WO2018010473A1 - Procédé de commande de rotation de tête à bascule de véhicule aérien sans pilote basé sur un dispositif d'affichage intelligent - Google Patents

Procédé de commande de rotation de tête à bascule de véhicule aérien sans pilote basé sur un dispositif d'affichage intelligent Download PDF

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Publication number
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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WO
WIPO (PCT)
Prior art keywords
display device
angle change
change data
wireless signal
pan
Prior art date
Application number
PCT/CN2017/082973
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English (en)
Chinese (zh)
Inventor
胡华智
朱剑锋
Original Assignee
广州亿航智能技术有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610561863.5A external-priority patent/CN106742003A/zh
Application filed by 广州亿航智能技术有限公司 filed Critical 广州亿航智能技术有限公司
Publication of WO2018010473A1 publication Critical patent/WO2018010473A1/fr

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Classifications

    • 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
    • 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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  • Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
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Abstract

La présente invention concerne un procédé de commande de rotation de tête à bascule de véhicule aérien sans pilote basé sur un dispositif d'affichage intelligent. Le procédé consiste à : acquérir, à l'aide d'un capteur d'attitude incorporé dans un dispositif d'affichage intelligent, des informations d'attitude générées pendant le mouvement; acquérir, selon les informations d'attitude, des données de changement d'angle du dispositif d'affichage intelligent; convertir les données de changement d'angle en un signal sans fil; et transmettre le signal sans fil à un système de commande de véhicule aérien sans pilote pour commander la rotation de la tête à bascule du véhicule aérien sans pilote. Selon la solution technique décrite, le procédé de commande de rotation de tête à bascule de véhicule aérien sans pilote basé sur un dispositif d'affichage intelligent est réalisé afin de régler la perspective de capture d'image de la caméra en commandant la rotation de la tête à bascule, empêchant la caméra d'être bloquée lorsqu'un procédé de commande classique est utilisé. En effet, une image aérienne omnidirectionnelle peut être prise par la caméra, et le procédé de commande du dispositif d'affichage intelligent utilisé pour le véhicule aérien sans pilote est optimisé.
PCT/CN2017/082973 2016-07-13 2017-05-04 Procédé de commande de rotation de tête à bascule de véhicule aérien sans pilote basé sur un dispositif d'affichage intelligent WO2018010473A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610561863.5A CN106742003A (zh) 2015-11-20 2016-07-13 基于智能显示设备的无人机云台转动控制方法
CN201610561863.5 2016-07-13

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Cited By (2)

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CN108871296A (zh) * 2018-06-28 2018-11-23 河南省中纬测绘规划信息工程有限公司 一种多角度用无人机航测相机支架
CN110621577A (zh) * 2018-03-23 2019-12-27 深圳市大疆创新科技有限公司 负载设备控制方法、转接装置、无人机、及控制终端

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US20040179104A1 (en) * 2003-03-10 2004-09-16 Charles Benton Augmented reality navigation system
CN103587708A (zh) * 2013-11-14 2014-02-19 上海大学 超小型无人旋翼飞行器野外定点零盲区自主软着陆方法
CN105323487A (zh) * 2015-11-20 2016-02-10 广州亿航智能技术有限公司 摄像设备指向方位控制装置

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Publication number Priority date Publication date Assignee Title
US20040179104A1 (en) * 2003-03-10 2004-09-16 Charles Benton Augmented reality navigation system
CN103587708A (zh) * 2013-11-14 2014-02-19 上海大学 超小型无人旋翼飞行器野外定点零盲区自主软着陆方法
CN105323487A (zh) * 2015-11-20 2016-02-10 广州亿航智能技术有限公司 摄像设备指向方位控制装置

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110621577A (zh) * 2018-03-23 2019-12-27 深圳市大疆创新科技有限公司 负载设备控制方法、转接装置、无人机、及控制终端
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CN108871296A (zh) * 2018-06-28 2018-11-23 河南省中纬测绘规划信息工程有限公司 一种多角度用无人机航测相机支架

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