WO2018101592A1 - Véhicule aérien sans pilote et son procédé de commande - Google Patents

Véhicule aérien sans pilote et son procédé de commande Download PDF

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Publication number
WO2018101592A1
WO2018101592A1 PCT/KR2017/010385 KR2017010385W WO2018101592A1 WO 2018101592 A1 WO2018101592 A1 WO 2018101592A1 KR 2017010385 W KR2017010385 W KR 2017010385W WO 2018101592 A1 WO2018101592 A1 WO 2018101592A1
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WO
WIPO (PCT)
Prior art keywords
housing
unmanned aerial
aerial vehicle
processor
flight
Prior art date
Application number
PCT/KR2017/010385
Other languages
English (en)
Korean (ko)
Inventor
김태균
이영배
이우성
김승년
윤용상
전용준
정철호
Original Assignee
삼성전자 주식회사
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Application filed by 삼성전자 주식회사 filed Critical 삼성전자 주식회사
Publication of WO2018101592A1 publication Critical patent/WO2018101592A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D45/00—Aircraft indicators or protectors not otherwise provided for
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U10/00—Type of UAV
    • B64U10/10—Rotorcrafts
    • B64U10/13—Flying platforms
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64C—AEROPLANES; HELICOPTERS
    • B64C27/00—Rotorcraft; Rotors peculiar thereto
    • B64C27/04—Helicopters
    • B64C27/12—Rotor drives
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/02—Arrangements or adaptations of signal or lighting devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • Various embodiments disclosed in this document relate to an unmanned aerial vehicle and a control method thereof capable of controlling the unmanned aerial vehicle to take off from the ground.
  • unmanned aerial vehicles such as drones have been widely used.
  • Unmanned vehicles can perform their assigned tasks without the driver (unmanned).
  • unmanned aerial vehicles are used in various industrial fields such as aerial photography, pesticide spraying, and the like, thereby increasing user convenience.
  • the unmanned aerial vehicle may wirelessly receive a coordination signal of a remote control device and fly (or drive) in response to the coordination signal.
  • the conventional unmanned aerial vehicle may fly in a vertical takeoff in response to an adjustment signal from a remote control device while being placed on the ground.
  • the conventional unmanned aerial vehicle is configured to take off from the ground, it is not possible to take off from the ground where water, cliffs, and mud are difficult to lay down the unmanned aerial vehicle.
  • Various embodiments disclosed in this document can provide an unmanned aerial vehicle and a control method thereof capable of throwing and driving the unmanned aerial vehicle.
  • Unmanned flying apparatus a housing, at least one sensor embedded or provided in the housing, a camera embedded or provided in the housing, a plurality of propellers connected to the housing, of the plurality of propellers
  • a motor module configured to provide rotational force to at least one propeller
  • at least one processor embedded in the housing and electrically connected to the sensor and the motor module and a memory electrically connected to the processor, wherein the memory includes: Detects the motion of the housing in the housing gripping state by using the sensing information of the at least one sensor, and determines the driving mode related to the flight of the housing using the detected motion of the housing, and according to the determined driving mode.
  • Phosphorus to control the motor module The truck design (instructions); And instructions for controlling camera setting information for the camera to correspond to the driving mode.
  • a method for controlling an unmanned aerial vehicle by at least one processor may include: detecting a motion of a housing in a housing holding state using a sensor; Determining a drive mode associated with flight of the housing using the sensed motion of the housing; And controlling at least one of the propellers of the plurality of propellers of the unmanned aerial vehicle according to the determined driving mode.
  • Unmanned aerial vehicle according to an embodiment disclosed in the present document, the housing; A sensor embedded or provided in the housing; A plurality of propellers connected to the housing; A navigation circuit for providing torque to at least one of the plurality of propellers; A processor embedded in the housing and electrically connected to the camera, the sensor, and the navigation circuit; And a memory in electrical connection with the processor embedded in the housing, the memory comprising: first instructions for verifying the housing gripping state using the sensor, executed by the processor; Second instructions for confirming whether the housing has been thrown by a user using the sensor; Third instructions for detecting motion for a specified period of time after being thrown by the user using the sensor; Fourth instructions for selecting one of a plurality of modes using the detected motion; And a fifth command for controlling the navigation circuit for driving the plurality of propellers in the selected mode.
  • the unmanned aerial vehicle can be driven in various modes.
  • the unmanned aerial vehicle in capturing an image through an unmanned aerial vehicle, the unmanned aerial vehicle may be moved without a user's adjustment.
  • FIG. 1 is a block diagram illustrating an unmanned aerial vehicle system according to an exemplary embodiment.
  • FIG. 2 is a view showing the appearance of the unmanned aerial vehicle according to an embodiment.
  • FIG. 3 is a block diagram illustrating an unmanned aerial vehicle according to an exemplary embodiment.
  • FIG. 4A is a conceptual diagram of a posture azimuth reference device (AHRS) according to an embodiment.
  • AHRS posture azimuth reference device
  • 4B is a graph illustrating output signals of the posture azimuth reference device according to an embodiment.
  • 5A to 5C are diagrams illustrating flight patterns of an unmanned aerial vehicle for each driving mode according to an exemplary embodiment.
  • 6A is a diagram for describing a radius of rotation in a first mode, according to an exemplary embodiment.
  • 6B is a diagram for describing a movement distance in a second mode, according to an exemplary embodiment.
  • FIG. 7 is a diagram illustrating an unmanned aerial vehicle according to an exemplary embodiment.
  • FIG. 8 is a diagram illustrating a configuration example of an electronic device according to an embodiment of the present disclosure.
  • FIG. 9 is a diagram illustrating a program module (platform structure) of an electronic device according to an embodiment of the present disclosure.
  • the expression “device configured to” may mean that the device “can” together with other devices or components.
  • processor configured (or configured to) perform A, B, and C may be implemented by executing a dedicated processor (eg, an embedded processor) to perform its operation, or one or more software programs stored in a memory device. It may mean a general purpose processor (eg, a CPU or an application processor) capable of performing the corresponding operations.
  • An electronic device may be, for example, a smartphone, a tablet PC, a mobile phone, a video phone, an e-book reader, a desktop PC, a laptop PC, a netbook computer, a workstation, a server, a PDA, a PMP. It may include at least one of a portable multimedia player, an MP3 player, a medical device, a camera, or a wearable device. Wearable devices may be accessory (e.g. watches, rings, bracelets, anklets, necklaces, eyeglasses, contact lenses, or head-mounted-devices (HMDs), textiles or clothing integrated (e.g.
  • HMDs head-mounted-devices
  • an electronic device may comprise, for example, a television, a digital video disk (DVD) player, Audio, Refrigerator, Air Conditioner, Cleaner, Oven, Microwave Oven, Washing Machine, Air Purifier, Set Top Box, Home Automation Control Panel, Security Control Panel, Media Box (e.g. Samsung HomeSync TM , Apple TV TM , or Google TV TM ) , A game console (eg, Xbox TM , PlayStation TM ), an electronic dictionary, an electronic key, a camcorder, or an electronic picture frame.
  • DVD digital video disk
  • the electronic device may include a variety of medical devices (e.g., various portable medical measuring devices such as blood glucose meters, heart rate monitors, blood pressure meters, or body temperature meters), magnetic resonance angiography (MRA), magnetic resonance imaging (MRI), Computed tomography (CT), cameras or ultrasounds), navigation devices, global navigation satellite systems (GNSS), event data recorders (EDRs), flight data recorders (FDRs), automotive infotainment devices, ship electronics (E.g., various portable medical measuring devices such as blood glucose meters, heart rate monitors, blood pressure meters, or body temperature meters), magnetic resonance angiography (MRA), magnetic resonance imaging (MRI), Computed tomography (CT), cameras or ultrasounds), navigation devices, global navigation satellite systems (GNSS), event data recorders (EDRs), flight data recorders (FDRs), automotive infotainment devices, ship electronics (E.g.
  • various portable medical measuring devices such as blood glucose meters, heart rate monitors, blood pressure meters, or body temperature meters
  • MRA magnetic resonance angiography
  • an electronic device may be a part of a furniture, building / structure or automobile, an electronic board, an electronic signature receiving device, a projector, or various measuring devices (eg, water, electricity, Gas, or a radio wave measuring instrument).
  • the electronic device may be flexible or a combination of two or more of the aforementioned various devices.
  • Electronic devices according to embodiments of the present disclosure are not limited to the above-described devices.
  • the term user may refer to a person who uses an electronic device or a device (eg, an artificial intelligence electronic device) that uses an electronic device.
  • FIG. 1 is a block diagram showing an unmanned aerial vehicle system according to an embodiment
  • Figure 2 is a view showing the appearance of an unmanned aerial vehicle according to another embodiment of the present invention.
  • the unmanned aerial vehicle system 12 may include a remote control device 10 and an unmanned aerial vehicle 20.
  • the remote control apparatus 10 may wirelessly transmit an adjustment signal for remotely controlling the unmanned aerial vehicle 20 according to a user's manipulation to the unmanned aerial vehicle 20.
  • the adjustment signal may be a signal for controlling the flight, attitude, navigation, etc. of the unmanned aerial vehicle 20.
  • the remote control device 10 may be, for example, the unmanned aerial vehicle 20 with infrared communication, radio frequency (RF) communication, Wi-Fi (wireless fidelity) communication, ZigBee communication, and Bluetooth (bluetooth). ) Communication, laser communication, and ultra wideband (UWB) communication.
  • the remote control device 10 may be a dedicated device (eg, a remote controller) for controlling the unmanned aerial vehicle 20.
  • the remote control device 10 may be a device installed with a first application configured to control the unmanned aerial vehicle 20.
  • the device in which the first application is installed may be various portable devices such as a smart phone, a mobile terminal, a tablet, and a smart pad.
  • the unmanned aerial vehicle 20 may start a flight, change a posture, or change a navigation according to a control signal received from the remote control device 10.
  • the unmanned aerial vehicle 20 generates a signal for moving a plurality of propellers based on a control signal received from the remote control device 10 to control a motor, thereby controlling the speed and attitude value pitch (Y) of the unmanned aerial vehicle 20.
  • Y speed and attitude value pitch
  • X roll
  • yaw (Z) etc. can be changed.
  • the unmanned aerial vehicle 20 may fly in various ways according to takeoff, rotation, turning, or flying in a fixed position according to the control of the rotational speed of each propeller. Can be.
  • the unmanned aerial vehicle 20 may be referred to as a quadcopter (four propellers), a hexacopter (six propellers), an octocopter (eight propellers), etc., depending on the number of propellers (or rotors). Can be.
  • Such an unmanned aerial vehicle 20 may fly on two principles of lift / torque.
  • the unmanned aerial vehicle 20 rotates a portion (e.g., half) of the propeller clockwise (CW) and the other portion (e.g., the other half), counter-clockwise (CCW). You can fly as you fly.
  • the unmanned aerial vehicle 20 may change the direction of the air flow generated by the propeller (rotor) by adjusting the tilting direction of the body, and control the traveling direction by changing the direction of the air flow.
  • the unmanned aerial vehicle 20 reduces the speed of the propeller provided in the front of the direction to proceed, and increases the speed of the propeller driving the propeller provided in the back of the direction to proceed in the direction to proceed.
  • the unmanned aerial vehicle 20 tilts in the direction to proceed the air not only flows up and down the propeller, but also slightly back in the direction of travel, which causes the unmanned aerial vehicle 20 to air layer according to the law of action / reaction. As you push back, you can move forward.
  • the unmanned aerial vehicle 20 may be controlled according to the operation of the remote control device 10 or the user's motion.
  • the unmanned aerial vehicle 20 may be driven in a remote control mode, which is controlled according to the manipulation of the remote control device 10, and may be driven in a motion control mode, which is controlled according to a user's motion.
  • Each control mode is set using an adjustment signal for selecting a control mode from the remote control device 10 or by an input device (eg, a button, a touch screen, a microphone, etc.) mounted on the unmanned aerial vehicle 20. Can be set.
  • the unmanned aerial vehicle 20 may fly according to an adjustment signal from the remote control device 10 when in the remote control mode.
  • the unmanned aerial vehicle 20 determines at least one of a moving direction, a moving distance, and a rotation in response to the adjustment signal received from the remote control device 10, and corresponds to at least one propeller according to the determined flight condition.
  • the motor can be controlled to fly to correspond to the adjustment signal.
  • the unmanned aerial vehicle 20 may start the unmanned aerial vehicle 20 by detecting a start instruction motion of the user in the motion control mode and driving at least one propeller in response to the start instruction motion.
  • the start command motion may be, for example, an operation in which the user throws the unmanned aerial vehicle 20.
  • the start command motion may be, for example, a motion in which the user instructs the start of the unmanned aerial vehicle 20.
  • the unmanned aerial vehicle 20 is driven by the user by using a grip motion (or motion of the housing) and a motion before and after the time when the user throws the unmanned aerial vehicle 20 by holding the unmanned aerial vehicle 20.
  • the mode can be determined.
  • the unmanned aerial vehicle 20 senses at least one information of geomagnetic, angular velocity or acceleration, which is configured in at least a portion of the unmanned aerial vehicle 20 when the user grabs and moves the unmanned aerial vehicle 20 and throws it.
  • the driving mode selected by the user may be determined using at least one piece of information.
  • the driving mode may be, for example, a rotation mode or a selfie mode.
  • the unmanned aerial vehicle 20 determines at least one flight condition of a moving direction, a moving distance, or a rotation according to the determined driving mode, and controls a motor corresponding to the at least one propeller according to the determined flight condition. Can fly to correspond to each driving mode.
  • the driving mode according to the user's intention may be more accurately determined. have.
  • the unmanned aerial vehicle 20 may include at least one camera and capture a photographing target by using the at least one camera.
  • the at least one camera may be provided at an advantageous position for photographing when the unmanned aerial vehicle 20 is flying, for example, in an area which is not covered by a propeller at the front or the front lower portion of the unmanned aerial vehicle 20.
  • the unmanned aerial vehicle 20 may control at least one camera to correspond to the determined driving mode.
  • the driving mode may be, for example, a first mode (rotation mode), a second mode (first selfie mode), a third mode (second selfie mode), or the like. Each driving mode will be described later with reference to FIGS. 3 to 5C.
  • the unmanned aerial vehicle 20 is illustrated as an example in the form of a disk, but the unmanned aerial vehicle 20 may be configured in a helicopter form as shown in FIG. 2. As such, the unmanned aerial vehicle 20 may be configured in various forms that a user can easily grasp and throw.
  • FIG. 3 is a schematic view illustrating an unmanned aerial vehicle according to an exemplary embodiment.
  • 4A is a conceptual diagram of an attitude and heading reference system (AHRS) according to an embodiment
  • FIG. 4B is a graph illustrating output signals of the attitude orientation reference device according to an embodiment of the present invention.
  • AHRS attitude and heading reference system
  • the unmanned aerial vehicle 20 may include a sensor module 100, a camera module 200, a memory 300, a communication module 400, an output module 450, and a motor module 500. ), And a processor 600.
  • some components may be omitted or further include additional components.
  • some of the components may be combined to form a single entity, but may perform the same functions of the corresponding components before combining.
  • the unmanned aerial vehicle 20 is configured in a shape easy to fly, it can fly in accordance with the rotation of the plurality of propellers.
  • the plurality of propellers may be rotatably coupled to, for example, an area of the housing (for example, at least one of the top and the left and right sides of the housing).
  • the housing may contain or fix at least one component of the unmanned aerial vehicle 20.
  • the sensor module 100 may include a gyro sensor, a barometer, an ultrasonic sensor, a magnetic sensor, an acceleration sensor, an proximity sensor, an optical sensor, a grip sensor, or a GPS sensor. (Eg, 150 of FIG. 7). At least one of the sensors of the sensor module 100 may be configured as hardware separate from other sensors provided in the sensor module 100.
  • the GPS sensor eg, 150 of FIG. 7
  • each sensor is demonstrated.
  • the gyro sensor may measure the three-axis angular velocity of the unmanned aerial vehicle 20.
  • the barometer may measure atmospheric pressure change and / or atmospheric pressure.
  • the ultrasonic sensor may be measured using the distance information with respect to the ground.
  • the magnetic sensor may be, for example, a terrestrial magnetism sensor or a compass sensor, and may detect geomagnetic information.
  • the acceleration sensor may measure three-axis acceleration (acceleration information) of the unmanned aerial vehicle 20.
  • the proximity sensor may measure a proximity state of an object and a distance to the object.
  • the proximity sensor may include, for example, an ultrasonic sensor capable of outputting ultrasonic waves to measure a distance from the object to a signal reflected from the object.
  • the optical sensor may calculate the current position by recognizing the floor topography or the pattern.
  • the GPS sensor (eg, 150 of FIG. 7) may calculate the current coordinates (x, y, z) of the unmanned aerial vehicle 20 using the GPS signal.
  • the sensor module 100 may include a grip sensor for sensing at least one or more of a user's grip, grip position, grip type, grip area, or grip strength.
  • the grip sensor may be provided on at least a portion of the unmanned aerial vehicle 20 and, for example, when sensing a user's gripping, may output gripping information corresponding to a gripping area.
  • the grip sensor may be generated in the entire area of the unmanned aerial vehicle 20, for example.
  • the grip sensor may be generated in at least a portion of the unmanned aerial vehicle 20 in which the user mainly grips the unmanned aerial vehicle 20. For example, when the unmanned aerial vehicle 20 has a disk shape as shown in FIG.
  • the grip sensor may be generated in at least a portion of the region A between the propeller and the propeller.
  • the grip sensor may be generated in at least a portion of the leg area B of the unmanned aerial vehicle 20.
  • the sensing information (or the amount of change in the sensing information) by the grip sensor at the moment when the user releases the grip on the unmanned aerial vehicle 20 (or the housing of the unmanned aerial vehicle 20) is determined by the driving mode of the processor 600 or It can be used to generate a drive signal.
  • the sensor module 100 may include an attitude and heading reference system (AHSR).
  • the posture orientation reference device may be at least one of an inertial sensor or an inertial measurement unit (IMU).
  • the attitude orientation reference apparatus includes a gyro sensor, an acceleration sensor, and a magnetic sensor, as shown in FIG. 4A, and fuses three sensor values to determine the attitude values ⁇ , ⁇ , and ⁇ of the unmanned aerial vehicle 20. You can print The attitude values ⁇ , ⁇ , and ⁇ [deg] may be the direction angles of the unmanned aerial vehicle 20 corresponding to x, y, and z according to GPS coordinates.
  • the attitude orientation reference device may output the angular velocity rms and acceleration rms of the unmanned aerial vehicle 20 in addition to the attitude value.
  • the camera module 200 may be mounted in a housing of the unmanned aerial vehicle 20 to capture at least one of a still image, a panoramic image, or a moving image of a photographing target according to an instruction of the processor 600.
  • the camera module 200 may include at least one camera.
  • the camera module 200 may be combined with an angle adjuster (eg, 830 of FIG. 7). The angle adjuster may adjust the angle of the camera module 200.
  • the memory 300 may be volatile memory (eg, RAM, etc.), nonvolatile memory (eg, ROM, flash memory, etc.), or a combination thereof.
  • the memory 300 may store, for example, instructions or data related to at least one component of the unmanned aerial vehicle 20.
  • the memory 300 may include first information for determining a control mode of the unmanned aerial vehicle 20, second information for determining whether to fly the unmanned aerial vehicle 20, and driving of the unmanned aerial vehicle 20.
  • Third information for determining the mode and / or fourth information for controlling the motor module 500 may be stored.
  • the first information may include, for example, information for determining whether the control mode selected by the user is a remote control mode or a motion control mode.
  • the second information may include, for example, information for detecting a start command motion of the user.
  • the second information may include a geomagnetic reference value for determining whether the unmanned aerial vehicle 20 falls freely.
  • the third information may include at least one of first reference information and second reference information.
  • the first reference information may include, for example, information for identifying a pattern corresponding to a grip motion before flight of the unmanned aerial vehicle 20.
  • the first reference information is generated by, for example, acquiring and combining sensing information (eg, at least one of geomagnetic information, acceleration information, and angular velocity information) of the sensor module 100 when the user performs a grip motion. Can be.
  • the second reference information may include, for example, information for identifying a pattern corresponding to an initial flight value after the unmanned aerial vehicle 20.
  • the initial flight value may include at least one of an initial attitude value and an initial acceleration value.
  • the fourth information may be information for controlling the flight of the unmanned aerial vehicle 20 in response to the flight attitude value and the flight distance.
  • the fourth information may include information such as a method of controlling the motor module 500 in response to a flight attitude value and a flight distance.
  • the memory 300 may further store fifth information (or a command) for controlling the navigation circuit for driving the motor module 500 or the plurality of propellers in the selected driving mode. Accordingly, the memory (eg, the memory 300) may store instructions related to the flight pattern corresponding to the grip motion.
  • the communication module 400 may receive an adjustment signal from the remote control device 10 in a remote control mode, convert the adjustment signal into a form that can be interpreted by the processor 600, and output the adjustment signal.
  • the communication module 400 may include infrared communication, RF (Radio Frequency) communication, Wi-Fi communication, ZigBee communication, Bluetooth communication, laser communication, UWB (Ultra Wideband). Communication with the remote control device 10 may be performed using at least one communication method.
  • the communication module 400 is a remote control device for the information on the flight status (hereinafter referred to as 'flight status information') of the unmanned aerial vehicle 20 received from the processor 600 in at least one communication method Can be transmitted to (10).
  • the output module 450 may include at least one of a sound output means and a display.
  • the sound output means may be, for example, a speaker, a receiver, an earphone, or the like.
  • the display may include, for example, at least one of a liquid crystal display (LCD), a light emitting diode (LED) display, an organic light emitting diode (OLED) display, a microelectromechanical system (MEMS) display, or an electronic paper display. It may include.
  • LCD liquid crystal display
  • LED light emitting diode
  • OLED organic light emitting diode
  • MEMS microelectromechanical system
  • the motor module 500 may include a motor driver corresponding to the number of propellers.
  • Each motor driving unit may control the rotational speed and direction of each propeller connected to each motor by controlling the driving of each motor in the speed and direction according to the instruction of the processor 600.
  • the motor driver may include, for example, at least one of a motor for transmitting rotational force to each propeller or a motor driving circuit for driving the motor.
  • the processor 600 may include, for example, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, an application specific integrated circuit (ASIC), a field programmable gate array (FPGA), an application processor ( It may include at least one of an AP) and a microprocessor unit (MPU), and may have a plurality of cores.
  • the application processor AP may control the camera module 200 or process an image of the camera module 200.
  • the microprocessor may be provided as many as the motor driver, and may output a control signal for controlling the motor driver in response to a driving signal from the processor 600.
  • Each component of the processor 600 may be a separate hardware module or a software module implemented by at least one processor. For example, the functions performed by the respective modules included in the processor may be performed by one processor or may be performed by separate processors.
  • the processor 600 may execute operations or data processing related to the control and / or communication of at least one other component of the unmanned aerial vehicle 20.
  • the processor 600 may control the motor module 500 to fly, rotate, maintain, or move the unmanned aerial vehicle 20.
  • the processor 600 may allow the unmanned aerial vehicle 20 to rotate in rotation by controlling the motor module 500 to rotate some of the plurality of propellers in a clockwise direction and others in a counterclockwise direction. have.
  • the processor 600 controls the motor module 500 to reduce the speed of the propeller provided in the front of the progress direction of the unmanned aerial vehicle 20 and to increase the speed of the propeller provided in the rear of the progress direction.
  • the unmanned aerial vehicle 20 may be moved in a direction to proceed.
  • the processor 600 may maintain the attitude value that is horizontal with respect to the ground and control the motor module 500 to rotate all propellers at the same speed, thereby allowing the unmanned vehicle 20 to fly in place.
  • the processor 600 may identify the control mode selected by the user based on an adjustment signal (for example, a signal related to the selected control mode) from the remote control apparatus 10.
  • the processor 600 may check a user input through an input device (not shown) and check the selected control mode.
  • the unmanned aerial vehicle 20 may further include an input device (not shown).
  • the processor 600 may determine at least one of flight conditions or flight conditions of the unmanned aerial vehicle 20 based on the adjustment signal received from the remote control apparatus 10. Can be. For example, upon receiving the adjustment signal indicating the start of flight from the remote control device 10, the processor 600 may control the motor module 500 to take off the unmanned aerial vehicle 20 from the ground. The processor 600 determines at least one driving variable of the attitude value or the speed of the unmanned aerial vehicle 20 in response to the adjustment signal from the remote control device 10, and controls the motor module 500 according to the determined driving variable. As a result, the unmanned aerial vehicle 20 may be flown to correspond to the adjustment signal.
  • the posture value may be a variable that determines whether the unmanned aerial vehicle 20 is rotated and the traveling direction.
  • the processor 600 may transmit information regarding the flight status of the unmanned aerial vehicle 20 (hereinafter, referred to as flight status information) to the remote control apparatus 10 through the communication module 400. have.
  • the processor 600 may control the motor module 500 based on information detected by the sensor module 100.
  • the processor 600 may drive at least some of the sensors included in the sensor module 100 (hereinafter, referred to as first sensors) to detect at least one of a driving mode or a user's start command motion in the motion control mode.
  • the first sensors may include at least one of a grip sensor, an acceleration sensor, a gyro sensor, or a magnetic sensor.
  • the processor 600 may determine whether the user is holding the unmanned aerial vehicle 20 based on the grip information from the grip sensor among the sensing information from the first sensors (hereinafter, referred to as 'gripping state'). You can check.
  • the grip information may be, for example, information capable of detecting a grip, a grip area, a grip position, or the like.
  • the processor 600 may use the unmanned aerial vehicle (eg, based on at least one of the acceleration information from the acceleration sensor or the angular velocity information from the gyro sensor 831). : Grip motion of the unmanned vehicle) can be detected.
  • the grip motion may vary greatly, for example, in combination with at least one of a motion in which the unmanned aerial vehicle 20 moves in various forms, a proximity sensor, or a camera covering the camera.
  • the grip motion may include, for example, a first motion of holding the unmanned aerial vehicle 20 and rotating it, a second motion of vertically holding the unmanned aerial vehicle 20, or a third motion of shaking the unmanned aerial vehicle 20 up and down. It may include at least one.
  • the processor 600 may check a flight pattern (eg, a flight condition) corresponding to the grip motion of the unmanned aerial vehicle 20 based on the first reference information. For example, when the processor 600 detects the first motion of holding the unmanned aerial vehicle 20 and rotating it, the processor 600 may determine that the flight pattern is a rotating flight. For another example, when the processor 600 detects the second motion of vertically moving the unmanned aerial vehicle 20 in a grip motion, the processor 600 may determine that the flight pattern is a horizontal moving flight. As another example, when the processor 600 detects a third motion of shaking the unmanned aerial vehicle 20 up and down in a grip motion, the processor 600 may determine that the flight pattern is a moving flight of a designated type.
  • a flight pattern eg, a flight condition
  • the processor 600 may additionally check the flight pattern by using information detected by at least one of an image captured by the camera module 200 or a proximity sensor. For example, the processor 600 may detect a fourth motion in which at least one of the camera or the proximity sensor is covered together with the first motion of holding the unmanned aerial vehicle 20 and rotating it. When the processor 600 detects the fourth motion together with the first motion, the processor 600 may determine that the flight pattern is another designated flight pattern (eg, elliptical flight). As such, in one embodiment, in addition to the motion of holding and moving the unmanned aerial vehicle 20, the selection range for the flight pattern may be widened by additionally using sensing information using other sensors.
  • the processor 600 may additionally check the flight pattern by using information detected by at least one of an image captured by the camera module 200 or a proximity sensor. For example, the processor 600 may detect a fourth motion in which at least one of the camera or the proximity sensor is covered together with the first motion of holding the unmanned aerial vehicle 20 and rotating it. When the processor 600 detects the fourth motion together with the first motion, the processor 600
  • the processor 600 may identify the occurrence of the start instruction motion of the user by using the sensing information from the sensor module 100. For example, when the processor 600 confirms the gripping or the gripping release of the unmanned aerial vehicle 20 using the information received from the grip sensor, the processor 600 may determine that the user's starting instruction motion has occurred.
  • the start command motion may be, for example, an operation in which the user places the unmanned aerial vehicle 20 in the user's hand and grips the unmanned aerial vehicle 20 and releases the grip on the unmanned aerial vehicle 20.
  • the processor 600 checks the grip release (release from the hand) of the unmanned aerial vehicle 20 from the grip information, and then confirms that the geomagnetic change from the geomagnetism information is greater than or equal to the specified geomagnetic reference value. You can decide.
  • the start command motion may be, for example, a motion in which the user throws or free-falls the unmanned aerial vehicle 20.
  • the processor 600 of the unmanned aerial vehicle 20 may be provided at a first time point for detecting a start command motion of a user, or at a second time point before or after a predetermined time (eg, 1 second) before the first time point.
  • Initial flight value can be detected.
  • the initial flight value may include, for example, at least one of an initial attitude value ⁇ , ⁇ , ⁇ , a displacement, or an initial speed value.
  • the processor 600 may detect an initial attitude value using the angular velocity information.
  • the processor 600 may detect at least one of the displacement or the initial velocity value by using the acceleration information.
  • the processor 600 may identify a flight pattern corresponding to the initial flight value using the second reference information. For example, the processor 600 may use the at least one of an initial attitude value or a displacement (change in x, y, z coordinates) to determine whether the unmanned vehicle 20 is to be rotated, tossed horizontally, or to the unmanned vehicle 20. ) Is thrown up or down.
  • the processor 600 confirms that the flying pattern corresponding to the initial flight value is a rotational flight, and if the unmanned aerial vehicle 20 is thrown to perform, the flight pattern corresponding to the initial flight value If it is confirmed that this is a horizontal moving flight, if the unmanned aerial vehicle 20 is thrown upwards or downwards, it can be confirmed that the flight pattern corresponding to the initial flight value is a moving flight of a specified type.
  • the processor 600 may determine the driving mode of the unmanned aerial vehicle 20 corresponding to the flight patterns determined by using the grip motion and the initial flight value, respectively.
  • Each of the driving modes may be, for example, a mode for differently setting at least one of a flight method or camera setting information of the unmanned aerial vehicle 20.
  • the flight mode may include, for example, at least one of a rotation flight, a horizontal movement flight, or a movement flight to a designated position.
  • the camera setting information may include at least one of composition information, setting information, or environment information.
  • 5A to 5C are diagrams illustrating flight patterns of an unmanned aerial vehicle for each driving mode according to an exemplary embodiment.
  • the processor 600 may operate in a first mode (rotation mode) based on information received from at least one sensor module 100. For example, the processor 600 determines that the flight pattern corresponding to the grip motion is a rotating flight, and then yaw angle of the unmanned aerial vehicle 20 among angular velocity information (or initial flight value) from the sensor module 100. When it is determined that the change of P is greater than or equal to the first threshold according to the second reference information, the driving mode may be determined as the first mode (eg, the rotation mode). When the processor 600 determines the driving mode as the first mode (rotation mode), the unmanned aerial vehicle 20 is spaced apart from the first distance r1 based on the reference point C (or maintains the first radius).
  • a first mode rotation mode
  • the motor module 500 may be controlled to rotate at a predetermined height.
  • the reference point C may be a point above a certain height (for example, 20 cm) at the end of the user's head.
  • At least one of the first distance (or first radius) or the predetermined height may be set through the remote control device 10, may be a default value, or may be determined by the force from which the unmanned aerial vehicle 20 is thrown. have.
  • the processor 600 may determine the rotation direction (eg, clockwise or counterclockwise) of the unmanned aerial vehicle 20 according to whether the yaw angle is a positive value or a negative value.
  • the processor 600 may perform the imaging by driving the camera module 200 at a specified time point, for example, at the time when the rotation starts with respect to the reference point.
  • the processor 600 may control the camera module 200 to track a photographing target (eg, a user) in the first mode.
  • the processor 600 may operate in a second mode (eg, a first selfie mode) based on information received from at least one sensor module 100. For example, the processor 600 determines that the flight pattern corresponding to the grip motion is a horizontal movement pattern, and then the pitch angle is less than the first threshold when the change in the yaw angle of the unmanned aerial vehicle 20 from the angular velocity information (or the initial flight value). When it is confirmed that the change of P is less than the second threshold (second reference information), the driving mode may be determined as the second mode.
  • a second mode eg, a first selfie mode
  • the processor 600 may control the motor module 500 to fly (eg, hover) the vehicle while maintaining the position at the first position in which the unmanned vehicle 20 is moved by the second distance in the horizontal direction from the starting position in the second mode. Can be.
  • the processor 600 may drive the camera module 200 to perform imaging at a designated time point, for example, when the movement of the predetermined distance in the horizontal direction is completed. Accordingly, the processor 600 according to an embodiment controls at least a part of the motor module 500 or at least a part of the camera module 200 by using the motion before throwing the unmanned aerial vehicle 20 and the motion during the throwing.
  • the shooting target may be tracked and instructed to shoot.
  • the first distance in FIG. 5A and the second distance in FIG. 5B may be determined corresponding to the initial acceleration value of the unmanned aerial vehicle 20. This will be described later with reference to FIGS. 6A and 6B.
  • the processor 600 may operate in a third mode (eg, a second selfie mode) based on information received from at least one sensor module 100. For example, the processor 600 confirms that the flight pattern corresponding to the grip motion is a designated movement pattern, and then the change in the yaw angle of the unmanned aerial vehicle 20 is less than the first threshold and the change in the pitch angle is greater than or equal to the second threshold from the angular velocity information. In this case, the driving mode may be determined as the third mode (second selfie mode).
  • a third mode eg, a second selfie mode
  • the processor 600 may control the motor module 500 to fly while maintaining the second position in the second position where the unmanned aerial vehicle 20 moves by the specified distance d1 and the height h1 in the third mode. have.
  • the specified distance d1 and height h1 may be default values stored on the memory 300.
  • the specified distance and height may be a changeable value previously input through the remote control device 10 or another device (not shown).
  • the processor 600 starts the motor module 500 at point D and then uses the current position coordinates (x, y) based on position information (eg, GPS coordinates) from a GPS sensor (or an optical sensor).
  • the altitude coordinate z may be confirmed using the barometric pressure information (or distance information with respect to the ground) from the barometric pressure sensor (or the ultrasonic sensor).
  • the processor 600 moves the unmanned aerial vehicle 20 based on the current position coordinates by a predetermined distance d1 from the starting position (point D), and moves the motor module to a specified height h1 based on the altitude coordinates.
  • 500 can be controlled.
  • the processor 600 may control the motor module 500 to move to the height h1 designated based on the altitude coordinates and to move the distance d1 based on the current position coordinates.
  • the processor 600 may drive the camera module 200 at a designated point in time, for example, at a point in time at which the movement is completed at a specified height and altitude, to perform shooting by using the camera module 200.
  • the processor 600 may fail to determine the driving mode by using the information received from the at least one sensor module 100. For example, when the flight pattern corresponding to the grip motion and the flight pattern corresponding to the initial flight value do not match, the processor 600 may fail to determine the driving mode. In this case, the processor 600 may control the unmanned aerial vehicle 20 not to fly.
  • the processor 600 does not detect the initial flight value for a predetermined time after detecting the flight pattern corresponding to the grip motion, or the initial flight value (eg, initial acceleration and initial angular velocity) or initial flight. You can see that the change in value is less than the specified value (eg 0).
  • the processor 600 may determine that the unmanned aerial vehicle 20 is in the hand rather than on the ground.
  • the processor 600 may further determine whether the unmanned aerial vehicle 20 is in the ground or in the hand by further using, for example, the sensing information from the ultrasonic sensor (or the barometric pressure sensor). In this case, the processor 600 may control the motor module 500 to move the unmanned aerial vehicle 20 to the second position corresponding to the designated distance and height to maintain the position. Alternatively, the processor 600 may control the motor module 500 so that the unmanned aerial vehicle 20 hoveres at an arbitrary position, for example, a position where the motor module 500 is started. When the unmanned aerial vehicle 20 hoveres as in the latter case, the processor 600 may control the position of the unmanned aerial vehicle 20 that is hovering based on the adjustment signal received from the remote control apparatus 10. In contrast, when the flight pattern is not detected from the initial flight value, the processor 600 may control the unmanned aerial vehicle 20 not to fly.
  • the processor 600 may control the navigation circuit based on fifth information for controlling the navigation circuit for driving the plurality of propellers in response to the driving mode in the selected driving mode.
  • the processor 600 is performed in a holding state of the unmanned aerial vehicle 20 based on at least one of the first reference information or the second reference information and information received from the at least one sensor module 100.
  • the processor 600 may check flight patterns using at least one sensor module 100 using other sensing information (grip and captured images, etc.) through at least one sensor module 100, thereby using a flight pattern using motion. Can offer a variety of choices.
  • the processor 600 may guide the determined driving mode through the output module 450.
  • the processor 600 may provide a user with a driving mode determined in the case of confirming the flight pattern through motion recognition through voice, display, vibration, or LED.
  • the processor 600 may operate in a default mode or provide the user with information (eg, a sound output) that the motion recognition has failed. For example, if the initial flight value is different from the specified value after checking the flight pattern by the grip motion, the output module 450 informs the user that the hovering or landing on the ground or the motion recognition failed. Can provide.
  • the processor 600 may include at least one of composition information, setting information, and environmental information (ISO, WB, AF) of the camera included in the camera module 200 according to the camera setting information designated for each driving mode. Can be controlled.
  • the processor 600 may adjust the composition information to correspond to each driving mode (key 1, 2, 3, ⁇ ). For example, the processor 600 may adjust at least one of angles formed by the camera module 200, the unmanned aerial vehicle 20, and a photographing target (eg, a user). The processor 600 may adjust an angle formed by the camera module 200 and the photographing target by using an angle adjusting unit (eg, the gimbal module of FIG. 7) included in the camera module 200. The processor 600 may control the motor module 500 to adjust an angle formed between the unmanned aerial vehicle 20 (for example, the center of the camera module 200) and the photographing target. As such, in one embodiment, the camera setting information may be controlled as well as the flight conditions of the unmanned aerial vehicle.
  • the processor 600 may adjust the setting information of the camera included in the camera module 200 according to each driving mode. For example, the processor 600 may set the setting information to the panorama mode (or the video mode) in the first mode. For another example, the processor 600 may control the setting information in a full shot in the second mode. The processor 600 may set the setting information to the person mode in the third mode.
  • the processor 600 may turn the motor module 500 such that the unmanned aerial vehicle 20 is started off (eg, landing) after a designated time in each driving mode or after completion of a designated operation (eg, photographing). Can be controlled.
  • the processor 600 may control the motor module 500 such that the unmanned aerial vehicle 20 lands after performing rotation flight photographing a predetermined number of times (eg, once) in the first mode.
  • the processor 600 may control the motor module 500 to land the unmanned aerial vehicle 20 when the photographing of the predetermined number of times (eg, once) is completed in the second and third modes.
  • the processor 600 may move the unmanned aerial vehicle 20 to a started position (eg, a position in which gripping is released) to land on the ground after a specified time or after completion of a specified operation in each driving mode. have.
  • the processor 600 may control the motor module 500 to move to the started position after a designated time in each driving mode or after completion of the designated operation and wait until the user grips the grip. .
  • the processor 600 records the positions (x, y) and the altitude (z) that started the motor module 500 in the memory 300 and moves to the recorded position. So you can fly while maintaining your current position until it detects the grip by the user based on the grip information.
  • the embodiment may support a function of stably landing after completing a desired operation in each driving mode.
  • 6A and 6B are diagrams for describing a moving distance control method, according to an exemplary embodiment.
  • 6A is a diagram for describing a radius of rotation in a first mode
  • FIG. 6B is a diagram for a movement distance in a second mode, according to an embodiment.
  • the processor 600 checks the force of the user throwing the unmanned aerial vehicle 20 using the three-axis initial acceleration value of the unmanned aerial vehicle 20 even in the first mode, and is identified as condition 1 below.
  • Rotation radius R1 ⁇ R3, R1 ⁇ R2 ⁇ R3 can be determined according to the range to which the force belongs.
  • the processor 600 sets the radius of rotation to R1 (short distance, constant) (1 in FIG. 6A), and the confirmed force is greater than or equal to a' and less than b '.
  • the radius of rotation can be set to R2 (medium distance, constant) (2 in FIG. 6A), and if the identified force is greater than b ', the radius of rotation R3 (far, constant) can be set (3 in FIG.
  • the processor 600 may change and set the force range values a and b according to at least one of the grip information, the learned initial acceleration value, and the user information.
  • the camera setting information (for example, focal length) may be changed and set according to a short distance, a medium distance, or a long distance according to at least one of a distance or a radius to be moved.
  • the processor 600 may adjust camera setting information (eg, composition, angle, or environment information) according to the distance and radius to be moved.
  • the processor 600 determines the range of force of the user based on the gripping area received from the sensor module 100, and when the user blows the unmanned aerial vehicle 20 in consideration of the determined range of force, The moving distance of the vehicle 20 may be determined.
  • the processor 600 uses a three-axis initial acceleration value of the unmanned aerial vehicle 20 in the second mode (eg, the first selfie mode) to force the user to throw the unmanned aerial vehicle 20.
  • the force corresponding to the acceleration value in the initial traveling direction of the vehicle 20 can be confirmed.
  • the processor 600 may determine the distance to move according to the range to which the identified force belongs.
  • the processor 600 sets the distance to be moved to D1 (short distance, constant) if the determined force is less than a (1) in FIG. 6B), and if the determined force is more than a and less than b, The distance can be set to D2 (medium distance, constant) (2 in Fig. 6b), and if the identified force is b or more, the distance to be moved can be set to D3 (distance, constant) (3) in Fig. 6a).
  • a and b in conditional statement 2 may be the same as a 'and b' or may be set differently from a 'and b'.
  • the processor 600 may change and set a and b using at least one of grip information and an initial acceleration value. For example, the processor 600 may calculate the grip area from the grip information, and determine a force range (for children ⁇ adult) a and b corresponding to the grip area. In another example, the processor 600 may learn an initial acceleration value corresponding to the grip area, and may set (or change) settings of a and b for children and adults using the learned force range. . In an embodiment of the present disclosure, the processor 600 may check a user setting (eg, a child, a female, a male, etc.) input through the remote control apparatus 10 and change and set a and b to correspond to the user setting.
  • a user setting eg, a child, a female, a male, etc.
  • the distance to move the unmanned aerial vehicle 20 may be set differently depending on the environment for driving the unmanned aerial vehicle 20.
  • the driving environment is set outdoors through the remote control device 10 or the processor is based on information collected by the sensor module 100 (eg, an illuminance sensor or an ultrasonic sensor, etc.) of the unmanned aerial vehicle 20. If it is determined that 600 is outdoors, the processor 600 may set the distance to 10m.
  • the driving environment is set indoors through the remote control device 10 or the processor 600 moves the driving environment indoors based on information collected by the sensor module 100 of the unmanned aerial vehicle 20. In this case, the processor 600 may set the distance to 5 m.
  • the timing of determining whether the processor 600 is outdoors or indoors may be performed at the time when the environment is changed (for example, when the indoors are moved outdoors) or when the flight starts.
  • the processor 600 may be set to correspond to a short distance, a medium distance, and a long distance.
  • FIG. 7 is a view showing an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 7 is a diagram for describing a substrate configuration and a gimbal function of the unmanned aerial vehicle 20, and therefore, FIG. 7 will be described with reference to components except for components overlapping with the components described above with reference to FIG. 3. Thus, in FIG. 7, the same reference number is given to components that perform the same or similar functions as those of FIG. 3.
  • the unmanned aerial vehicle 20 may include a plurality of printed circuit boards (hereinafter, referred to as substrates), for example, first to third substrates 810, 820, and 830. have.
  • substrates printed circuit boards
  • Each of the first to third substrates 810, 820, and 830 may include the following components.
  • the first substrate 810 may include most components of the unmanned aerial vehicle 20, such as the sensor module 100, the memory 300, the communication module 400, the motor module 500, and the processor. 600 and the power block 700 may be mounted.
  • the power block 700 may include, for example, a battery 710 for supplying power to the unmanned aerial vehicle 20 and a power converter 720 for changing a power level of the battery 710 into driving power of another component. It may include.
  • the processor 600 may include an application processor (AP), a microprocessor unit (MPU), a micro controller unit (MCU), or the like.
  • AP application processor
  • MPU microprocessor unit
  • MCU micro controller unit
  • the second substrate 820 may mount the camera module 200.
  • the camera module 200 may be tilt-controlled by the gimbal control module 832.
  • the second substrate 820 and the third substrate 830 may be formed of FPCBs, and may be connected to the first substrate 810 through at least one connector 811, respectively.
  • the third substrate 830 may include a sensor 831, a gimbal control module 832, a motor driving module 833 (or a motor driving circuit), and a motor 834.
  • a sensor 831 a gimbal control module 832, a motor driving module 833 (or a motor driving circuit), and a motor 834.
  • a motor driving module 833 or a motor driving circuit
  • the sensor 831 may include a gyro sensor and an acceleration sensor.
  • the motor 834 may include a roll motor for moving the camera module 200 in a roll direction and a pitch motor for moving the camera module 200 in a pitch direction.
  • the roll direction and the pitch direction may be the same as the roll direction and the pitch direction of the unmanned aerial vehicle 20.
  • the motor driving module 833 may control at least one motor 834 (eg, a roll motor and a pitch motor) according to the control signal of the gimbal control module 832.
  • the gimbal control module 832 may analyze at least one of angular velocity and acceleration information received from the sensor 831 and generate compensation data according to the movement of the unmanned aerial vehicle 20 based on the analysis result.
  • the compensation data may be data for controlling at least a part of the pitch or the roll of the camera module 200.
  • the gimbal control module 832 may generate a control signal of the motor driving module 833 based on the compensation data, and drive the at least one motor 834 according to the control signal.
  • the gimbal control module 832 compensates for the roll and pitch of the camera module 200 so as to offset the movement caused by the rotation of the unmanned aerial vehicle 20, regardless of the movement of the unmanned aerial vehicle 20. It can be controlled to have a constant slope. Thus, in one embodiment, even when the unmanned aerial vehicle 20 moves, for example, when rotation occurs, the camera module 200 is maintained in an upright state, thereby stably capturing an image.
  • motor 834 includes a roll motor and a pitch motor
  • motor 834 may further include a yaw motor.
  • the gimbal control module 832 may be included in the processor 600.
  • the first to third substrates 810, 820, and 830 according to the above-described embodiments may be configured as one substrate. Components provided on the first to third substrates 810, 820, and 830 may be located on different substrates.
  • FIG. 8 is a diagram illustrating a configuration example of an electronic device according to an embodiment of the present disclosure.
  • an unmanned aerial vehicle (UAV) / drone (Drone) is described as an electronic device 900.
  • the electronic device 900 may include one or more processors 910 (eg, an AP), a communication module 920, an interface 955, an input device 950, a sensor module 940, Memory 930, an audio module 980, an indicator 997, a power management module 995, a battery 996, a camera module 971, a movement control module 960, and a gimbal module 970. ) May be further included.
  • the processor 910 may control a plurality of hardware or software components connected to the processor 910 by running an operating system or an application program, for example, and may perform various data processing and operations. Can be done.
  • the processor 910 may generate a flight command of the electronic device 900 by driving an operating system or an application program. For example, the processor 910 may generate a move command using data received from the camera module 971, the sensor module 940, and the communication module 920.
  • the processor 910 may generate a move command by calculating a relative distance of the obtained subject, generate an altitude movement command of the unmanned photographing apparatus using the vertical coordinates of the subject, and use the electronic device 900 as the horizontal coordinates of the subject. Can generate horizontal and azimuth commands.
  • the communication module 920 may include, for example, a cellular module, a WiFi module, a Bluetooth module, a GNSS module, an NFC module, and an RF module.
  • the communication module 920 receives a control signal of the electronic device 900, and transmits state information and image data information of the electronic device 900 to an external electronic device (eg, the remote control device 10).
  • Can transmit The RF module may transmit and receive a communication signal (eg, an RF signal).
  • the RF module may include, for example, a transceiver, a power amp module (PAM), a frequency filter, a low noise amplifier (LNA), an antenna, or the like.
  • PAM power amp module
  • LNA low noise amplifier
  • the GNSS module may output location information (longitude, latitude, altitude, GPS speed, GPS heading) such as latitude, longitude, altitude, speed, and heading information while the electronic device 900 moves.
  • Location information can be calculated by measuring the exact time and distance through the GNSS module.
  • the GNSS module can acquire the exact time with latitude, longitude, and altitude, as well as three-dimensional velocity information.
  • the electronic device 900 may transmit information for confirming a real-time movement state of the electronic device 900 to the remote control device (for example, 10) through the communication module 920.
  • the interface 955 is a device for inputting / outputting data with other electronic devices.
  • a USB or an optical interface RS-232, RJ45
  • the input device 950 may include, for example, a touch panel, a key, and an ultrasonic input device 950.
  • the touch panel may use at least one of capacitive, resistive, infrared, or ultrasonic methods.
  • the touch panel may further include a control circuit.
  • the key may include, for example, a physical button, an optical key, or a keypad.
  • the ultrasonic input device may detect ultrasonic waves generated by an input tool through a microphone and check data corresponding to the detected ultrasonic waves.
  • the control input of the electronic device 900 may be received through the input device 950. For example, when the physical power key is pressed, the power of the electronic device 900 may be cut off.
  • the sensor module 940 includes a gesture sensor capable of detecting a motion and / or gesture of a subject, and a gyro sensor capable of measuring an angular velocity of a flying unmanned imaging apparatus.
  • Barometers that measure atmospheric pressure changes and / or barometric pressures, magnetic sensors that measure the Earth's magnetic field (terrestrial magnetism sensors, compass sensors), and acceleration of flying electronic devices 900 Acceleration sensor (acceleration sensor) for measuring the proximity of the object, proximity sensor for measuring the distance (including an ultrasonic sensor (ultrasonic sensor that can measure the distance by measuring the signal reflected from the object by outputting the ultrasonic wave),
  • Optical sensor (OFS, optical flow) that can calculate the location by recognizing floor topography or pattern, biometric sensor for user authentication, temperature / humidity to measure temperature and humidity Document may comprise a portion or all of the (temperature-humidity sensor), an illuminance sensor, UV (ultra violet) capable of measuring a UV
  • the memory 930 may include an internal memory and an external memory. Commands or data related to at least one other element of the electronic device 900 may be stored.
  • the memory 930 may store software and / or a program.
  • the program may include a kernel, middleware, an application programming interface (API) and / or an application program (or “application”), and the like.
  • the audio module 980 may bilaterally convert a sound and an electrical signal, for example. It may include a speaker and a microphone, and may process input or output sound information.
  • the indicator 997 may display a specific state of the electronic device 900 or a portion thereof (eg, the processor 910), for example, an operating state or a charging state.
  • the electronic device 900 may display a flight state and an operation mode.
  • the power management module 995 may manage power of the electronic device 900, for example.
  • the power management module 995 may include a power management integrated circuit (PMIC), a charger IC, or a battery 996 or a fuel gauge.
  • the PMIC may have a wired and / or wireless charging scheme.
  • the wireless charging method may include, for example, a magnetic resonance method, a magnetic induction method, an electromagnetic wave method, or the like, and may further include additional circuits for wireless charging, such as a coil loop, a resonance circuit, a rectifier, and the like. have.
  • the battery 996 gauge can measure, for example, the remaining capacity of the battery 996, the voltage, current, or temperature during charging.
  • the battery 996 may include, for example, a rechargeable cell and / or a solar cell.
  • the camera module 971 (eg, 200 of FIG. 3) may be configured in the electronic device 900 or in the gimbal module 970 when the electronic device includes a gimbal.
  • the camera module 971 may include a lens, an image sensor, an image processor, and a camera controller.
  • the camera controller may adjust the composition and / or the camera angle (shooting angle) with the subject by adjusting the up, down, left, and right angles of the camera lens based on the composition information and / or camera control information output from the processor 910.
  • the image sensor may include a row driver, a pixel array and a column driver.
  • the image processor may include an image preprocessor, an image post processor, a still image codec, a video codec, and the like.
  • the image processor may be included in the processor 910.
  • the camera controller may control focusing and tracking.
  • the camera module 971 may perform a photographing operation in a driving mode.
  • the camera module 971 may be affected by the movement of the electronic device 900.
  • the gimbal module 970 may be located in order to minimize a photographing change of the camera module 971 due to the movement of the electronic device 900.
  • the movement control module 960 may control the attitude and movement of the electronic device by using the position and attitude information of the electronic device 900.
  • the movement control module 960 may control a roll, pitch, yaw, throttle, and the like of the electronic device 900 according to the acquired position and attitude information.
  • the movement control module performs autonomous flight operation control and flight operation control according to the received user input command based on the hovering flight operation and autonomous flight commands (distance movement, altitude movement horizontal and azimuth command, etc.) provided to the processor 910. can do.
  • the mobile module may be a quadcopter, and may include a plurality of microprocessor units (MPUs), a motor driving module, a motor module, and a propeller.
  • MPUs microprocessor units
  • the movement control module may output control data for rotating the propeller in response to flight operation control.
  • the motor driving module may convert motor control data corresponding to the output of the movement control module into a driving signal and output the driving signal.
  • the motors may control corresponding propeller rotation based on driving signals of the corresponding motor driving modules, respectively.
  • the gimbal module 970 may include, for example, the gimbal control module 974, the sensor 972, the motor driving module 973, and the motor 975.
  • Gimbal module 970 may include a camera module 971.
  • the gimbal module 970 may generate compensation data according to the movement of the electronic device 900.
  • the compensation data may be data for controlling at least part of the pitch, roll, or yaw of the camera module 971.
  • the roll motor, the pitch motor, and the yaw motor 975 may compensate for the roll, pitch, and yaw angle of the camera module 971 according to the movement of the electronic device 900.
  • the camera module 971 is mounted on the gimbal module to offset the movement caused by the rotation (eg, pitch and roll) of the electronic device 900 (eg, multicopter) to establish an upright state of the camera module 971. Can be stabilized.
  • the gimbal module 970 may capture a stable image by allowing the camera module 971 to maintain a constant tilt regardless of the movement of the electronic device 900.
  • Gimbal control module 974 may include a sensor module 974 that includes a gyro sensor and an acceleration sensor. The gimbal control module 974 may analyze a measurement value of a sensor including a gyro sensor and an acceleration sensor to generate a control signal of the motor driving module 973 and drive the motor 975.
  • FIG. 9 is a diagram illustrating a program module (platform structure) of an electronic device according to an embodiment of the present disclosure.
  • the electronic device may include an application platform and a flight platform.
  • the electronic device 900 wirelessly receives a control signal from an external electronic device (eg, the remote control device 10) to control the flight according to an application platform and navigation algorithm for driving and providing a service of the electronic device 900. It may include at least one or more flight platform.
  • the application platform may perform communication control, image control, sensor control, charging control, or operation change according to a user application of the components of the electronic device 900.
  • the application platform may run on a processor (eg, the processor 910).
  • the flight platform may execute flight, attitude control, and navigation algorithms of the electronic device 900.
  • the flight platform may be executed in the processor 910 or the movement control module 960.
  • the application platform can transmit control signals to the flight platform while communicating, imaging, sensors and charging control.
  • the processor 910 may acquire an image of a subject photographed through the camera module 971.
  • the processor 910 may generate a command to fly the electronic device 900 by analyzing the acquired image.
  • the processor 910 may generate the size information, the movement state, the relative distance between the photographing apparatus and the subject, the altitude, and the azimuth information.
  • a follow flight control signal of the electronic device 900 may be generated.
  • the flight platform may control the movement control module based on the received steering signal to fly the electronic device 900 (posture and movement control of the electronic device).
  • the position, the flight attitude, the attitude angular velocity, and the acceleration of the electronic device 900 may be measured through the sensor module 940 including the GPS module.
  • Output information of the sensor module 940 including the GPS module may be generated and may be basic information of a steering signal for navigation / automatic steering of the electronic device.
  • Information on the barometric pressure sensor that can measure altitude through the air pressure difference of the unmanned photographing device, and the ultrasonic sensors that perform precise altitude measurement at low altitude can also be used as basic information.
  • the steering data signal received from the remote controller and the battery state information of the electronic device 900 may also be used as basic information of the steering signal.
  • the electronic device 900 may fly using a plurality of propellers.
  • the propeller can change the thrust force of the motor's rotational force.
  • the electronic device 900 may be referred to as four quadcopters, six hexacopters, and eight octocopters, depending on the number of rotors (the number of propellers).
  • the electronic device 900 may control the propeller based on the received control signal.
  • the electronics can fly on two principles: lift / torque.
  • the electronic device 900 may rotate half of the multi-propeller clockwise (CW) and half counterclockwise (CWW) of the multi-propeller for rotation.
  • Three-dimensional coordinates according to the flight of the drone can be determined in pitch (Y) / roll (X) / yaw (Z).
  • the electronic device can fly by tilting back, forth, left and right. Tilting the electronic device 900 may change the direction of the flow of air generated by the propeller module (rotor). For example, if the electronic device 900 leans forward, the air may not only flow up and down, but also slightly outward.
  • the electronic device 900 may move the gas forward according to the law of action / reaction as the air layer is pushed backward.
  • the electronic device 900 may be tilted by reducing the speed in the front of the direction and increasing the speed in the rear of the electronic device 900. Since this method is common to all directions, the electronic device 900 may be tilted and moved only by adjusting the speed of the motor module (rotor).
  • the electronic device 900 receives a steering signal generated by the application platform from the flight platform and controls the motor module to control and move the pitch (Y) / roll (X) / yaw (Z) of the electronic device 900 by attitude control. Flight control along the route is possible.
  • an unmanned flying device eg, unmanned aerial vehicle 20
  • the sensor may include a first sensor for detecting whether a user is held; And a second sensor for detecting at least one of geomagnetic, angular velocity, and acceleration.
  • the memory may include a plurality of first reference information for detecting a first motion of the housing while the housing is held; And during the gripping release of the housing or before or after gripping the housing, further storing a plurality of second reference information for detecting a second motion of the housing, wherein the instructions are generated by the processor: In the state in which the housing is gripped based on the first reference information, the flight pattern corresponding to the motion of the housing is checked, and before the grip is released to the housing based on the plurality of second reference information, the grip is released.
  • the driving mode of the unmanned aerial vehicle is determined by using a pattern and a flight pattern corresponding to the initial flight value of the housing. You can do that.
  • the unmanned aerial vehicle further includes a proximity sensor, wherein the instructions are configured by the processor to transmit information of at least one of the motion of the housing and the camera or the proximity sensor using the plurality of first reference information. It may be to check the flight pattern corresponding to.
  • the instructions may be further configured to determine a change in an initial flight value after the processor waits for a designated time after release of the grip on the housing, the initial flight value including at least one of an initial attitude value or an initial acceleration value, If there is no change in the initial flight value, it may further include an instruction to control to hover at a specified height and altitude, or not to fly.
  • the instructions may cause the processor to control the motor module to move and hover to a designated position and altitude if a flight pattern corresponding to at least one of the flight pattern or the initial flight value corresponding to the motion of the housing is not identified. It may further include.
  • the instructions cause the processor to cause the flight pattern corresponding to the motion of the housing to rotate the unmanned aerial vehicle, and if the change in the yaw angle of the unmanned aerial vehicle is greater than or equal to a first threshold value at the initial flight value, the unmanned aerial vehicle It is possible to control the motor module so that a vehicle rotates about a reference point.
  • the instructions are such that the processor causes the flight pattern corresponding to the motion of the housing to fly by moving the unmanned aerial vehicle horizontally, and the change in the yaw angle according to the initial flight value is less than a first threshold and is dependent on the initial flight value.
  • the unmanned aerial vehicle may control the motor module to fly while maintaining a position at a predetermined distance.
  • the instructions may cause the processor to determine a distance to move the unmanned aerial vehicle based on a user's force corresponding to the initial flight value.
  • the instructions allow the processor to identify a gripping area for a housing based on gripping information sensed using the one or more sensors, and determine a plurality of comparison variables to be compared with the user's force based on the gripping area.
  • the force of the user may be compared with the plurality of comparison variables to determine one of a plurality of specified distances as the movement distance.
  • the instructions are moved to a position where the processor is started or a gripping release point after the designated time in the drive mode, after completion of the designated drive, or after a designated number of times of shooting with the camera, and the posture at the moved position.
  • the motor module may be controlled to maintain and fly.
  • the unmanned aerial vehicle further comprises an output module including at least one of a display, a speaker or an LED, wherein the instructions are set to cause the processor to guide the determined driving mode through the output module.
  • an output module including at least one of a display, a speaker or an LED, wherein the instructions are set to cause the processor to guide the determined driving mode through the output module. Can be.
  • the camera setting information may include at least one of composition information, setting information, or environment information.
  • the unmanned aerial vehicle 20 includes a housing, a sensor embedded or provided with the housing, a plurality of propellers connected to the housing, and a navigation circuit that provides a rotational force to at least one of the plurality of propellers, And a processor embedded in the housing and electrically connected to the camera, the sensor, and the navigation circuit, and a memory electrically connected to the processor embedded in the housing.
  • the memory may store first to fifth instructions executed by the processor.
  • the first command may be a command for confirming the housing gripping state using the sensor.
  • the second command may be a command for confirming whether the housing has been thrown by the user using the sensor.
  • the third command may be a command for detecting motion for a specified period of time after being thrown by the user using the sensor.
  • the fourth command may be a command for selecting one mode among a plurality of modes using the detected motion.
  • the fifth command may be a command for controlling the navigation circuit for driving the plurality of propellers in the selected mode.
  • the sensor may include at least one of a geomagnetic sensor, an angular velocity sensor, and an acceleration sensor.
  • the sensor may further include a capacitive sensor provided in the housing.
  • the unmanned aerial vehicle further includes at least one camera provided in the housing, wherein the plurality of modes include a first mode of flying the unmanned aerial vehicle in a predetermined pattern through an external user interface of the unmanned aerial vehicle, And a second mode in which the unmanned aerial vehicle is mainly horizontal while the camera tracks the subject, and a third mode in which the unmanned aerial vehicle rotates around the subject while the camera tracks the subject.
  • the selected mode is the first mode, and if the detected motion is mainly horizontal, the selected mode is the second mode, and the detected If the motion is at least partially circular, the selected mode may be a third mode.
  • FIG. 10 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention.
  • the processor may recognize the grip (grip) by using the sensing information (eg, gripping area) from the sensor module (eg, 100, 150). For example, the processor (eg, 600) may recognize the gripping using the determination result from the gripping sensor.
  • the processor may collect a change amount of at least one or more sensor values while being held.
  • the processor may analyze an amount of change in a sensor value from at least one of an acceleration sensor, an angular velocity sensor, and a geomagnetic sensor.
  • the processor may recognize release of grip by using sensing information from the sensor module (eg, 100 or 150). For example, the processor (eg, 600) may recognize the grip release using the determination result from the grip sensor.
  • the processor may perform a flight or a designated operation based on the collected information.
  • the processor may determine at least one of flight status, flight method, and camera setting information based on the collected information, fly in the determined flight method, or set determined camera setting information.
  • the processor may determine whether an adjustment signal is received, and if the adjustment signal is received, perform a flight or specified operation based on the adjustment signal. Can be.
  • FIG. 11 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to an embodiment of the present invention.
  • the processor may determine whether the motion control mode is present.
  • the processor 600 checks a signal from a remote control device (eg, the remote control device 10), a switch operation provided on the unmanned vehicle (eg, the unmanned vehicle 20), or a user's voice input to control the mode. You can check.
  • the processor 600 when the processor 600 is in the motion control mode, the processor 600 instructs driving of at least one sensor for detecting a grip motion and a start instruction from a sensor included in a sensor module (eg, the sensor module 100). Sensing information from module 100 may be analyzed.
  • the processor 600 may detect a motion (grip motion) performed by the user to select the driving mode by holding the unmanned aerial vehicle 20 from the sensing information.
  • the grip motion may be, for example, a first motion in which the unmanned aerial vehicle 20 is grasped by the unmanned aerial vehicle 20, and a second motion in which the unmanned aerial vehicle 20 is vertically held by the unmanned aerial vehicle 20, shaking the unmanned aerial vehicle 20 up and down. And third motion.
  • the processor 600 may identify a flight pattern corresponding to the grip motion. For example, when the processor 600 detects the first motion by the grip motion, the processor 600 may determine that the flight pattern is a rotational flight. When the processor 600 detects the second motion by the grip motion, the processor 600 may determine that the flight pattern is a horizontal moving flight. When the processor 600 detects the third motion by the grip motion, the processor 600 may confirm that the flight pattern is a moving flight of a specified type.
  • the processor 600 may determine whether a start command motion of the user occurs based on the sensing information. For example, when the processor 600 checks the grip release (release) of the unmanned aerial vehicle 20 from the grip information from the grip information, and confirms that the change of the geomagnetism from the geomagnetism information is greater than or equal to the specified geomagnetic reference value, a start command motion occurs. It can be judged that.
  • the start command motion may be, for example, a motion in which the user throws or free-falls the unmanned aerial vehicle 20.
  • the processor 600 based on the detection information based on the detection information at a time point (first time point) at which the user's start instruction motion is detected or at a second time point before or after a predetermined time point (eg, 1 second) than the first time point. can confirm.
  • the processor 600 may check the flight pattern selected by the user using at least one of the initial attitude values ⁇ , ⁇ , and ⁇ , the displacement, and the initial speed of the unmanned aerial vehicle 20. For example, the processor 600 uses the initial attitude value and the displacement to determine whether the unmanned aerial vehicle 20 is thrown at a rotation angle-for example, whether the change in the yaw angle according to the initial attitude value is greater than or equal to the first threshold value, and the horizontal direction.
  • the processor 600 may detect an initial posture value using angular velocity information and detect a displacement using acceleration information.
  • the processor 600 may determine the driving mode using the grip motion and the flight pattern corresponding to the initial flight value. For example, the processor 600 determines that the flight pattern corresponding to the grip motion is the rotation flight pattern, and then the amount of change (eg, change in yaw angle) of the sensor value of the sensor module 100 is greater than or equal to the first threshold. If it is confirmed, the driving mode may be determined as the first mode. For another example, the processor 600 confirms that the flight pattern corresponding to the grip motion is a horizontal movement pattern, and then confirms that the change in the sensor value from the angular velocity information is less than the first threshold and the change in the vertical direction is less than the second threshold. The driving mode may be determined as the second mode.
  • the processor 600 confirms that the flight pattern corresponding to the grip motion is a horizontal movement pattern, and then confirms that the change in the sensor value from the angular velocity information is less than the first threshold and the change in the vertical direction is less than the second threshold.
  • the driving mode may be determined as the second mode.
  • the processor 600 confirms that the flight pattern corresponding to the grip motion is the designated movement pattern, and then, when the change amount of the sensor value is less than the first threshold and the change in the vertical direction is greater than or equal to the second threshold, the driving mode. Can be determined as the third mode.
  • the processor 600 may use the force range value a according to at least one of grip information (eg, grip area), learned initial acceleration value, and user information in each driving mode, as in the above-mentioned conditional statements 1 and 2.
  • b may be set, and a radius of rotation or a distance to move of the unmanned aerial vehicle 20 may be determined according to the range in which the force according to the initial acceleration value belongs.
  • the processor 600 may change and set camera setting information (for example, a focal length) according to a short distance, a medium distance, or a long distance according to a distance and a radius to be moved.
  • the processor 600 may include a motor module (eg, the motor module 500) such that the unmanned aerial vehicle 20 rotates about a reference point. ) Can be controlled.
  • the processor 600 drives the camera module (eg, the camera module 200) at a designated time point (for example, a predetermined time interval or a predetermined rotational position, etc.) in the first mode to perform shooting, but the camera module 200 captures the object. (E.g. user) can be controlled to track.
  • the processor 600 may control the angle of the camera module 200 such that the camera module 200 maintains a specified angle with respect to the photographing target during the rotation flight in the first mode.
  • the processor 600 may maintain the motor module at the position where the unmanned aerial vehicle 20 is horizontally moved at a predetermined distance with respect to the reference point. 500 can be controlled.
  • the processor 600 may control the camera setting information in the second mode.
  • the processor 600 may control the angle of the camera module 200 such that the camera module 200 becomes an angle designated based on the photographing target in the second mode.
  • the processor 600 may switch to the third mode when the at least one flight pattern is not confirmed.
  • the processor 600 may control the motor module 500 to move the unmanned aerial vehicle 20 at a predetermined distance and height in the third mode.
  • the specified distance and height may be a default value stored in a memory (eg, the memory 300) or may be a value set by the remote control apparatus 10 or the like.
  • the processor 600 may maintain the first to third modes until the designated time or the designated operation is completed, respectively.
  • the processor 600 controls the motor module 500 to perform a rotational flight in a first mode for a specified number of times (eg, once) or for a specified time (eg, 1 minute), and executes a rotational flight.
  • the camera module 200 may be controlled to continue shooting while performing.
  • the processor 600 may control the motor module 500 to land the unmanned aerial vehicle 20 when the first photographing is completed in the second and third modes.
  • the processor 600 may control the motor module 500 in response to an adjustment signal from the remote control apparatus 10.
  • the processor 600 determines the remote control mode and the motion control mode, and then the processor 600 classifies and controls each control mode. In contrast, the processor 600 may be automatically driven in the remote control mode and the motion control mode without separately determining the control mode.
  • FIG. 12 is a flowchart illustrating a method for controlling an unmanned aerial vehicle according to an exemplary embodiment.
  • the processor may detect a motion of a housing in a housing holding state by using a sensor.
  • the processor 600 may determine a driving mode related to flight of the housing using the sensed motion of the housing.
  • the processor 600 may control at least one of the plurality of propellers of the unmanned aerial vehicle according to the determined driving mode.
  • the determining may include: checking a flight pattern corresponding to the motion of the housing while the housing is gripped; Identifying a flight pattern corresponding to an initial flight value of at least one of the housing during release, before release or after release; And determining a driving mode of the unmanned aerial vehicle using a flight pattern corresponding to a motion of the housing and a flight pattern corresponding to an initial flight value of the housing.
  • module includes a unit composed of hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic blocks, components, or circuits.
  • the module may be an integrally formed part or a minimum unit or part of performing one or more functions.
  • Modules may be implemented mechanically or electronically, for example, application-specific integrated circuit (ASIC) chips, field-programmable gate arrays (FPGAs), or known or future developments that perform certain operations. It can include a programmable logic device.
  • ASIC application-specific integrated circuit
  • FPGAs field-programmable gate arrays
  • At least a portion of an apparatus (e.g., modules or functions thereof) or method (e.g., operations) may be stored in a computer-readable storage medium (e.g., memory # 30) in the form of a program module. Can be implemented with stored instructions.
  • a processor for example, processor # 20
  • the processor may perform a function corresponding to the command.
  • Computer-readable recording media include hard disks, floppy disks, magnetic media (e.g. magnetic tape), optical recording media (e.g. CD-ROM, DVD, magnetic-optical media (e.g. floppy disks), internal memory, etc.
  • Instructions may include code generated by a compiler or code that may be executed by an interpreter.
  • Each component may be composed of a singular or plural entity, and some of the above-described subcomponents may be omitted, or other subcomponents may be omitted. It may further include. Alternatively or additionally, some components (eg modules or program modules) may be integrated into one entity to perform the same or similar functions performed by each corresponding component prior to integration. According to various embodiments, operations performed by a module, program module, or other component may be executed sequentially, in parallel, repeatedly, or heuristically, or at least some of the operations may be executed in a different order, omitted, or otherwise. Can be added.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mechanical Engineering (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Navigation (AREA)

Abstract

Selon un aspect de l'invention, un dispositif aérien sans pilote comprend : un boîtier ; au moins un capteur intégré ou disposé dans le boîtier ; une caméra intégrée ou disposée dans le boîtier ; une pluralité d'hélices reliées au boîtier ; un module de moteur pour fournir une puissance de rotation à au moins une hélice parmi la pluralité d'hélices ; au moins un processeur intégré dans le boîtier et connecté électriquement aux capteurs et au module de moteur ; et une mémoire connectée électriquement au processeur, la mémoire stockant : des instructions pour permettre au processeur de détecter un mouvement du boîtier, dans un état dans lequel le boîtier est maintenu, à l'aide d'informations de détection d'au moins un capteur, déterminer un mode de conduite relatif au vol du boîtier à l'aide du mouvement détecté du boîtier et commander le module de moteur selon le mode de conduite déterminé ; et des instructions pour commander des informations de réglage de caméra sur la caméra de façon à correspondre au mode de conduite. De plus, différents autres modes de réalisation sont possibles.
PCT/KR2017/010385 2016-12-02 2017-09-21 Véhicule aérien sans pilote et son procédé de commande WO2018101592A1 (fr)

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CN114036645A (zh) * 2021-11-16 2022-02-11 中智行科技有限公司 一种基于ros的仿真方法、装置和电子设备
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WO2021015325A1 (fr) * 2019-07-23 2021-01-28 엘지전자 주식회사 Procédé d'atterrissage d'un robot aérien sans pilote par reconnaissance de station dans un système aérien sans pilote, et appareil prenant en charge ce procédé
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CN111604893A (zh) * 2020-05-19 2020-09-01 陕西科技大学 一种高层楼垃圾倾倒机器人
CN113135298A (zh) * 2021-05-28 2021-07-20 苏州臻迪智能科技有限公司 一种无人机进入机库的方法和装置
CN113900444A (zh) * 2021-10-09 2022-01-07 广东汇天航空航天科技有限公司 一种飞行器的控制方法和装置
CN113900444B (zh) * 2021-10-09 2024-02-23 广东汇天航空航天科技有限公司 一种飞行器的控制方法和装置
CN114036645A (zh) * 2021-11-16 2022-02-11 中智行科技有限公司 一种基于ros的仿真方法、装置和电子设备
WO2024108412A1 (fr) * 2022-11-23 2024-05-30 深圳市大疆创新科技有限公司 Procédé de planification d'autre emplacement d'atterrissage, plateforme d'atterrissage et procédé, dispositif, système et support de commande d'aéronef

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