WO2019127094A1 - Véhicule aérien sans pilote et procédé et appareil de commande de véhicule aérien sans pilote - Google Patents

Véhicule aérien sans pilote et procédé et appareil de commande de véhicule aérien sans pilote Download PDF

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Publication number
WO2019127094A1
WO2019127094A1 PCT/CN2017/118973 CN2017118973W WO2019127094A1 WO 2019127094 A1 WO2019127094 A1 WO 2019127094A1 CN 2017118973 W CN2017118973 W CN 2017118973W WO 2019127094 A1 WO2019127094 A1 WO 2019127094A1
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WIPO (PCT)
Prior art keywords
tripod
stand
processor
yaw axis
rotation
Prior art date
Application number
PCT/CN2017/118973
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English (en)
Chinese (zh)
Inventor
谢文麟
陈子寒
赵岩崇
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201780016267.1A priority Critical patent/CN108780324B/zh
Priority to PCT/CN2017/118973 priority patent/WO2019127094A1/fr
Publication of WO2019127094A1 publication Critical patent/WO2019127094A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G05D1/0808—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft
    • G05D1/0816—Control of attitude, i.e. control of roll, pitch, or yaw specially adapted for aircraft to ensure stability
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the invention relates to the field of UAV control, and in particular to a UAV, a UAV control method and device.
  • the invention provides a drone and a drone control method and device.
  • a drone control method comprising:
  • the rotation of the stand is controlled to follow the rotation direction of the pan.
  • a drone control apparatus includes a tripod, a motor, and a processor, wherein the processor is coupled to the stand by the motor to drive the stand to rotate;
  • the processor is for,
  • the rotation of the stand is controlled to follow the rotation direction of the pan.
  • a drone includes a body, a stand connected to the body, and a head mounted on the body, and further includes a processor and a motor, wherein The processor is coupled to the stand by the motor to drive the stand to rotate, and the processor is communicatively coupled to the pan/tilt; the processor is configured to:
  • the rotation of the stand is controlled to follow the rotation direction of the pan.
  • a computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by the processor as follows:
  • the rotation of the stand is controlled to follow the rotation direction of the pan.
  • the present invention follows the yaw axis rotation of the gimbal through the control stand, thereby minimizing the occlusion of the lens of the camera mounted on the gimbal by the tripod, and reducing the foot in the shooting picture.
  • the distribution area of the rack allows users to take aerial photography and protect the camera, thus balancing the picture and protecting the camera.
  • FIG. 1 is a schematic structural view of a drone according to an embodiment of the present invention.
  • FIG. 2 is a block diagram showing the structure of a drone according to an embodiment of the present invention.
  • FIG. 3 is a flow chart of a method for controlling a drone according to an embodiment of the present invention.
  • FIG. 4 is a flow chart of a drone control method in another embodiment of the present invention.
  • Figure 5 is a flow chart showing a method of controlling a drone according to still another embodiment of the present invention.
  • Figure 6 is a block diagram showing the structure of a drone according to another embodiment of the present invention.
  • Figure 7 is a block diagram showing the structure of a drone in still another embodiment of the present invention.
  • FIG. 1 is a schematic diagram of a drone according to an embodiment of the present invention.
  • the drone may include a fuselage 110 and a flight controller 120 disposed within the fuselage 110. Further, the drone may include a stand 130 connected to the body 110, and when the drone is dropped, the landing surface is supported by the stand 130 to ensure safe landing of the drone.
  • the drone may further include a motor 140 for driving the stand 130 to rotate.
  • the motor 140 is electrically connected to the flight controller 120, and the flight controller 120 and the motor 140 cooperate to drive the tripod 130 to rotate.
  • the stand 130 includes a plurality of support bars, for example, three, four, five, and the like.
  • the tripod 130 includes three support bars as an example for further explanation.
  • the motor 140 is one for controlling the rotation of the three support rods.
  • the three support rods can be controlled to rotate synchronously by one motor 140, or any one of the supports can be controlled by a motor 140.
  • the rod rotates.
  • the motor 140 is three for controlling the rotation of the corresponding support rod. Additionally, the motor 140 can be a servo motor.
  • the drone may include a carrier mounted on the body 110 and a load mounted on the carrier.
  • the support rods are distributed around the carrier and the load.
  • the carrier is a pan/tilt head 200, for example, a two-axis pan/tilt head 200 or a three-axis pan/tilt head 200.
  • the load may be an image capture device or an image capture device (such as a camera 300, a camcorder, an infrared camera device, an ultraviolet camera device, or the like), an audio capture device (eg, a parabolic reflector microphone), an infrared camera device, etc.
  • the load can provide static sensing data (such as pictures) or dynamic sensing data (such as video).
  • the load is carried on the carrier to control the rotation of the load by the carrier.
  • the camera 300 in which the carrier is a three-axis pan/tilt 200 and the load is mounted on the pan/tilt head 200 will be further described as an example.
  • the three-axis pan/tilt head 200 includes a yaw axis, a roll axis, a pitch axis, and a yaw axis motor for controlling the rotation of the yaw axis, and a roll axis motor for controlling the rotation of the roll axis, for controlling a pitch axis motor that rotates on a pitch axis, the yaw axis motor, the roll axis motor, and the pitch axis motor are electrically connected to the flight controller 120, respectively, to control the yaw by the flight controller 120
  • the rotation of the shaft motor, the roll axis motor, and the pitch axis motor controls the attitude of the three-axis pan/tilt head 200.
  • the pan/tilt head 200 is communicably connected to the flight controller 120, for example, based on a CAN bus (Controller Area Network) or other manner.
  • the rotation of the pan/tilt head 200 can be controlled by the flight controller 120, thereby controlling the rotation of the camera 300 mounted on the pan/tilt head 200.
  • the camera 300 is communicatively coupled to the flight controller 120, for example, the camera 300 is in direct communication connection with the flight controller 120, or the camera 300 passes the cloud
  • the station 200 is communicatively coupled to the flight controller 120.
  • the operation of the camera 300 can be controlled by the flight controller 120, a photographing screen can be acquired from the camera 300, and the like.
  • the drone may include a power mechanism 150.
  • the power mechanism 150 may include one or more rotating bodies, propellers, blades, motors, electronic governors, and the like.
  • the rotating body of the power mechanism 150 may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit.
  • the drone can have one or more power mechanisms 150. All of the power mechanisms 150 can be of the same type. Alternatively, the one or more power mechanisms 150 can be of different types.
  • the power mechanism 150 can be mounted to the drone by suitable means, such as by a support member (such as a drive shaft).
  • the power mechanism 150 can be mounted at any suitable location on the drone, such as the top end, the lower end, the front end, the rear end, the sides, or any combination thereof.
  • the flight of the drone is controlled by controlling one or more power mechanisms 150.
  • the drone can be communicatively coupled to an external device 400, such as terminal 410, remote 420.
  • terminal 410 can provide control data to one or more of the drone, carrier, and load, and receive information from one or more of the drone, carrier, and load (eg, Position and/or motion information of the drone, carrier or load, load sensed data, such as image data captured by camera 300).
  • the flight of the drone can be controlled by the remote controller 420.
  • the drone can communicate with other remote devices than the terminal 410, and the terminal 410 can also communicate with other remote devices other than the drone.
  • the drone and/or terminal 410 can communicate with a carrier or load of another drone or another drone.
  • the additional remote device can be a second terminal 410 or other computing device (such as a computer, desktop, tablet, smartphone, or other mobile device) when needed.
  • the remote device can transmit data to the drone, receive data from the drone, transmit data to the terminal 410, and/or receive data from the terminal 410.
  • the remote device can be connected to the Internet or other telecommunications network to upload data received from the drone and/or terminal 410 to a website or server.
  • the movement of the drone, the movement of the carrier, and the movement of the load relative to a fixed reference (such as an external environment), and/or movements between each other can be controlled by the terminal 410.
  • the terminal 410 can be a remote control terminal 410 located remotely from the drone, carrier, and/or load. Terminal 410 can be located or affixed to a support platform.
  • the terminal 410 can be handheld or wearable.
  • the terminal 410 can include a smartphone, tablet, desktop, computer, glasses, gloves, helmet, microphone, or any combination thereof.
  • the terminal 410 can include a user interface such as a keyboard, mouse, joystick, touch screen, or display. Any suitable user input can interact with terminal 410, such as manual input commands, sound control, gesture control, or position control (eg, by movement, position, or tilt of terminal 410).
  • Embodiment 1 of the present invention provides a drone control method.
  • FIG. 3 is a flowchart of a method for controlling a drone according to an embodiment of the present invention.
  • the execution body of the method may be a processor on the drone, for example, a flight controller 120, a pan/tilt processor, a camera processor or other controller.
  • the execution body of the method is a flight controller. 120.
  • the drone control method may include the following steps:
  • Step S301 Acquire a real-time posture of the yaw axis of the pan/tilt head 200;
  • step S301 it can be determined whether the yaw axis of the pan/tilt head 200 is rotated, thereby determining whether it is necessary to control the rotation of the stand 130. Specifically, when the yaw axis of the pan/tilt head 200 is rotated, step S302 is performed. When the yaw axis of the pan/tilt head 200 is not rotated, there is no need to control the rotation of the stand 130, so that the relative positional relationship between the pan/tilt head 200 and the stand 130 remains unchanged, thereby ensuring that the camera 300 is in a better shooting state (camera 300 The shooting angle is not blocked by the stand 130 or less blocked by the stand 130).
  • the method may further include: controlling the tripod 130 to be in a zero position, and controlling the pan/tilt head 200 to rotate after the tripod 130 is in the zero position.
  • the stand 130 does not block the camera 300 lens or the stand 130 has less occlusion of the camera 300 lens.
  • the rotation of the pan/tilt head 200 is controlled, thereby controlling the rotation of the tripod 130 according to the rotation of the pan-tilt 200, unifying the standard of the control of the stand 130, and ensuring the accuracy of the control of the stand 130.
  • the possibility that the stand 130 will interfere with the camera 300 is reduced.
  • the step of controlling the tripod 130 to be in the zero position is performed immediately after determining that the drone is powered on.
  • the step of controlling the stand 130 to be in the zero position can be performed during the flight of the drone.
  • the manner in which the control stand 130 is in the zero position may include various types.
  • the step of controlling the stand 130 to be in the zero position may include: acquiring the zero position information of the stand 130 And controlling the tripod 130 to be in a zero position according to the zero bit information.
  • the zero position information includes the position of the stand 130 relative to the pan/tilt 200 and/or the camera 300.
  • two support bars located on both sides of the camera 300 are symmetrically located on both sides of the camera 300 along the central axis of the camera 300.
  • the stand 130 When the stand 130 includes three support bars, further, when the stand 130 is in the zero position, the stand 130 is centered with the yaw axis, specifically, by being controlled to be mounted on the platform 200 A support rod at the rear end of the camera 300 faces the yaw axis such that the stand 130 is centered with the yaw axis, and at this time, the support rod is aligned with the yaw axis.
  • the zero position information of the tripod 130 may be pre-stored by the flight controller 120 or may be acquired from the terminal 410.
  • the flight controller 120 can directly read the zero position information of the tripod 130 stored therein before controlling the tripod 130 to be in the zero position.
  • the flight controller 120 reads the zero position information of the tripod 130 stored therein, and controls the tripod 130 to be zero according to the zero position information of the tripod 130. Bit.
  • the step of acquiring the zero position information of the tripod 130 may include: first, receiving a zero return instruction sent by the terminal 410 controlling the drone, wherein the The zeroing command carries the zero position information of the tripod 130. Then, the zero position information of the tripod 130 is parsed from the return-to-zero command. In this manner, the tripod 130 can be controlled to return to zero during the flight of the drone, and the way to control the tripod 130 to zero is controlled. More flexible.
  • the manner of parsing the return-to-zero instruction may be any existing type of parsing.
  • the step of controlling the tripod 130 to be in a zero position may include: controlling the rotation of the tripod 130, and determining the tripod 130 and the yaw axis based on the first sensing unit 500 When centering, it is determined that the stand 130 is in the zero position.
  • the first sensing unit 500 determines that a support rod located at the rear end of the camera 300 mounted on the platform 200 is facing the yaw axis, and the tripod 130 and the offset can be determined. When the aero axis is centered.
  • the first sensing unit 500 outputs a high level, and in other cases, the first sensing unit 500 outputs a low power.
  • the tripod 130 can be controlled to return to zero during the flight of the drone, and the way to control the tripod 130 to zero is more flexible.
  • the method further includes: calibrating the zero position of the tripod 130.
  • the step of calibrating the zero position of the tripod 130 may include: determining that the tripod 130 does not exist in the photographing picture of the camera 300, or determining that the tripod 130 is in the camera
  • the current position information of the tripod 130 is acquired when the specified area is outside the designated area of the shooting screen of 300, and the current position information of the stand 130 is marked as the zero position information corresponding to the zero position of the stand 130.
  • Based on the image processing algorithm it may be determined that the tripod 130 does not exist in the captured image of the camera 300, or based on an image processing algorithm, determining that the tripod 130 is outside a designated area in the captured image of the camera 300. .
  • the image processing algorithm may select any image recognition algorithm in the prior art.
  • the tripod 130 is outside the designated area in the photographing screen of the camera 300, and the tripod 130 may be located outside the middle area of the photographing screen, that is, the tripod 130 is located at the edge of the photographing screen, and does not affect the overall effect of the photographing screen. .
  • the location and size of the specified area can also be selected according to the specific needs of the user.
  • the calibration method of the tripod 130 zero position may include various types.
  • the drone is in a stationary state, and the user manually controls the rotation of the tripod 130 such that the tripod 130 is at the zero position, and then the terminal 410 is manually controlled.
  • the zero position information of the stand 130 is recorded.
  • two support bars located on both sides of the camera 300 are manually located on both sides of the camera 300 symmetrically along the central axis of the camera 300 by the user, and are controlled to be located on the platform 200.
  • a support rod at the rear end of the loaded camera 300 faces the yaw axis such that the stand 130 is at the zero position.
  • the tripod 130 When the tripod 130 is in the zero position, it can be ensured that the camera 300 lens is not blocked by the tripod 130 or the camera 300 lens is blocked by the tripod 130, but the tripod 130 has less influence on the shooting picture of the camera 300, both of which are considered The stand 130 has no effect on the photographing screen of the camera 300.
  • the method may include: receiving a position adjustment instruction sent by the remote controller 420, adjusting a position of the tripod 130 according to the position adjustment instruction, so that the photographing screen of the camera 300 does not have the tripod 130, or The tripod 130 is outside the designated area in the photographing screen of the camera 300. This step is performed during the flight of the drone. When the zero calibration of the stand 130 is completed, the zero position information of the stand 130 can be recorded by the terminal 410.
  • the step of adjusting the position of the tripod 130 according to the position adjustment instruction may include: controlling two support rods located on both sides of the camera 300 mounted by the pan/tilt 200 along the camera 300 Axisymmetrically located on both sides of the camera 300, the two support bars on both sides of the camera 300 mounted on the pan/tilt 200 do not greatly affect the photographing of the camera 300, thereby providing better results. Aerial photography effect.
  • the step of adjusting the position of the stand 130 according to the position adjustment command may further include: controlling a support bar located at the rear end of the camera 300 mounted on the platform 200
  • the yaw axis further aligns the stand 130 with the yaw axis, reducing the effect of the stand 130 on the camera 300.
  • the method may further include: sending the zero information to the control.
  • the terminal 410 of the drone so that the zero position information of the tripod 130 is recorded by the terminal 410, the user can control the rotation of the stand 130 to the zero position through the terminal 410, and the flexibility of the stand 130 is highly controlled.
  • Step S302 Control the rotation of the stand 130 to follow the rotation direction of the pan/tilt 200 according to the real-time posture of the yaw axis.
  • the yaw axis of the pan-tilt 200 is rotated by the control stand 130, thereby minimizing the occlusion of the lens of the camera 300 mounted on the pan-tilt 200 by the stand 130, and reducing the tripod 130 in the shooting picture.
  • the distribution area facilitates the user's aerial photography and protects the camera 300, thereby balancing the shooting picture with the protection camera 300.
  • step S302 can include the following two methods:
  • the attitude of the yaw axis changes, the direction of rotation of the yaw axis is obtained.
  • the rotation of the stand 130 is controlled according to the rotation direction.
  • the tripod 130 is directly controlled to rotate in the same direction as the rotation direction of the yaw axis, thereby reducing the influence of the tripod 130 on the camera 300, and the real-time performance of the implementation is good.
  • the rotation direction of the yaw axis can be directly obtained by the rotation direction of the yaw axis motor of the pan/tilt 200, or the yaw axis can be obtained by real-time monitoring by the IMU inertial measurement unit installed on the pan/tilt 200.
  • the rotation direction of the yaw axis motor of the pan-tilt 200 can be determined according to the driving signal sent by the flight controller 120 to the yaw axis motor of the pan-tilt 200.
  • the IMU inertial measurement unit monitors the rotation angle of the yaw axis of the PTZ 200 in real time. According to the rotation angle of the yaw axis of the PTZ 200 monitored by the IMU inertial measurement unit, the rotation direction of the yaw axis of the PTZ 200 can be determined.
  • the step of controlling the rotation of the tripod 130 according to the rotation direction may include: controlling two support rods located on two sides of the camera 300 mounted on the pan/tilt 200 along the camera 300.
  • the central axis is symmetrically located on both sides of the camera 300, reducing the influence of the two support bars located on both sides of the camera 300 on the camera 300, ensuring the quality of the captured picture and improving the aerial photography effect.
  • the method further includes: acquiring a relative positional relationship between the stand 130 and the yaw axis detected by the first sensing unit 500, while controlling the rotation of the stand 130 according to the rotating direction. And stopping the rotation of the stand 130 when the stand 130 is centered with the yaw axis.
  • the first sensing unit 500 is configured to detect a relative positional relationship between the stand 130 and the yaw axis.
  • the first sensing unit 500 can be a position sensor or an angle sensor.
  • the first sensing unit 500 is a Hall sensor.
  • the Hall sensor may include a Hall switch and a magnet for mating with the Hall switch.
  • the Hall switch can be fixed to the body 110, and the magnet can be disposed on the stand 130.
  • the manner of achieving the alignment of the tripod 130 with the yaw axis includes: controlling a support rod located at the rear end of the camera 300 mounted on the platform 200 and the yaw axis The position remains the same, for example, controlling a support rod located at the rear end of the camera 300 mounted on the platform 200 is always facing the yaw axis.
  • the step of controlling the rotation of the stand 130 according to the rotation angle of the yaw axis may include: determining a target rotation angle of the stand 130 according to the rotation angle of the yaw axis; The target rotation angle controls the rotation of the stand 130, so that the control stand 130 rotates following the pan/tilt head 200.
  • the rotation angle of the yaw axis can be calculated by the joint angle of the yaw axis motor of the pan/tilt 200, or the rotation angle of the yaw axis can be directly obtained by the IMU inertial measurement unit installed on the platform 200.
  • the joint angle of the yaw axis motor of the pan-tilt 200 can be calculated according to the driving signal sent by the flight controller 120 to the yaw axis motor of the pan-tilt 200.
  • the IMU inertial measurement unit is used to monitor the rotation angle of the yaw axis of the pan/tilt 200 in real time.
  • the direction of rotation of the yaw axis can also be determined by the joint angle of the yaw axis motor of the pan/tilt 200.
  • the direction of rotation of the yaw axis is defined to rotate clockwise; when the joint angle of the yaw axis motor of the pan-tilt 200 is negative, Define the direction of rotation of the yaw axis to rotate counterclockwise.
  • the manner of controlling the rotation of the tripod 130 may include the following two types:
  • the target rotation angle of the tripod 130 is equal to the rotation angle of the yaw axis, thereby controlling the tripod 130 to rotate synchronously following the pan/tilt head 200, ensuring the relative position of the tripod 130 and the pan/tilt head 200. The position remains unchanged, thereby reducing the impact of the stand 130 on the camera 300 after the attitude change of the pan/tilt 200.
  • the rotation angle and the angle difference (BA) determine a target rotation angle of the stand 130; and control the rotation of the stand 130 according to the target rotation angle.
  • two support rods are symmetrically located on both sides of the camera 300 along the central axis of the camera 300.
  • the two support rods may be asymmetrically located on both sides of the camera 300.
  • the target rotation angle is the difference between the rotation angle of the yaw axis and the angle difference (BA)
  • the tripod 130 is rotated substantially in accordance with the yaw axis of the pan-tilt 200, and does not need to synchronously follow the pan-tilt 200 rotation (the target rotation angle of the tripod 130 is equal to the rotation angle of the yaw axis of the pan-tilt 200).
  • the two sides of the camera 300 are symmetrically positioned along the central axis of the camera 300 as an example for further description.
  • the shooting angle A of the camera 300 is 120 degrees
  • the angle of the camera 300 of the super wide-angle, fisheye lens may be greater than 180 degrees.
  • the angle B between the two support rods on both sides of the camera 300 mounted on the pan/tilt head 200 may vary according to the length. Generally, the angle B is greater than 120 degrees, and the lens is encountered. The longer the lens barrel, the more than 180 degrees will appear.
  • the angle B between the support rods is set to be slightly larger than the shooting angle A of the camera 300.
  • the angle B may be 130 degrees, so that the camera mounted on the platform 200 is mounted.
  • Each of the two support rods located on both sides of the camera 300 mounted on the pan/tilt 200 is rotated by 5 degrees in the same direction as the direction of rotation of the yaw axis, so that the platform 200 is mounted on the platform 200.
  • Each of the two support bars on both sides of the camera 300 rotates substantially following the yaw axis without controlling the two support bars on both sides of the camera 300 mounted on the pan/tilt 200 to follow the yaw of the pan-tilt 200
  • the shaft rotates synchronously, and within a permissible range, the camera 30 mounted on the pan/tilt head 200 is controlled. After the two support rods on both sides of 0 follow the yaw axis of the pan/tilt 200, the angle B is still greater than the shooting angle A of the camera 300.
  • the step of controlling the rotation of the stand 130 according to the target rotation angle may include: generating a driving signal of the motor 140 for controlling the rotation of the stand 130 according to the target rotation angle. Sending the drive signal to the motor 140 to control the rotation of the stand 130 by controlling the rotation of the motor 140 such that the stand 130 rotates following the yaw axis of the pan-tilt 200.
  • the method may further include: obtaining an actual rotation angle of the tripod 130 based on the second sensing unit 600; adjusting the driving according to the actual rotation angle
  • the signal through the closed loop, achieves precise control of the motor 140 to precisely control the rotation of the stand 130.
  • the second sensing unit 600 is a position sensor or an angle sensor.
  • the second sensing unit 600 is a position sensor
  • the position sensor is a Hall sensor.
  • the Hall sensor may include a Hall switch and a magnet for mating with the Hall switch.
  • the Hall switch can be fixed to the body 110, and the magnet can be disposed on the stand 130.
  • the first sensing unit 500 and the second sensing unit 600 are the same module. Of course, the first sensing unit 500 and the second sensing unit 600 can also be different modules.
  • the method may further include: determining that a difference between the actual rotation angle and the target rotation angle is less than a preset threshold, and ensuring that the motor 140 operates normally. , thereby precisely controlling the rotation of the stand 130. During the operation of the motor 140, blocking or the like may occur, resulting in a large rotation error of the motor 140. At this time, the motor 140 is in an abnormal working state, and the error of the actual rotation angle is large. If the driving signal is continuously adjusted according to the actual angle, A precise control of the motor 140 is achieved.
  • the step of controlling the rotation of the tripod 130 according to the target rotation angle may further include: controlling the location by using a linear interpolation algorithm and/or an S-type interpolation algorithm according to the target rotation angle.
  • the tripod 130 is rotated so that the stand 130 can smoothly follow the yaw axis of the pan-tilt 200.
  • the linear interpolation algorithm and the S-type interpolation algorithm are existing conventional algorithms.
  • a second embodiment of the present invention provides a drone control apparatus, which may include a tripod 130, a motor 140, and a processor (eg, a single or multi-core processor).
  • the processor is connected to the stand 130 by the motor 140 to drive the stand 130 to rotate.
  • the processor may be a central processing unit (CPU).
  • the processor may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the processor may be a flight controller 120, a pan/tilt processor, a camera processor or other controller provided in the drone.
  • the processor may include one or more, working individually or collectively.
  • the processor is configured to acquire a real-time posture of the yaw axis of the pan-tilt 200; and according to the real-time posture of the yaw axis, control the rotation of the stand 130 to follow the rotation direction of the pan-tilt 200 .
  • the yaw axis of the pan-tilt head 200 is rotated by the control stand 130, thereby minimizing the occlusion of the lens of the camera 300 mounted on the pan-tilt head 200 by the stand 130, reducing the distribution area of the stand 130 in the shooting picture, and facilitating the aerial photography of the user.
  • the camera 300 is protected to balance the shooting picture with the protection camera 300.
  • the processor is configured to obtain a rotation direction of the yaw axis when a posture of the yaw axis changes; and control rotation of the gantry 130 according to the rotation direction.
  • the processor is configured to control two support rods located on two sides of the camera 300 mounted on the platform 200 along the central axis of the camera 300 and located at two of the cameras 300. side.
  • the UAV control device may further include a first sensing unit 500 for detecting a relative positional relationship between the stand 130 and the yaw axis
  • a sensing unit 500 is electrically coupled to the processor.
  • the processor is configured to acquire the relative positional relationship between the stand 130 and the yaw axis detected by the first sensing unit 500 while controlling the rotation of the stand 130 according to the rotation direction; When the stand 130 is centered with the yaw axis, the rotation of the stand 130 is stopped.
  • the stand 130 includes three support bars.
  • the processor is configured to control a support rod located at a rear end of the camera 300 mounted on the platform 200 to be consistent with a position of the yaw axis.
  • the first sensing unit 500 is a position sensor or an angle sensor.
  • the first sensing unit 500 is a Hall sensor.
  • the processor is configured to directly obtain the rotation direction of the yaw axis by the rotation direction of the yaw axis motor of the pan/tilt 200; or, the real-time monitoring by the IMU inertial measurement unit installed on the pan/tilt 200 The direction of rotation of the yaw axis is obtained.
  • the processor is configured to obtain a rotation angle of the yaw axis when a posture of the yaw axis changes; and control the tripod according to a rotation angle of the yaw axis The rotation of 130.
  • the processor is configured to determine a target rotation angle of the tripod 130 according to a rotation angle of the yaw axis; and control rotation of the tripod 130 according to the target rotation angle.
  • the processor is configured to calculate an angle difference between a shooting angle of the camera 300 and an angle between two support bars on both sides of the camera 300 mounted on the platform 200; Determining a rotation angle of the yaw axis and the angle difference, determining a target rotation angle of the tripod 130; controlling rotation of the gantry 130 according to the target rotation angle.
  • the processor is configured to generate a driving signal for controlling the rotation of the tripod 130 according to the target rotation angle; and send the driving signal to the motor 140.
  • the motor 140 is a servo motor.
  • the drone control device may further include a second sensing unit 600 for detecting an actual rotation angle of the stand 130, the second sensing unit 600 and the The processor is electrically connected. After transmitting the driving signal to the motor 140, the processor is further configured to obtain an actual rotation angle of the tripod 130 based on the second sensing unit 600; adjust the driving according to the actual rotation angle. signal.
  • the processor is further configured to determine that a difference between the actual rotation angle and the target rotation angle is less than a preset threshold before adjusting the driving signal according to the actual rotation angle.
  • the second sensing unit 600 is a position sensor or an angle sensor.
  • the second sensing unit 600 is a position sensor, and the position sensor is a Hall sensor.
  • the processor is configured to control the rotation of the stand 130 by using a linear interpolation algorithm and/or an S-type interpolation algorithm according to the target rotation angle.
  • the processor is configured to calculate a rotation angle of the yaw axis by a joint angle of a yaw axis motor of the pan/tilt 200; or directly through an IMU inertial measurement unit installed on the pan/tilt 200 Obtaining a rotation angle of the yaw axis.
  • the processor is further configured to control the stand 130 to be in a zero position before acquiring the real-time posture of the yaw axis of the pan/tilt 200; and the stand 130 is at the zero position After that, the control pan/tilt 200 is rotated.
  • the processor is configured to acquire zero bit information of the tripod 130; and according to the zero bit information, the tripod 130 is controlled to be in a zero position.
  • the processor is a flight controller 120 of the drone, and the zero position information of the tripod 130 is pre-stored by the flight controller 120.
  • the processor is configured to receive a return-to-zero command sent by the terminal 410 that controls the drone, wherein the return-to-zero command carries zero-bit information of the tripod 130; The zero position information of the tripod 130 is parsed in the command.
  • the processor is configured to control the rotation of the stand 130.
  • the first sensing unit 500 determines that the stand 130 is centered with the yaw axis, the foot is determined.
  • the frame 130 is at the zero position.
  • the step of the processor controlling the tripod 130 to be in the zero position is performed immediately after the processor determines that the drone is powered on.
  • the processor before the processor controls the tripod 130 to be in a zero position, the processor further includes: calibrating a zero position of the tripod 130.
  • the processor is configured to: when it is determined that the camera 130 of the camera 300 does not have the tripod 130, or to determine that the tripod 130 is in a shooting screen of the camera 300, The current position information of the tripod 130 is obtained when the area is outside the area; the current position information of the stand 130 is marked as the zero position information corresponding to the zero position of the stand 130.
  • the processor determines that the tripod 130 does not exist in the photographing screen of the camera 300, or determines that the tripod 130 is outside the designated area in the photographing screen of the camera 300. And receiving a position adjustment instruction sent by the remote controller 420; adjusting the position of the tripod 130 according to the position adjustment instruction, so that the camera frame of the camera 300 does not have the tripod 130, or The tripod 130 is outside the designated area in the photographing screen of the camera 300.
  • the processor is configured to control two support rods located on two sides of the camera 300 mounted on the platform 200 along the central axis of the camera 300 and located at two of the cameras 300. side.
  • the stand 130 includes three support bars.
  • the processor is further configured to control a support rod located at a rear end of the camera 300 mounted on the platform 200 to face the yaw axis.
  • the processor is configured to determine, according to an image processing algorithm, that the tripod 130 does not exist in a captured image of the camera 300; or, based on an image processing algorithm, determine the tripod 130 It is outside the designated area in the shooting screen of the camera 300.
  • the processor is further configured to send the zero information to the control after marking the current location information of the tripod 130 as the zero information corresponding to the zero position of the tripod 130. Terminal 410 of the human machine.
  • a third embodiment of the present invention provides a drone, and the drone may include a body 110, a stand 130 connected to the body 110, and a mount on the body.
  • PTZ 200 on 110 a processor (eg, a single or multi-core processor), and a motor 140.
  • the processor is connected to the tripod 130 by the motor 140 to drive the tripod 130 to rotate, and the processor is communicatively coupled to the platform 200.
  • the processor may be a central processing unit (CPU).
  • the processor may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the processor may be a flight controller 120, a pan/tilt processor, a camera processor or other controller provided in the drone.
  • the processor may include one or more, working individually or collectively.
  • the processor is configured to acquire a real-time posture of the yaw axis of the pan-tilt 200; and according to the real-time posture of the yaw axis, control the rotation of the stand 130 to follow the rotation direction of the pan-tilt 200 .
  • the yaw axis of the pan-tilt head 200 is rotated by the control stand 130, thereby minimizing the occlusion of the lens of the camera 300 mounted on the pan-tilt head 200 by the stand 130, reducing the distribution area of the stand 130 in the shooting picture, and facilitating the aerial photography of the user.
  • the camera 300 is protected to balance the shooting picture with the protection camera 300.
  • the yaw axis of the pan-tilt head 200 is rotated by the control stand 130, thereby minimizing the occlusion of the lens of the camera 300 mounted on the pan-tilt head 200 by the stand 130, reducing the distribution area of the stand 130 in the shooting picture, and facilitating the aerial photography of the user.
  • the camera 300 is protected to balance the shooting picture with the protection camera 300.
  • the processor is configured to obtain a rotation direction of the yaw axis when the posture of the yaw axis changes; and control the rotation of the gantry 130 according to the rotation direction.
  • the processor is configured to control two support rods located on two sides of the camera 300 mounted on the platform 200 along the central axis of the camera 300 and located at two of the cameras 300. side.
  • the drone may further include a first sensing unit 500 for detecting a relative positional relationship between the stand 130 and the yaw axis, the first pass
  • the sensing unit 500 is electrically coupled to the processor.
  • the processor is configured to acquire the relative positional relationship between the stand 130 and the yaw axis detected by the first sensing unit 500 while controlling the rotation of the stand 130 according to the rotation direction; When the stand 130 is centered with the yaw axis, the rotation of the stand 130 is stopped.
  • the stand 130 includes three support bars.
  • the processor is configured to control a support rod located at a rear end of the camera 300 mounted on the platform 200 to be consistent with a position of the yaw axis.
  • the first sensing unit 500 is a position sensor or an angle sensor.
  • the first sensing unit 500 is a Hall sensor.
  • the processor is configured to directly obtain the rotation direction of the yaw axis by the rotation direction of the yaw axis motor of the pan/tilt 200; or, the real-time monitoring by the IMU inertial measurement unit installed on the pan/tilt 200 The direction of rotation of the yaw axis is obtained.
  • the processor is configured to obtain a rotation angle of the yaw axis when a posture of the yaw axis changes; and control the tripod according to a rotation angle of the yaw axis The rotation of 130.
  • the processor is configured to determine a target rotation angle of the tripod 130 according to a rotation angle of the yaw axis; and control rotation of the tripod 130 according to the target rotation angle.
  • the processor is configured to calculate an angle difference between a shooting angle of the camera 300 and an angle between two support bars on both sides of the camera 300 mounted on the platform 200; Determining a rotation angle of the yaw axis and the angle difference, determining a target rotation angle of the tripod 130; controlling rotation of the gantry 130 according to the target rotation angle.
  • the processor is configured to generate a driving signal for controlling the rotation of the tripod 130 according to the target rotation angle; and send the driving signal to the motor 140.
  • the motor 140 is a servo motor.
  • the drone may further include a second sensing unit 600 for detecting an actual rotation angle of the stand 130, the second sensing unit 600 and the processing. Electrical connection. After transmitting the driving signal to the motor 140, the processor is further configured to obtain an actual rotation angle of the tripod 130 based on the second sensing unit 600; adjust the driving according to the actual rotation angle. signal.
  • the processor is further configured to determine that a difference between the actual rotation angle and the target rotation angle is less than a preset threshold before adjusting the driving signal according to the actual rotation angle.
  • the second sensing unit 600 is a position sensor or an angle sensor.
  • the second sensing unit 600 is a position sensor, and the position sensor is a Hall sensor.
  • the processor is configured to control the rotation of the stand 130 by using a linear interpolation algorithm and/or an S-type interpolation algorithm according to the target rotation angle.
  • the processor is configured to calculate a rotation angle of the yaw axis by a joint angle of a yaw axis motor of the pan/tilt 200; or directly through an IMU inertial measurement unit installed on the pan/tilt 200 Obtaining a rotation angle of the yaw axis.
  • the processor is further configured to control the stand 130 to be in a zero position before acquiring the real-time posture of the yaw axis of the pan/tilt 200; and the stand 130 is at the zero position After that, the control pan/tilt 200 is rotated.
  • the processor is configured to acquire zero bit information of the tripod 130; and according to the zero bit information, the tripod 130 is controlled to be in a zero position.
  • the processor is a flight controller 120 of the drone, and the zero position information of the tripod 130 is pre-stored by the flight controller 120.
  • the processor is configured to receive a return-to-zero command sent by the terminal 410 that controls the drone, wherein the return-to-zero command carries zero-bit information of the tripod 130; The zero position information of the tripod 130 is parsed in the command.
  • the processor is configured to control the rotation of the stand 130.
  • the first sensing unit 500 determines that the stand 130 is centered with the yaw axis, the foot is determined.
  • the frame 130 is at the zero position.
  • the step of the processor controlling the tripod 130 to be in the zero position is performed immediately after the processor determines that the drone is powered on.
  • the processor before the processor controls the tripod 130 to be in a zero position, the processor further includes: calibrating a zero position of the tripod 130.
  • the processor is configured to determine that the tripod 130 does not exist in the photographing screen of the camera 300, or to determine that the tripod 130 is in a photographing screen of the camera 300.
  • the current position information of the tripod 130 is obtained when the area is outside the area; the current position information of the stand 130 is marked as the zero position information corresponding to the zero position of the stand 130.
  • the processor determines that the tripod 130 does not exist in the photographing screen of the camera 300, or determines that the tripod 130 is outside the designated area in the photographing screen of the camera 300. And receiving a position adjustment instruction sent by the remote controller 420; adjusting the position of the tripod 130 according to the position adjustment instruction, so that the camera frame of the camera 300 does not have the tripod 130, or The tripod 130 is outside the designated area in the photographing screen of the camera 300.
  • the processor is configured to control two support rods located on two sides of the camera 300 mounted on the platform 200 along the central axis of the camera 300 and located at two of the cameras 300. side.
  • the stand 130 includes three support bars.
  • the processor is further configured to control a support rod located at a rear end of the camera 300 mounted on the platform 200 to face the yaw axis.
  • the processor is configured to determine, according to an image processing algorithm, that the tripod 130 does not exist in a captured image of the camera 300; or, based on an image processing algorithm, determine the tripod 130 It is outside the designated area in the shooting screen of the camera 300.
  • the processor is further configured to send the zero information to the control after marking the current location information of the tripod 130 as the zero information corresponding to the zero position of the tripod 130. Terminal 410 of the human machine.
  • a fourth embodiment of the present invention provides a computer readable storage medium having a computer program stored thereon, the program being executed by the processor to perform the steps of the drone control method according to the first embodiment.
  • the device embodiment since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment.
  • the device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it can be implemented with any one or combination of the following techniques well known in the art: having logic gates for implementing logic functions on data signals. Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be implemented in the form of hardware or in the form of software functional modules.
  • the integrated modules, if implemented in the form of software functional modules and sold or used as stand-alone products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un véhicule aérien sans pilote et un procédé et un appareil de commande de véhicule aérien sans pilote. Le procédé consiste : à acquérir un geste en temps réel d'un axe de lacet d'un élément de panoramique et d'inclinaison ; et en fonction du geste en temps réel de l'axe de lacet, à commander la rotation d'un trépied pour suivre une direction de rotation de l'élément de panoramique et d'inclinaison. Dans la présente invention, par commande d'un trépied de telle sorte qu'il tourne avec un axe de lacet d'un élément de panoramique et d'inclinaison, le blocage par le trépied d'une lentille d'une caméra montée sur l'élément de panoramique et d'inclinaison est réduit autant que possible, réduisant ainsi les zones de distribution d'un trépied dans une image photographiée, facilitant la réalisation d'une photographie aérienne et la protection de la caméra par un utilisateur, et obtenant ainsi un bon équilibre entre la photographie d'une image et la protection de la caméra.
PCT/CN2017/118973 2017-12-27 2017-12-27 Véhicule aérien sans pilote et procédé et appareil de commande de véhicule aérien sans pilote WO2019127094A1 (fr)

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CN201780016267.1A CN108780324B (zh) 2017-12-27 2017-12-27 无人机、无人机控制方法和装置
PCT/CN2017/118973 WO2019127094A1 (fr) 2017-12-27 2017-12-27 Véhicule aérien sans pilote et procédé et appareil de commande de véhicule aérien sans pilote

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