WO2018010473A1

WO2018010473A1 - Unmanned aerial vehicle cradle head rotation control method based on smart display device

Info

Publication number: WO2018010473A1
Application number: PCT/CN2017/082973
Authority: WO
Inventors: 胡华智; 朱剑锋
Original assignee: 广州亿航智能技术有限公司
Priority date: 2016-07-13
Filing date: 2017-05-04
Publication date: 2018-01-18

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

UAV pan/tilt rotation control method based on intelligent display device

[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.

Background technique

[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] 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] 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.

technical problem

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.

Problem solution

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] acquiring posture information generated by the mobile device by using an attitude sensor built in the smart display device;

Obtaining angle change data of the smart display device according to the posture information;

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] Preferably, the step of acquiring the angle change data of the smart display device according to the posture information comprises:

[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] Preferably, the step of transmitting the wireless signal to the drone control system comprises:

[0013] The wireless signal is transmitted to the drone control system by an operating frequency of 2.4G.

[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] converting the angle change data into a PWM signal through a serial communication interface;

[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] Preferably, the step of transmitting the wireless signal to the drone control system comprises:

[0018] The wireless signal is transmitted to the drone control system by means of broadcast transmission.

[0019] Preferably, the method further includes:

[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] 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] 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] driving the drone motor to rotate according to the angle change data, and controlling the rotation of the drone head.

[0025] Preferably, the wireless signal includes a PPM signal converted from multiple PWM signals;

[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] splitting the PPM signal into multiple PWM signals;

[0029] Demodulating the PWM signal results in angle change data of the smart display device.

[0030] Preferably, the step of demodulating the PWM signal to obtain angle change data comprises:

[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] According to still another aspect of the present invention, a smart display device-based drone pan-tilt control method includes the following steps:

[0033] acquiring posture information generated by the mobile device by using an attitude sensor built in the smart display device;

[0034] acquiring 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;

[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] parsing the wireless signal to obtain the corresponding angle change data;

Advantageous effects of the invention

Beneficial effect

[0038] driving the UAV pan/tilt according to the angle change data to control the rotation angle of the UAV pan/tilt.

[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.

Brief description of the drawing

DRAWINGS

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;

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;

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.

Embodiments of the invention

The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and preferred embodiments.

[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] Step S101: acquiring posture information generated by the mobile device by using an attitude sensor built in the smart display device;

[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] 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] Step S102: Acquire, according to the posture information, angle change data of the smart display device.

[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] 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] 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] 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] 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] 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] 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] In one embodiment, 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:

[0057] converting the angle change data into a PWM signal through a serial communication interface;

[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] 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, 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.

[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] In one embodiment, 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:

[0063] The wireless signal is transmitted to the drone control system by an operating frequency of 2.4G.

[0064] In one embodiment, 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:

[0065] The wireless signal is transmitted to the drone control system by way of broadcast transmission.

[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] 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] 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.

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] 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] Step S202: Parsing the wireless signal to obtain the corresponding angle change data;

[0072] In one embodiment, 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;

[0073] the step S202 of parsing the wireless signal to obtain the corresponding angle change data includes

Converting a wireless signal into a PPM signal;

[0075] splitting the PPM signal into multiple PWM signals;

[0076] Demodulating the PWM signal results in angle change data of the smart display device.

[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] 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] 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] 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] 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] 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.

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] 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] In one embodiment, the intelligent display device-based unmanned aerial platform pan/tilt rotation control method of the present invention

And the step S302 of acquiring the angle change data of the smart display device according to the posture information includes:

[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] Step S303: Convert the angle change data into a wireless signal, and send the wireless signal to the human-machineless control system;

[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] converting the angle change data into a PWM signal through a serial communication interface;

[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] 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, pulse position modulation) signal, and the ability to control the pan/tilt motor rotation is PWM (Pulse Width)

Modulation, pulse width modulation) signal, which needs to convert the PPM signal into a PWM signal, and then use P

[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] Step S305: Parsing the wireless signal to obtain the corresponding angle change data;

[0095] In one embodiment, 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;

[0096] the step S202 of parsing the wireless signal to obtain the corresponding angle change data includes

Converting a wireless signal into a PPM signal;

[0098] splitting the PPM signal into multiple PWM signals;

[0099] Demodulating the PWM signal results in angle change data of the smart display device.

[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] 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] 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] 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] 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] 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] 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] 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.

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.

Industrial applicability

[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

Claim

[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.

[Attachment 2] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim

The step of acquiring the angle change data of the smart display device according to the posture information includes:

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.

[Attachment 3] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim

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.

[Attachment 4] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim

The step of converting the angle change data into a wireless signal and transmitting the wireless signal to the drone control system includes:

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.

[Attachment 5] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim 3

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.

[Attachment 6] The unmanned aerial platform pan/tilt rotation control method based on intelligent display device according to claim

The method further includes:

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.

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;

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:

Converting a wireless signal to a PPM signal;

Splitting the PPM signal into multiple PWM signals;

The PWM signal is demodulated to obtain angle change data of the intelligent display device.

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.

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;

Receiving a wireless signal sent by the smart display device; wherein the wireless signal includes angle change data of the smart display device;

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