more people are combining intelligent display devices and drones for aerial photography, for example, by using a gimbal to mount cameras on drones. The images captured by the camera can also be transmitted to the intelligent display device through the wireless transmission module, and the user can intuitively see the aerial image captured by the camera through the intelligent display device to achieve an immersive user experience.
[0004] 现有的智能显示设备一般通过戴着智能显示设备的用户摆动头部来改变智能显 示设备的姿态, 进而调整摄像设备的拍摄角度, 以便拍摄用户满意的空中图像 。 但是, 现有的智能显示设备只是简单地改变摄像设备的拍摄角度, 如果拍摄 角度调整幅度过大就无法避免出现摄像机的镜头被遮挡的情况, 有吋还会出现 摄像设备拍摄到无人机的脚架, 这就无法拍摄到用户想要的图像, 操作起来很 不方便。 [0004] The existing smart display device generally changes the posture of the smart display device by swinging the head of the user wearing the smart display device, thereby adjusting the shooting angle of the image capturing device, so as to capture an aerial image satisfactory to the user. However, the existing intelligent display device simply changes the shooting angle of the camera device. If the angle of the shooting angle is too large, the lens of the camera cannot be prevented from being blocked, and the camera device may also capture the drone. The tripod, which can not capture the image that the user wants, is inconvenient to operate.
技术问题 technical problem
[0005] 基于此, 有必要针对现有的智能显示设备操作不方便的技术问题, 提供基于智 能显示设备的无人机云台转动控制方法。 Based on this, it is necessary to provide an unmanned aerial platform pan-tilt control method based on a smart display device in view of the technical problem that the existing smart display device is inconvenient to operate.
问题的解决方案 Problem solution
技术解决方案
[0006] 根据本发明的一个方面, 提供一种基于智能显示设备的无人机云台转动控制方 法, 包括如下步骤: Technical solution [0006] According to an aspect of the present invention, a method for controlling a rotation of a drone based on an intelligent display device is provided, including the following steps:
[0007] 利用智能显示设备内置的姿态传感器获取移动吋产生的姿态信息; [0007] acquiring posture information generated by the mobile device by using an attitude sensor built in the smart display device;
[0008] 根据所述姿态信息获取所述智能显示设备的角度变化数据; Obtaining angle change data of the smart display device according to the posture information;
[0009] 将所述角度变化数据转换为无线信号, 并将所述无线信号发送至无人机控制系 统, 控制无人机云台转动。 And converting the angle change data into a wireless signal, and transmitting the wireless signal to the drone control system to control the drone pan/tilt rotation.
[0010] 优选的, 所述根据所述姿态信息获取所述智能显示设备的角度变化数据的步骤 包括: [0010] Preferably, the step of acquiring the angle change data of the smart display device according to the posture information comprises:
[0011] 根据所述姿态信息计算智能显示设备在所述三维坐标系的 X方向、 Y方向和 Z方 向上夹角, 得到角度变化数据, 其中, 所述角度变化数据包括俯仰角度变化数 据、 偏航角度变化数据和横滚角度变化数据。 [0011] calculating an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information, to obtain angle change data, wherein the angle change data includes pitch angle change data, and Navigation angle change data and roll angle change data.
[0012] 优选的, 所述将所述无线信号发送至无人机控制系统的步骤包括: [0012] Preferably, the step of transmitting the wireless signal to the drone control system comprises:
[0013] 通过 2.4G的工作频率将所述无线信号发送至无人机控制系统。 [0013] The wireless signal is transmitted to the drone control system by an operating frequency of 2.4G.
[0014] 优选的, 所述将所述角度变化数据转换为无线信号, 并将所述无线信号发送至 无人机控制系统的步骤包括: [0014] Preferably, the step of converting the angle change data into a wireless signal and transmitting the wireless signal to the drone control system comprises:
[0015] 通过串口通信接口将所述角度变化数据转换成 PWM信号; [0015] converting the angle change data into a PWM signal through a serial communication interface;
[0016] 将多路 PWM信号转换成 PPM信号, 再将所述 PPM信号转换为无线信号发送至 无人机控制系统。 [0016] Converting the multi-channel PWM signal into a PPM signal, and converting the PPM signal into a wireless signal and transmitting it to the drone control system.
[0017] 优选的, 所述将所述无线信号发送至无人机控制系统的步骤包括: [0017] Preferably, the step of transmitting the wireless signal to the drone control system comprises:
[0018] 通过广播发送的方式将所述无线信号发送至无人机控制系统。 [0018] The wireless signal is transmitted to the drone control system by means of broadcast transmission.
[0019] 优选的, 所述方法还包括: [0019] Preferably, the method further includes:
[0020] 利用智能显示设备内置的通信模块接收搭载在无人机云台上的摄像设备拍摄的 图像, 利用智能显示设备内置的处理器将所述图像进行转换并通过智能显示设 备的显示模块将所述图像显示给用户。 [0020] receiving, by using a communication module built in the smart display device, an image captured by an imaging device mounted on the UAV pan/tilt, converting the image by using a processor built in the smart display device and passing through a display module of the smart display device The image is displayed to the user.
[0021] 根据本发明的另一个方面, 提供的一种基于智能显示设备的无人机云台转动控 制方法, 包括如下步骤: [0021] According to another aspect of the present invention, an unmanned aerial platform pan-tilt control method based on an intelligent display device includes the following steps:
[0022] 接收智能显示设备发送的无线信号; 其中, 所述无线信号包括所述智能显示设 备的角度变化数据;
[0023] 对所述无线信号进行解析, 得到所述对应的角度变化数据; [0022] receiving a wireless signal sent by the smart display device; wherein the wireless signal includes angle change data of the smart display device; [0023] parsing the wireless signal to obtain the corresponding angle change data;
[0024] 根据角度变化数据驱动无人机云台电机转动, 控制无人机云台的转动。 [0024] driving the drone motor to rotate according to the angle change data, and controlling the rotation of the drone head.
[0025] 优选的, 所述无线信号包括由多路 PWM信号转换而成的 PPM信号; [0025] Preferably, the wireless signal includes a PPM signal converted from multiple PWM signals;
[0026] 所述对所述无线信号进行解析, 得到所述对应的角度变化数据的步骤包括: [0027] 将无线信号转换为 PPM信号; [0026] The step of parsing the wireless signal to obtain the corresponding angle change data includes: converting a wireless signal into a PPM signal;
[0028] 将所述 PPM信号拆分为多路 PWM信号; [0028] splitting the PPM signal into multiple PWM signals;
[0029] 解调所述 PWM信号得到智能显示设备的角度变化数据。 [0029] Demodulating the PWM signal results in angle change data of the smart display device.
[0030] 优选的, 所述解调所述 PWM信号得到角度变化数据的步骤包括: [0030] Preferably, the step of demodulating the PWM signal to obtain angle change data comprises:
[0031] 根据所述姿态信息计算在所述三维坐标系的 X方向、 Y方向和 Z方向上夹角, 得 到角度变化数据。 [0031] Calculating an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information, and obtaining angle change data.
[0032] 根据本发明的再一个方面, 提供的一种基于智能显示设备的无人机云台转动控 制方法, 包括如下步骤: [0032] According to still another aspect of the present invention, a smart display device-based drone pan-tilt control method includes the following steps:
[0033] 利用智能显示设备内置的姿态传感器获取移动吋产生的姿态信息; [0033] acquiring posture information generated by the mobile device by using an attitude sensor built in the smart display device;
[0034] 根据所述姿态信息获取所述智能显示设备的角度变化数据; [0034] acquiring angle change data of the smart display device according to the posture information;
[0035] 将所述角度变化数据转换为无线信号, 并将所述无线信号发送至无人机控制系 统; Converting the angle change data into a wireless signal, and transmitting the wireless signal to a drone control system;
[0036] 接收智能显示设备发送的无线信号; 其中, 所述无线信号包括所述智能显示设 备的角度变化数据; [0036] receiving a wireless signal sent by the smart display device; wherein the wireless signal includes angle change data of the smart display device;
[0037] 对所述无线信号进行解析, 得到所述对应的角度变化数据; [0037] parsing the wireless signal to obtain the corresponding angle change data;
发明的有益效果 Advantageous effects of the invention
有益效果 Beneficial effect
[0038] 根据角度变化数据驱动无人机云台转动, 控制无人机云台的转动角度。 [0038] driving the UAV pan/tilt according to the angle change data to control the rotation angle of the UAV pan/tilt.
[0039] 上述基于智能显示设备的无人机云台转动控制方法, 通过利用智能显示设备内 置的姿态传感器获取移动吋产生的姿态信息; 根据所述姿态信息获取所述智能 显示设备的角度变化数据; 将所述角度变化数据转换为无线信号, 并将所述无 线信号发送至无人机控制系统; 无人机控制系统接收智能显示设备发送的无线 信号; 对所述无线信号进行解析, 得到所述对应的角度变化数据; 根据角度变 化数据驱动无人机云台电机转动, 控制无人机云台转动。 通过上述技术方案,
本发明的基于智能显示设备的无人机云台转动控制方法实现通过控制云台的转 动来调整摄像机的拍摄画面, 避免了传统的控制方法的摄像头被遮挡的状况, 使得摄像机能够拍摄到全方位的空中图像, 优化了智能显示设备对无人机的控 制方法。 [0039] The above-described intelligent display device-based drone pan-tilt rotation control method acquires attitude information generated by the mobile device by using an attitude sensor built in the smart display device; and acquires angle change data of the smart display device according to the posture information Converting the angle change data into a wireless signal, and transmitting the wireless signal to a drone control system; the drone control system receives a wireless signal sent by the smart display device; parsing the wireless signal to obtain a The corresponding angle change data is described; the rotation of the UAV pan/tilt motor is driven according to the angle change data to control the rotation of the UAV pan/tilt. Through the above technical solutions, The intelligent display device-based UAV pan/tilt rotation control method realizes adjusting the camera shooting picture by controlling the rotation of the pan/tilt, avoiding the situation that the camera of the traditional control method is blocked, so that the camera can capture all directions. The aerial image optimizes the control method of the intelligent display device for the drone.
对附图的简要说明 Brief description of the drawing
附图说明 DRAWINGS
[0040] 图 1为本发明的一个实施例的基于智能显示设备的无人机云台转动控制方法流 程图; 1 is a flow chart of a method for controlling a rotation of a drone based on an intelligent display device according to an embodiment of the present invention;
[0041] 图 2为本发明的另一个实施例的基于智能显示设备的无人机云台转动控制方法 流程图; 2 is a flow chart of a method for controlling the rotation of a drone based on an intelligent display device according to another embodiment of the present invention;
[0042] 图 3为本发明的另一个实施例的基于智能显示设备的无人机云台转动控制方法 流程图。 3 is a flow chart of a method for controlling the rotation of a drone based on an intelligent display device according to another embodiment of the present invention.
本发明的实施方式 Embodiments of the invention
[0043] 为了更进一步阐述本发明所采取的技术手段及取得的效果, 下面结合附图及较 佳实施例, 对本发明的技术方案, 进行清楚和完整的描述。 The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and preferred embodiments.
[0044] 如图 1所示, 图 1为本发明的一个实施例的基于智能显示设备的无人机云台转动 控制方法, 包括如下步骤: [0044] As shown in FIG. 1, FIG. 1 is a schematic diagram of a drape control control method based on an intelligent display device according to an embodiment of the present invention, including the following steps:
[0045] 步骤 S101 : 利用智能显示设备内置的姿态传感器获取移动吋产生的姿态信息; [0045] Step S101: acquiring posture information generated by the mobile device by using an attitude sensor built in the smart display device;
[0046] 在本步骤中, 当用户将智能显示设备戴在头部, 用户通过移动头部使得智能显 示设备产生移动, 此吋, 智能显示设备内置的姿态传感器就可以实吋获取智能 显示设备移动吋产生的姿态信息。 [0046] In this step, when the user wears the smart display device on the head, the user causes the smart display device to move by moving the head, and then the posture sensor built in the smart display device can obtain the smart display device movement.姿态 generated gesture information.
[0047] 在实际应用中, 本实施例所述的姿态传感器可以包括重力加速度计、 例如陀螺 仪等角速度传感器等运动传感器, 根据实际需要可以选择三轴加速度计或者三 轴陀螺仪等来获取无人机的三维姿态数据和方位数据等姿态信息。 [0047] In an actual application, the attitude sensor in this embodiment may include a gravity accelerometer, a motion sensor such as a gyroscope and the like, and a three-axis accelerometer or a three-axis gyroscope may be selected according to actual needs to obtain no. Attitude information such as three-dimensional posture data and orientation data of the human machine.
[0048] 步骤 S102: 根据所述姿态信息获取所述智能显示设备的角度变化数据; [0048] Step S102: Acquire, according to the posture information, angle change data of the smart display device.
[0049] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法 , 所述根据所述姿态信息获取所述智能显示设备的角度变化数据的步骤 S102包
括: [0049] In one embodiment, the intelligent display device-based UAV pan/tilt rotation control method of the present invention, the step S102 of acquiring the angle change data of the smart display device according to the posture information Includes:
[0050] 根据所述姿态信息计算智能显示设备在所述三维坐标系的 X方向、 Y方向和 Z方 向上夹角, 得到角度变化数据。 [0050] calculating an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information to obtain angle change data.
[0051] 本实施例所述的角度变化数据可以包括但不限于俯仰角度变化数据、 偏航角度 变化数据和横滚角度变化数据等, 用于后续步骤的对无人机云台的转动方位提 供依据。 [0051] The angle change data described in this embodiment may include, but is not limited to, pitch angle change data, yaw angle change data, and roll angle change data, etc., which are used for subsequent steps to provide a rotational orientation of the UAV pan/tilt head. in accordance with.
[0052] 步骤 S103: 将所述角度变化数据转换为无线信号, 并将所述无线信号发送至无 人机控制系统, 控制无人机云台的转动角度。 [0052] Step S103: Convert the angle change data into a wireless signal, and send the wireless signal to the human-machineless control system to control the rotation angle of the UAV pan/tilt.
[0053] 在实际应用中, 本实施例中的无人机云台上有三个转轴, 分别用来控制无人机 的俯仰角、 偏航角和横滚角的变化, 通过云台的电机转动来带动这三个转轴转 动, 在本步骤中, 利用无线信号控制电机转动, 从而带动云台的转轴转动, 控 制无人机俯仰角的变化, 从而调整固定在转轴上的摄像设备角度以拍摄不同的 角度的风景图像。 [0053] In practical applications, the unmanned aerial platform of the embodiment has three rotating shafts, which are respectively used to control the change of the pitch angle, the yaw angle and the roll angle of the drone, and the motor through the pan/tilt is rotated. In order to drive the three shafts to rotate, in this step, the wireless signal is used to control the rotation of the motor, thereby driving the rotation of the pan/tilt head, controlling the change of the pitch angle of the drone, thereby adjusting the angle of the camera device fixed on the rotating shaft to shoot differently. Angle image of the landscape.
[0054] 在实际应用吋, 可以将本发明所述的智能显示设备做成眼镜的结构, 即, 智能 眼镜, 这样用户就可以直接将智能眼镜戴在眼部位置处, 通过转动用户的头部 来控制无人机云台的转动, 进而实现了搭载于无人机云台上的摄像机能够拍摄 到全方位的空中图像。 [0054] In practical applications, the smart display device of the present invention can be configured as glasses, that is, smart glasses, so that the user can directly wear the smart glasses at the eye position by rotating the user's head. To control the rotation of the UAV pan/tilt, the camera mounted on the UAV pan/tilt can capture a full range of aerial images.
[0055] 在实际应用中, 由于摄像机搭载在无人机云台上, 如果单纯地调整摄像机的拍 摄方向, 也容易导致摄像机拍摄到无人机的脚架, 即, 在拍摄到的图像中出现 杂物, 这不利于客户拍摄到满意的图像。 [0055] In practical applications, since the camera is mounted on the unmanned aerial platform, if the camera's shooting direction is simply adjusted, it is easy for the camera to capture the tripod of the drone, that is, appear in the captured image. Miscellaneous, this is not conducive to the customer to take a satisfactory image.
[0056] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法[0056] In one embodiment, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
, 所述将所述角度变化数据转换为无线信号, 并将所述无线信号发送至无人机 控制系统的步骤 S103可以包括: The step S103 of converting the angle change data into a wireless signal and transmitting the wireless signal to the drone control system may include:
[0057] 通过串口通信接口将所述角度变化数据转换成 PWM信号; [0057] converting the angle change data into a PWM signal through a serial communication interface;
[0058] 将多路 PWM信号转换成 PPM信号, 再将所述 PPM信号转换为无线信号发送至 无人机控制系统。 [0058] Converting the multi-channel PWM signal into a PPM signal, and then converting the PPM signal into a wireless signal and transmitting it to the drone control system.
[0059] 在上述实施例中, 通过串口通信接口将所述角度变化数据转换为无线信号, 并 将所述无线信号发送至无人机控制系统, 以控制无人机云台的转动。
[0060] 在实际应用中, 本申请的基于智能显示设备的无人机云台转动控制方法, 无人 机控制系统在接收到无线信号之后, 由于需要通过驱动电机转动来控制无人机 云台转动, 因此, 在无人机控制系统接收到无线信号之后, 需要先对无线信号 进行处理, 这是由于无人机控制系统接收到的无线信号是航模信号, 即, PPM (Pulse Position [0059] In the above embodiment, the angle change data is converted into a wireless signal through a serial communication interface, and the wireless signal is sent to the drone control system to control the rotation of the drone head. [0060] In practical applications, the intelligent display device-based UAV pan/tilt rotation control method of the present application, after receiving the wireless signal, the UAV control system needs to control the UAV pan/tilt by driving the motor to rotate Rotation, therefore, after the UAV control system receives the wireless signal, the wireless signal needs to be processed first, because the wireless signal received by the UAV control system is the RC signal, ie, PPM (Pulse Position)
Modulation, 脉位调制) 信号, 而能够控制云台电机转动的是 PWM (Pulse Width Modulation, 脉宽调制) 信号, 这就需要将 PPM信号转换为 PWM信号, 再利用 P Modulation, pulse position modulation) signal, and the PWM (Pulse Width Modulation) signal can be controlled by the pan/tilt motor. This requires converting the PPM signal into a PWM signal and then using P.
WM信号驱动电机转动, 进而控制无人机云台转动。 The WM signal drives the motor to rotate, which in turn controls the rotation of the drone.
[0061] 上述基于智能显示设备的无人机云台转动控制方法, 通过利用智能显示设备内 置的姿态传感器获取移动吋产生的姿态信息; 根据所述姿态信息获取所述智能 显示设备的角度变化数据; 将所述角度变化数据转换为无线信号, 并将所述无 线信号发送至无人机控制系统控制无人机云台的转动角度。 通过上述技术方案 , 本发明的基于智能显示设备的无人机云台转动控制方法实现通过控制云台的 转动角度来调整摄像机的拍摄画面, 避免了传统的控制方法的摄像头被遮挡的 状况, 使得摄像机能够拍摄到全方位的空中图像, 优化了智能显示设备对无人 机的控制方法。 [0061] The above-described intelligent display device-based drone pan-tilt rotation control method acquires attitude information generated by the mobile device by using an attitude sensor built in the smart display device; and acquires angle change data of the smart display device according to the posture information. Converting the angle change data into a wireless signal, and transmitting the wireless signal to a drone control system to control a rotation angle of the drone head. Through the above technical solution, the unmanned aerial platform pan/tilt rotation control method based on the intelligent display device of the present invention realizes adjusting the photographing screen of the camera by controlling the rotation angle of the gimbal, thereby avoiding the situation that the camera of the traditional control method is blocked, so that The camera is capable of capturing a full range of aerial images, optimizing the way the intelligent display device controls the drone.
[0062] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法 [0062] In one embodiment, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
, 所述将所述无线信号发送至无人机控制系统的步骤 S103还可以包括: The step S103 of transmitting the wireless signal to the drone control system may further include:
[0063] 通过 2.4G的工作频率将所述无线信号发送至无人机控制系统。 [0063] The wireless signal is transmitted to the drone control system by an operating frequency of 2.4G.
[0064] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法[0064] In one embodiment, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
, 所述将所述无线信号发送至无人机控制系统的步骤是 S103还可以包括: The step of transmitting the wireless signal to the drone control system is S103, which may further include:
[0065] 通过广播发送的方式将所述无线信号发送至无人机控制系统。 [0065] The wireless signal is transmitted to the drone control system by way of broadcast transmission.
[0066] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法 , 还包括如下步骤: [0066] In one embodiment, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention further includes the following steps:
[0067] 利用智能显示设备内置的通信模块接收搭载在无人机云台上的摄像设备拍摄的 图像, 利用智能显示设备内置的处理器将所述图像进行转换并通过智能显示设 备的显示模块将所述图像显示给用户。 [0067] receiving, by using a communication module built in the smart display device, an image captured by an imaging device mounted on the unmanned aerial platform, converting the image by using a processor built in the smart display device and passing through a display module of the smart display device The image is displayed to the user.
[0068] 在上述实施例中, 本发明的本发明的基于智能显示设备的无人机云台转动控制
方法, 通过智能显示设备的显示模块向用户显示搭载在无人机云台上的摄像设 备拍摄到的空中图像, 给用户以沉浸式的体验。 [0068] In the above embodiment, the intelligent display device-based UAV pan/tilt rotation control of the present invention The method displays the aerial image captured by the camera device mounted on the unmanned aerial platform to the user through the display module of the smart display device, and gives the user an immersive experience.
[0069] 如图 2所示, 图 2为本发明的另一个实施例的基于智能显示设备的无人机云台转 动控制方法流程图, 包括如下步骤: As shown in FIG. 2, FIG. 2 is a flowchart of a method for controlling a pan/tilt rotation control of an unmanned aerial vehicle based on an intelligent display device according to another embodiment of the present invention, including the following steps:
[0070] 步骤 S201 : 接收智能显示设备发送的无线信号; 其中, 所述无线信号包括所述 智能显示设备的角度变化数据; [0070] Step S201: Receive a wireless signal sent by the smart display device, where the wireless signal includes angle change data of the smart display device;
[0071] 步骤 S202: 对所述无线信号进行解析, 得到所述对应的角度变化数据; [0071] Step S202: Parsing the wireless signal to obtain the corresponding angle change data;
[0072] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法[0072] In one embodiment, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
, 所述无线信号包括由多路 PWM信号转换而成的 PPM信号; The wireless signal includes a PPM signal converted from multiple PWM signals;
[0073] 所述对所述无线信号进行解析, 得到所述对应的角度变化数据的步骤 S202包括 [0073] the step S202 of parsing the wireless signal to obtain the corresponding angle change data includes
[0074] 将无线信号转换为 PPM信号; Converting a wireless signal into a PPM signal;
[0075] 将所述 PPM信号拆分为多路 PWM信号; [0075] splitting the PPM signal into multiple PWM signals;
[0076] 解调所述 PWM信号得到智能显示设备的角度变化数据。 [0076] Demodulating the PWM signal results in angle change data of the smart display device.
[0077] 由于在之前描述智能显示设备一端的执行步骤中, 为了驱动电机转动将 PPM信 号转换为 PWM信号, 而在本实施例中, 在无人机云台接收到智能显示设备发送 的无线信号之后, 需要通过上述步骤将得到的无线信号进行解析, 得到智能显 示设备的角度变化数据, 无人机控制系统根据得到的角度变化数据调整无人机 云台的转动方位, 以便控制搭载在无人机云台上的摄像设备拍摄到符合要求的 空中图像; 而且, 摄像设备在拍摄吋也避免了拍摄到无人机脚架的情况。 [0077] Since in the execution step of describing one end of the smart display device, the PPM signal is converted into a PWM signal for driving the motor rotation, and in the embodiment, the wireless signal transmitted by the smart display device is received at the unmanned aerial platform After that, the obtained wireless signal needs to be parsed through the above steps to obtain angle change data of the intelligent display device, and the drone control system adjusts the rotational orientation of the unmanned aerial platform according to the obtained angle change data, so as to control the unmanned position. The camera device on the pan/tilt camera captures an aerial image that meets the requirements; moreover, the camera device also avoids shooting the drone stand when shooting.
[0078] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法 , 所述解调所述 PWM信号得到角度变化数据的步骤包括: [0078] In one embodiment, the intelligent display device-based drone pan tilt control method of the present invention, the step of demodulating the PWM signal to obtain angle change data includes:
[0079] 根据所述姿态信息计算在所述三维坐标系的 X方向、 Y方向和 Z方向上夹角, 得 到角度变化数据。 [0079] Calculating an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information, and obtaining angle change data.
[0080] 本实施例所述的角度变化数据可以包括但不限于俯仰角度变化数据、 偏航角度 变化数据和横滚角度变化数据等, 用于后续步骤的对无人机云台的转动方位提 供依据。 [0080] The angle change data described in this embodiment may include, but is not limited to, pitch angle change data, yaw angle change data, and roll angle change data, etc., for the subsequent steps of providing the rotational orientation of the UAV pan/tilt head. in accordance with.
[0081] 步骤 S203: 根据角度变化数据驱动无人机云台转动, 控制无人机云台的转动角
度。 [0081] Step S203: Driving the rotation of the UAV pan/tilt according to the angle change data, and controlling the rotation angle of the UAV pan/tilt Degree.
[0082] 上述基于智能显示设备的无人机云台转动控制方法, 通过接收智能显示设备发 送的无线信号; 其中, 所述无线信号包括所述智能显示设备的角度变化数据; 对所述无线信号进行解析, 得到所述对应的角度变化数据; 根据角度变化数据 驱动无人机云台转动, 控制无人机云台的转动角度。 通过上述技术方案, 本发 明的基于智能显示设备的无人机云台转动控制方法实现通过控制云台的转动角 度来调整摄像机的拍摄画面, 避免了传统的控制方法的摄像头被遮挡的状况, 使得摄像机能够拍摄到全方位的空中图像, 优化了智能显示设备对无人机的控 制方法。 [0082] The above-described intelligent display device-based drone pan-tilt rotation control method, by receiving a wireless signal transmitted by the smart display device; wherein the wireless signal includes angle change data of the smart display device; Performing analysis to obtain the corresponding angle change data; driving the drone head rotation according to the angle change data, and controlling the rotation angle of the drone head. Through the above technical solution, the unmanned aerial platform pan/tilt rotation control method based on the intelligent display device of the present invention realizes adjusting the photographing screen of the camera by controlling the rotation angle of the gimbal, thereby avoiding the situation that the camera of the traditional control method is blocked, so that The camera is capable of capturing a full range of aerial images, optimizing the way the intelligent display device controls the drone.
[0083] 如图 3所示, 图 3为本发明的另一个实施例的基于智能显示设备的无人机云台转 动控制方法流程图, 包括如下步骤: As shown in FIG. 3, FIG. 3 is a flowchart of a method for controlling a pan/tilt rotation control of an unmanned aerial vehicle based on an intelligent display device according to another embodiment of the present invention, including the following steps:
[0084] 步骤 S301 : 利用智能显示设备内置的姿态传感器获取移动吋产生的姿态信息; [0085] 步骤 S302: 根据所述姿态信息获取所述智能显示设备的角度变化数据; [0084] Step S301: Acquire the posture information generated by the mobile device by using the posture sensor built in the smart display device; [0085] Step S302: Acquire the angle change data of the smart display device according to the posture information;
[0086] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法[0086] In one embodiment, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
, 所述根据所述姿态信息获取所述智能显示设备的角度变化数据的步骤 S302包 括: And the step S302 of acquiring the angle change data of the smart display device according to the posture information includes:
[0087] 根据所述姿态信息计算智能显示设备在所述三维坐标系的 X方向、 Y方向和 Z方 向上夹角, 得到角度变化数据。 [0087] calculating an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information to obtain angle change data.
[0088] 步骤 S303: 将所述角度变化数据转换为无线信号, 并将所述无线信号发送至无 人机控制系统; [0088] Step S303: Convert the angle change data into a wireless signal, and send the wireless signal to the human-machineless control system;
[0089] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法 , 所述将所述角度变化数据转换为无线信号, 并将所述无线信号发送至无人机 控制系统的步骤 S103可以包括: [0089] In one embodiment, the intelligent display device-based drone pan tilt control method of the present invention, the angle change data is converted into a wireless signal, and the wireless signal is sent to an unmanned Step S103 of the machine control system may include:
[0090] 通过串口通信接口将所述角度变化数据转换成 PWM信号; [0090] converting the angle change data into a PWM signal through a serial communication interface;
[0091] 将多路 PWM信号转换成 PPM信号, 再将所述 PPM信号转换为无线信号发送至 无人机控制系统。 [0091] Converting the multi-channel PWM signal into a PPM signal, and then converting the PPM signal into a wireless signal and transmitting it to the drone control system.
[0092] 在实际应用中, 本申请的基于智能显示设备的无人机云台转动控制方法, 无人 机控制系统在接收到无线信号之后, 由于需要通过驱动电机转动来控制无人机
云台转动, 因此, 在无人机控制系统接收到无线信号之后, 需要先对无线信号 进行处理, 这是由于无人机控制系统接收到的无线信号是航模信号, 即, PPM (Pulse Position [0092] In practical applications, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present application, after receiving the wireless signal, the drone control system controls the drone by driving the motor to rotate The pan/tilt rotates. Therefore, after the drone control system receives the wireless signal, the wireless signal needs to be processed first, because the wireless signal received by the drone control system is the modulo signal, that is, PPM (Pulse Position)
Modulation, 脉位调制) 信号, 而能够控制云台电机转动的是 PWM (Pulse Width Modulation, pulse position modulation) signal, and the ability to control the pan/tilt motor rotation is PWM (Pulse Width)
Modulation, 脉宽调制) 信号, 这就需要将 PPM信号转换为 PWM信号, 再利用 PModulation, pulse width modulation) signal, which needs to convert the PPM signal into a PWM signal, and then use P
WM信号驱动电机转动, 进而控制无人机云台转动。 The WM signal drives the motor to rotate, which in turn controls the rotation of the drone.
[0093] 步骤 S304: 接收智能显示设备发送的无线信号; 其中, 所述无线信号包括所述 智能显示设备的角度变化数据; [0093] Step S304: Receive a wireless signal sent by the smart display device, where the wireless signal includes angle change data of the smart display device;
[0094] 步骤 S305: 对所述无线信号进行解析, 得到所述对应的角度变化数据; [0094] Step S305: Parsing the wireless signal to obtain the corresponding angle change data;
[0095] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法[0095] In one embodiment, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention
, 所述无线信号包括由多路 PWM信号转换而成的 PPM信号; The wireless signal includes a PPM signal converted from multiple PWM signals;
[0096] 所述对所述无线信号进行解析, 得到所述对应的角度变化数据的步骤 S202包括 [0096] the step S202 of parsing the wireless signal to obtain the corresponding angle change data includes
[0097] 将无线信号转换为 PPM信号; Converting a wireless signal into a PPM signal;
[0098] 将所述 PPM信号拆分为多路 PWM信号; [0098] splitting the PPM signal into multiple PWM signals;
[0099] 解调所述 PWM信号得到智能显示设备的角度变化数据。 [0099] Demodulating the PWM signal results in angle change data of the smart display device.
[0100] 由于在之前描述智能显示设备一端的执行步骤中, 为了驱动电机转动将 PPM信 号转换为 PWM信号, 而在本实施例中, 在无人机云台接收到智能显示设备发送 的无线信号之后, 需要通过上述步骤将得到的无线信号进行解析, 得到智能显 示设备的角度变化数据, 无人机控制系统根据得到的角度变化数据调整无人机 云台的转动方位, 以便控制搭载在无人机云台上的摄像设备拍摄到符合要求的 空中图像; 而且, 摄像设备在拍摄吋也避免了拍摄到无人机脚架的情况。 [0100] Since in the execution step of describing one end of the smart display device, the PPM signal is converted into a PWM signal for driving the motor rotation, and in the embodiment, the wireless signal transmitted by the smart display device is received at the unmanned aerial platform After that, the obtained wireless signal needs to be parsed through the above steps to obtain angle change data of the intelligent display device, and the drone control system adjusts the rotational orientation of the unmanned aerial platform according to the obtained angle change data, so as to control the unmanned position. The camera device on the pan/tilt camera captures an aerial image that meets the requirements; moreover, the camera device also avoids shooting the drone stand when shooting.
[0101] 在其中一个实施例中, 本发明的基于智能显示设备的无人机云台转动控制方法 , 所述解调所述 PWM信号得到角度变化数据的步骤包括: [0101] In one embodiment, the intelligent display device-based UAV pan/tilt rotation control method of the present invention, the step of demodulating the PWM signal to obtain angle change data includes:
[0102] 根据所述姿态信息计算在所述三维坐标系的 X方向、 Y方向和 Z方向上夹角, 得 到角度变化数据。 [0102] The angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system is calculated based on the posture information, and angle change data is obtained.
[0103] 本实施例所述的角度变化数据可以包括但不限于俯仰角度变化数据、 偏航角度 变化数据和横滚角度变化数据等, 用于后续步骤的对无人机云台的转动方位提
供依据。 [0103] The angle change data described in this embodiment may include, but is not limited to, pitch angle change data, yaw angle change data, and roll angle change data, etc., and the rotation orientation of the unmanned aerial platform is used for the subsequent steps. For the basis.
[0104] 步骤 S306: 根据角度变化数据驱动无人机云台转动, 控制无人机云台的转动角 度。 [0104] Step S306: The UAV pan/tilt is driven to rotate according to the angle change data, and the rotation angle of the UAV pan/tilt is controlled.
[0105] 在本步骤中, 无人机控制系统利用接收到的角度变化数据驱动无人机云台电机 转动, 进而控制无人机云台的转动角度。 [0105] In this step, the drone control system uses the received angle change data to drive the rotation of the UAV pan/tilt motor, thereby controlling the rotation angle of the UAV pan/tilt.
[0106] 在实际应用中, 本发明的基于智能显示设备的无人机云台转动控制方法, 智能 显示设备可以采用蓝牙或者 WIFI的方式与无人机控制系统进行通信, 具体地, 智能显示设备可以利用内置的蓝牙模块采用 2.4G蓝牙天线, 发射蓝牙信号, 实 现蓝牙转串口 TTL, 采用全双工、 透明传输的工作模式, 无人机控制系统使用 2. 4G的接收模块接收智能显示设备发送的无线信号; 或者智能显示设备利用内置 的 WIFI模块与无人机控制系统进行通信, 此吋, 由低压线性稳压器 104为 WIFI模 块供电。 可选的, WIFI模块的工作频率为 2.4GHz, 辐射 WIFI信号, 实现 WIFI转 串口 TTL, 全双工、 透明传输工作模式, 无人机控制系统使用 2.4G的接收模块接 收智能显示设备发送的无线信号。 [0106] In an actual application, the intelligent display device-based drone pan/tilt rotation control method of the present invention, the intelligent display device can communicate with the drone control system by using Bluetooth or WIFI, specifically, the intelligent display device Can use the built-in Bluetooth module to use 2.4G Bluetooth antenna, transmit Bluetooth signal, realize Bluetooth to serial TTL, adopt full-duplex, transparent transmission working mode, UAV control system uses 2. 4G receiving module to receive intelligent display device to send The wireless signal; or the intelligent display device communicates with the drone control system using the built-in WIFI module. Thereafter, the low voltage linear regulator 104 supplies power to the WIFI module. Optionally, the WIFI module operates at a frequency of 2.4 GHz, radiates WIFI signals, implements WIFI to serial TTL, full-duplex, transparent transmission mode, and the drone control system uses a 2.4G receiving module to receive wireless transmissions from the intelligent display device. signal.
[0107] 以上所述实施例的各技术特征可以进行任意的组合, 为使描述简洁, 未对上述 实施例中的各个技术特征所有可能的组合都进行描述, 然而, 只要这些技术特 征的组合不存在矛盾, 都应当认为是本说明书记载的范围。 [0107] The technical features of the above-described embodiments may be arbitrarily combined. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of these technical features is not There are contradictions and should be considered as the scope of this manual.
[0108] 以上所述实施例仅表达了本发明的几种实施方式, 其描述较为具体和详细, 但 并不能因此而理解为对发明专利范围的限制。 应当指出的是, 对于本领域的普 通技术人员来说, 在不脱离本发明构思的前提下, 还可以做出若干变形和改进 , 这些都属于本发明的保护范围。 因此, 本发明专利的保护范围应以所附权利 要求为准。 The above-described embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.
工业实用性 Industrial applicability
[0109] 上述基于智能显示设备的无人机云台转动控制方法, 通过利用智能显示设备内 置的姿态传感器获取移动吋产生的姿态信息; 根据所述姿态信息获取所述智能 显示设备的角度变化数据; 将所述角度变化数据转换为无线信号, 并将所述无 线信号发送至无人机控制系统; 无人机控制系统接收智能显示设备发送的无线 信号; 对所述无线信号进行解析, 得到所述对应的角度变化数据; 根据角度变
化数据驱动无人机云台转动, 控制无人机云台的转动角度。 通过上述技术方案 , 本发明的基于智能显示设备的无人机云台转动控制方法实现通过控制云台的 转动角度来调整摄像机的拍摄画面, 避免了传统的控制方法的摄像头被遮挡的 状况, 使得摄像机能够拍摄到全方位的空中图像, 优化了智能显示设备对无人 机的控制方法。 因此, 具有工业实用性。
[0109] The above-described intelligent display device-based UAV pan/tilt rotation control method acquires attitude information generated by the mobile device by using an attitude sensor built in the smart display device; and acquires angle change data of the smart display device according to the posture information. Converting the angle change data into a wireless signal, and transmitting the wireless signal to a drone control system; the drone control system receives a wireless signal sent by the smart display device; parsing the wireless signal to obtain a Corresponding angle change data; according to angle change The data drives the UAV pan/tilt to control the rotation angle of the UAV pan/tilt. Through the above technical solution, the unmanned aerial platform pan/tilt rotation control method based on the intelligent display device of the present invention realizes adjusting the photographing screen of the camera by controlling the rotation angle of the gimbal, thereby avoiding the situation that the camera of the traditional control method is blocked, so that The camera is capable of capturing a full range of aerial images, optimizing the way the intelligent display device controls the drone. Therefore, it has industrial applicability.
Claims
[权利要求 1] 一种基于智能显示设备的无人机云台转动控制方法, 包括如下步骤: 利用智能显示设备内置的姿态传感器获取移动吋产生的姿态信息; 根据所述姿态信息获取所述智能显示设备的角度变化数据; 将所述角度变化数据转换为无线信号, 并将所述无线信号发送至无人 机控制系统, 控制无人机云台的转动。 [Attachment 1] A method for controlling a rotation of a drone based on an intelligent display device, comprising the steps of: acquiring posture information generated by a movement using an attitude sensor built in an intelligent display device; acquiring the intelligence according to the posture information Displaying angle change data of the device; converting the angle change data into a wireless signal, and transmitting the wireless signal to the drone control system to control the rotation of the drone head.
[权利要求 2] 根据权利要求 1所述的基于智能显示设备的无人机云台转动控制方法 [Attachment 2] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim
, 其中, 所述根据所述姿态信息获取所述智能显示设备的角度变化数 据的步骤包括: The step of acquiring the angle change data of the smart display device according to the posture information includes:
根据所述姿态信息计算智能显示设备在所述三维坐标系的 X方向、 Y 方向和 Z方向上夹角, 得到角度变化数据, 其中, 所述角度变化数据 包括俯仰角度变化数据、 偏航角度变化数据和横滚角度变化数据。 Calculating an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information, and obtaining angle change data, wherein the angle change data includes pitch angle change data and yaw angle change Data and roll angle change data.
[权利要求 3] 根据权利要求 1所述的基于智能显示设备的无人机云台转动控制方法 [Attachment 3] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim
, 其中, 所述将所述无线信号发送至无人机控制系统的步骤包括: 通过 2.4G的工作频率将所述无线信号发送至无人机控制系统。 The step of transmitting the wireless signal to the drone control system includes: transmitting the wireless signal to the drone control system by an operating frequency of 2.4G.
[权利要求 4] 根据权利要求 1所述的基于智能显示设备的无人机云台转动控制方法 [Attachment 4] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim
, 其中, 所述将所述角度变化数据转换为无线信号, 并将所述无线信 号发送至无人机控制系统的步骤包括: The step of converting the angle change data into a wireless signal and transmitting the wireless signal to the drone control system includes:
通过串口通信接口将所述角度变化数据转换成 PWM信号; 将多路 PWM信号转换成 PPM信号, 再将所述 PPM信号转换为无线信 号发送至无人机控制系统。 The angle change data is converted into a PWM signal through a serial communication interface; the multi-channel PWM signal is converted into a PPM signal, and the PPM signal is converted into a wireless signal and sent to the drone control system.
[权利要求 5] 根据权利要求 3所述的基于智能显示设备的无人机云台转动控制方法 [Attachment 5] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim 3
, 其中, 所述将所述无线信号发送至无人机控制系统的步骤包括: 通过广播发送的方式将所述无线信号发送至无人机控制系统。 The step of transmitting the wireless signal to the drone control system includes: transmitting the wireless signal to the drone control system by means of broadcast transmission.
[权利要求 6] 根据权利要求 1所述的基于智能显示设备的无人机云台转动控制方法 [Attachment 6] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim
, 其中, 所述方法还包括: The method further includes:
利用智能显示设备内置的通信模块接收搭载在无人机云台上的摄像设 备拍摄的图像, 利用智能显示设备内置的处理器将所述图像进行转换
并通过智能显示设备的显示模块将所述图像显示给用户。 The image captured by the camera device mounted on the UAV pan/tilt is received by the communication module built in the smart display device, and the image is converted by using a processor built in the smart display device. The image is displayed to the user via a display module of the smart display device.
一种基于智能显示设备的无人机云台转动控制方法, 包括如下步骤: 接收智能显示设备发送的无线信号; 其中, 所述无线信号包括所述智 能显示设备的角度变化数据; A method for controlling the rotation of a drone based on an intelligent display device, comprising the steps of: receiving a wireless signal transmitted by the smart display device; wherein the wireless signal comprises angle change data of the smart display device;
对所述无线信号进行解析, 得到所述对应的角度变化数据; 根据角度变化数据驱动无人机云台电机转动, 控制无人机云台的转动 根据权利要求 7所述的基于智能显示设备的无人机云台转动控制方法 , 其中, 所述无线信号包括由多路 PWM信号转换而成的 PPM信号; 所述对所述无线信号进行解析, 得到所述对应的角度变化数据的步骤 包括: Parsing the wireless signal to obtain the corresponding angle change data; driving the rotation of the UAV pan/tilt motor according to the angle change data, and controlling the rotation of the UAV pan/tilt head according to the smart display device according to claim 7. The UAV pan/tilt rotation control method, wherein the radio signal includes a PPM signal converted by the multi-path PWM signal; and the step of parsing the radio signal to obtain the corresponding angle change data includes:
将无线信号转换为 PPM信号; Converting a wireless signal to a PPM signal;
将所述 PPM信号拆分为多路 PWM信号; Splitting the PPM signal into multiple PWM signals;
解调所述 PWM信号得到智能显示设备的角度变化数据。 The PWM signal is demodulated to obtain angle change data of the intelligent display device.
根据权利要求 8所述的基于智能显示设备的无人机云台转动控制方法 , 其中, 所述解调所述 PWM信号得到角度变化数据的步骤包括: 根据所述姿态信息计算在所述三维坐标系的 X方向、 Y方向和 Z方向上 夹角, 得到角度变化数据。 The method of claim 8, wherein the step of demodulating the PWM signal to obtain angle change data comprises: calculating the three-dimensional coordinates according to the posture information; The angle between the X direction, the Y direction, and the Z direction is obtained, and the angle change data is obtained.
一种基于智能显示设备的无人机云台转动控制方法, 包括如下步骤: 利用智能显示设备内置的姿态传感器获取移动吋产生的姿态信息; 根据所述姿态信息获取所述智能显示设备的角度变化数据; 将所述角度变化数据转换为无线信号, 并将所述无线信号发送至无人 机控制系统; An unmanned aerial platform pan-tilt rotation control method based on an intelligent display device, comprising the following steps: acquiring posture information generated by a mobile device by using an attitude sensor built in an intelligent display device; and acquiring an angle change of the smart display device according to the posture information Data; converting the angle change data into a wireless signal, and transmitting the wireless signal to a drone control system;
接收智能显示设备发送的无线信号; 其中, 所述无线信号包括所述智 能显示设备的角度变化数据; Receiving a wireless signal sent by the smart display device; wherein the wireless signal includes angle change data of the smart display device;
对所述无线信号进行解析, 得到所述对应的角度变化数据; 根据角度变化数据驱动无人机云台电机转动, 控制无人机云台的转动
Parsing the wireless signal to obtain the corresponding angle change data; driving the rotation of the UAV pan/tilt motor according to the angle change data, and controlling the rotation of the UAV pan/tilt
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