WO2023025202A1 - Procédé et appareil de commande de direction de cardan et terminal - Google Patents

Procédé et appareil de commande de direction de cardan et terminal Download PDF

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Publication number
WO2023025202A1
WO2023025202A1 PCT/CN2022/114562 CN2022114562W WO2023025202A1 WO 2023025202 A1 WO2023025202 A1 WO 2023025202A1 CN 2022114562 W CN2022114562 W CN 2022114562W WO 2023025202 A1 WO2023025202 A1 WO 2023025202A1
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WO
WIPO (PCT)
Prior art keywords
control
terminal
pan
tilt
unmanned aerial
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Application number
PCT/CN2022/114562
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English (en)
Chinese (zh)
Inventor
蒙露璐
Original Assignee
深圳市道通智能航空技术股份有限公司
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Publication of WO2023025202A1 publication Critical patent/WO2023025202A1/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
    • 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 present application relates to the technical field of unmanned aerial vehicles, and in particular to a method, device and terminal for controlling the direction of a pan-tilt.
  • Unmanned aerial vehicles are also gradually gaining popularity.
  • unmanned aerial vehicles usually include a gimbal.
  • the task execution of the unmanned aerial vehicle is mainly controlled by the pilot using the remote control, and the direction of the gimbal often needs to be controlled by the pilot using the remote control.
  • the accuracy of the pilot to adjust the direction of the gimbal by manually controlling the remote control is insufficient, resulting in low efficiency in controlling the direction of the gimbal.
  • the embodiments of the present application provide a method, device, and terminal for controlling the direction of the gimbal, so as to solve the problem of insufficient accuracy for pilots to adjust the direction of the gimbal by manually controlling the remote control, and improve the control efficiency of the gimbal direction.
  • the embodiment of the present application provides a method for controlling the direction of the pan/tilt, which is applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a pan/tilt, and the unmanned aerial vehicle is connected to a terminal through communication, and the terminal includes an adjustment device , the method includes:
  • a direction control control is generated in response to the first operation of the adjustment device, and the direction of the pan/tilt is adjusted based on the direction control control.
  • the adjusting the direction of the pan/tilt based on the direction control control includes:
  • the direction of the pan/tilt is adjusted in response to a second operation of the adjustment device, wherein the second operation includes a drag operation on the direction control control.
  • the adjusting the direction of the pan/tilt in response to the second operation of the adjusting device includes:
  • the dragging direction of the direction control control is determined, and the direction of the pan/tilt is adjusted.
  • the method also includes:
  • the direction control control After responding to the first operation of the adjusting device, if no operation of the adjusting device is received within a preset time, the direction control control is hidden.
  • the terminal communicates with a plurality of unmanned aerial vehicles, and the method further includes:
  • a first control window corresponding to each unmanned aerial vehicle is generated
  • a second control window is generated, wherein the area of the second control window is larger than the area of the first control window.
  • the method also includes:
  • a direction control control is generated in response to a first operation of the adjusting device, wherein the first operation includes a long press operation.
  • the terminal includes a terminal device, and the adjusting device includes a mouse.
  • a control device for the direction of the pan-tilt is applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a pan-tilt, the unmanned aerial vehicle is connected to a terminal through communication, the terminal includes an adjustment device, and the pan-tilt Directional controls include:
  • a remote control interface unit configured to control the display interface of the terminal to enter the remote control interface
  • the pan/tilt direction adjustment unit is configured to generate a direction control control in response to the first operation of the adjustment device based on the remote control interface when the unmanned aerial vehicle is in the remote control state of the terminal, and based on the direction control control, Adjust the direction of the gimbal.
  • the embodiment of the present application provides a terminal, including:
  • a memory connected in communication with the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processing
  • the device can be used to implement the method for controlling the direction of the pan-tilt as described in the first aspect.
  • the embodiment of the present application provides a non-volatile computer-readable storage medium, the non-volatile computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to enable a terminal to Execute the method for controlling the direction of the pan/tilt as described in the first aspect.
  • the method for controlling the direction of the pan/tilt is applied to an unmanned aerial vehicle, the unmanned aerial vehicle includes a pan/tilt, and the unmanned aerial vehicle is connected to a terminal for communication, and the terminal includes an adjustment device , the method includes: controlling the display interface of the terminal to enter a remote control interface; when the unmanned aerial vehicle is in the remote control state of the terminal, based on the remote control interface, generating a direction control in response to the first operation of the adjustment device A control is used to adjust the direction of the pan/tilt based on the direction control control.
  • the present application can improve the control efficiency of the pan/tilt direction.
  • FIG. 1 is a schematic diagram of an application environment provided by an embodiment of the present application
  • Fig. 2 is a schematic diagram of an interactive process of an unmanned aerial vehicle provided by an embodiment of the present application
  • FIG. 3 is a schematic flow diagram of a method for controlling the direction of a pan/tilt provided in an embodiment of the present application
  • Fig. 4 is a schematic diagram of a remote control interface provided by an embodiment of the present application.
  • Fig. 5 is a schematic structural diagram of an adjustment device provided in an embodiment of the present application.
  • Fig. 6a is a schematic diagram of a first control window provided by an embodiment of the present application.
  • Fig. 6b is a schematic diagram of a second control window provided by an embodiment of the present application.
  • FIG. 7 is a flow chart of another method for controlling the direction of the pan/tilt provided by the embodiment of the present application.
  • Fig. 8 is a schematic structural diagram of a control device for a pan-tilt direction provided by an embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a terminal provided by an embodiment of the present application.
  • orientation or positional relationship indicated by the terms “upper”, “lower”, “inner”, “outer”, and “bottom” used in this specification is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the The application and simplified description do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation, and thus should not be construed as limiting the application.
  • the terms “first”, “second”, “third”, etc. are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
  • FIG. 1 is a schematic diagram of an application scenario provided by an embodiment of the present application.
  • the application scenario includes an unmanned aerial vehicle 100, a remote control terminal 200, and a terminal 300, wherein the unmanned aerial vehicle 100 communicates with the remote control terminal 200 and the terminal 300, and the remote control terminal 200 communicates with the terminal 300, for example:
  • the unmanned aerial vehicle 100 is connected to the remote control terminal 200 and the terminal 300 through the wireless network communication
  • the remote control terminal 200 is connected to the terminal 300 through the wireless network communication
  • the pilot or the user can operate the remote control terminal 200 to operate the unmanned aerial vehicle 100 through the wireless network
  • the user can operate the terminal 200 to control the UAV 100 through the wireless network.
  • the UAV 100 includes: a multi-rotor UAV, a fixed-wing UAV, an unmanned helicopter, and a mixed-wing UAV.
  • the UAV 10 may also be an unmanned aerial vehicle driven by any type of power, including but not limited to a rotary-wing UAV, a fixed-wing UAV, an umbrella-wing UAV, a fluttering Wing drones and helicopter models, etc.
  • a mixed-wing unmanned aerial vehicle is used as an example to make a statement.
  • the unmanned aerial vehicle 100 may have a corresponding volume or power according to the needs of the actual situation, so as to provide a load capacity, flight speed and flight mileage that can meet the needs of use.
  • One or more sensors may also be added to the UAV 100, so that the UAV 100 can collect corresponding data.
  • the UAV 100 is provided with at least one sensor selected from accelerometers, gyroscopes, magnetometers, GPS navigators and vision sensors.
  • the unmanned aerial vehicle 100 also includes a flight controller, which serves as the control core of the flight and data transmission of the unmanned aerial vehicle, and integrates one or more modules to execute corresponding logic control programs.
  • a flight controller which serves as the control core of the flight and data transmission of the unmanned aerial vehicle, and integrates one or more modules to execute corresponding logic control programs.
  • the UAV includes a UAV control system
  • the UAV control system includes a state machine, a flight controller, a UAV power system, and UAV sensors.
  • the UAV control system includes: a state machine, a flight controller, and a UAV power system.
  • the state machine connects the flight controller and the UAV power system.
  • the input of the state machine is navigation data and user interaction commands, and the output
  • the main function of the state machine is to process user interaction commands and use navigation data to realize various functions of the UAV, such as flight mode switching, status monitoring, waypoint flight, return and other upper-level functions.
  • the user interaction command is an interaction command issued by a ground user, for example: remote control stick measurement data, key control commands and other commands.
  • the present application is mainly implemented in a state machine.
  • the control commands and corresponding flags output by the state machine include position commands, speed commands, acceleration commands, altitude commands, climb rate commands, climb acceleration commands, attitude angle commands, heading angle rate commands, and attitude mode flag bits. and positional mode flags.
  • the flight controller is connected to the state machine and the flight controller, and is used to receive the control commands and corresponding flag bits sent by the state machine, and receive the navigation data sent by the power system of the UAV, and output the motor speed control command, wherein,
  • the flight controller includes two flight modes, namely position mode and attitude mode.
  • the main function of the flight controller is to use control commands and navigation data to calculate the motor speed command through a certain algorithm, so that the aircraft can realize position and attitude control. , that is, to make the position and attitude of the aircraft reach the desired state.
  • the battery speed control command takes a common rotorcraft as an example, and the data is pulse width modulation (Pulse Width Modulation, PWM) of the control motor.
  • PWM pulse width modulation
  • the unmanned aerial vehicle power system is connected to the flight controller, and the unmanned aerial vehicle power system includes the execution system and the state monitoring system of the unmanned aerial vehicle, which are used to receive the motor speed control sent by the flight controller. commands to realize the corresponding rotational speed, thereby realizing the corresponding attitude angle and position, processing the sensor data, and calculating the navigation data indirectly or directly.
  • the UAV power system processes the UAV sensor data by using a fusion algorithm to obtain navigation data.
  • the power system of the UAV includes GPS, gyroscope, accelerometer, and magnetometer, and the position, speed, and acceleration data of the UAV can be calculated through GPS, gyroscope, accelerometer, and magnetometer.
  • the drone's position, velocity, and acceleration data can be calculated through binocular vision, gyroscope, accelerometer, and magnetometer.
  • the attitude angle and attitude angle rate of the UAV can be calculated through the gyroscope, accelerometer and magnetometer.
  • the remote control terminal 200 includes a smart terminal, where the smart terminal can be any type of smart device used to establish a communication connection with the UAV 100 , such as a mobile phone, a tablet computer, or a smart remote control.
  • the remote control terminal 200 may be equipped with one or more different user interaction devices for collecting user instructions or displaying and feeding back information to the user.
  • User interaction devices include but are not limited to devices such as buttons, display screens, touch screens, speakers, and remote control joysticks.
  • the remote control terminal 200 can be equipped with a touch display screen, through which the user's remote control command to the UAV 100 is received and the map information is displayed to the user through the touch display screen, that is, a map screen, and displayed to the user.
  • the image information obtained by aerial photography, that is, the image transmission screen, the user can also switch the image information currently displayed on the display screen through the remote control touch screen.
  • the existing image vision processing technology can also be integrated between the unmanned aerial vehicle 100 and the remote control terminal 200 to further provide more intelligent services.
  • the UAV 100 can collect images through a dual-light camera, and the remote controller 200 can analyze the images, so as to realize the user's gesture control on the UAV 100 .
  • the terminal 300 includes a terminal device, wherein the terminal device includes a computer device, a PC terminal and other devices that establish a communication connection with the UAV 100, and the terminal 300 may be equipped with one or more different user interaction devices, It is used to collect user instructions or display and feedback information to users.
  • User interaction devices include, but are not limited to: display screens, touch screens, speakers, mice, keyboards and other devices.
  • the remote control terminal 200 may be equipped with a touch display screen, through which the user's remote control instructions for the UAV 100 are received and map information is displayed to the user through the touch display screen, that is, a map screen, and displayed to the user.
  • the image information obtained by aerial photography that is, the image transmission screen, the user can also control the movement of the unmanned aerial vehicle through the operation of the mouse or the key operation of the keyboard, or control the direction of the gimbal of the unmanned aerial vehicle, the gimbal camera of the unmanned aerial vehicle focal length etc.
  • the remote control terminal 200 is a mobile terminal. Unlike the remote control terminal 200, the terminal 300 is a fixed terminal, and the display screen of the terminal 300 is larger than the display screen of the remote control terminal 200, so that the terminal 300 can provide users with global perspective.
  • the wireless network can be a wireless communication network based on any type of data transmission principle for establishing a data transmission channel between two nodes, such as a Bluetooth network, a WiFi network, a wireless cellular network located in different signal frequency bands or a combination thereof.
  • FIG. 2 is a schematic diagram of an interaction process of an unmanned aerial vehicle provided by an embodiment of the present application
  • the interaction process of the UAV includes:
  • Step S201 the terminal sends a remote control request instruction
  • the terminal sends a remote control request instruction to the remote control terminal, wherein the remote control request instruction is generated by the user inputting an instruction to the terminal, for example: the user clicks on the display screen of the terminal to connect to the remote control terminal, so that the terminal generates a remote control Request instructions, and send remote control request instructions to the remote control.
  • the remote control request instruction is generated by the user inputting an instruction to the terminal, for example: the user clicks on the display screen of the terminal to connect to the remote control terminal, so that the terminal generates a remote control Request instructions, and send remote control request instructions to the remote control.
  • the remote control end before the remote control end receives the remote control request command sent by the terminal, the remote control end establishes a communication connection with the UAV, for example: establishes a first communication channel between the remote control end and the UAV, wherein, The first communication channel is used for message interaction, command interaction or data interaction between the remote controller and the UAV.
  • Step S202 the remote control terminal receives the remote control request command, and generates a remote control confirmation command
  • the remote control terminal receives the remote control request command sent by the terminal, and after receiving the remote control request command, presents a corresponding message on the display interface of the remote control terminal, and the user clicks the corresponding message on the display interface of the remote control terminal.
  • the confirmation button of the button generates a remote control confirmation command.
  • Step S203 the remote controller sends a remote control confirmation command
  • the remote controller sends a remote control confirmation instruction to the terminal, wherein the remote control confirmation instruction is used to confirm that the control right of the UAV is transferred to the terminal, that is, the terminal controls the UAV.
  • Step S204 the terminal receives the remote control confirmation instruction
  • the terminal receives the remote control confirmation command sent by the remote control terminal.
  • the remote control confirmation command is used to establish a communication connection between the terminal and the unmanned aerial vehicle, and the unmanned aerial vehicle releases its control right to the terminal and suspends the control right of the remote control terminal. , until the remote controller regains control of the UAV.
  • Step S205 enter the remote control state of the terminal
  • the remote controller transfers the control right of the UAV to the terminal, that is, enters the remote control state of the terminal, and the terminal controls the UAV.
  • a communication connection has been established between the terminal and the UAV, for example: establishing a second communication channel between the terminal and the UAV, wherein the second communication channel is used for the terminal Message interaction, command interaction or data interaction with UAV.
  • the first communication channel and the second communication channel may be based on the same communication protocol, or may be based on different communication protocols, for example: the first communication channel is based on the TCP network protocol, and the second communication channel is based on the Netty network protocol .
  • Step S206 the terminal enters the remote control interface
  • the terminal After the terminal establishes a communication connection with the UAV and obtains the control right of the UAV, the terminal enters the remote control interface.
  • Step S207 The terminal remotely controls the UAV based on the remote control interface
  • the remote control interface is used to control the unmanned aerial vehicle, for example: control the flight direction of the unmanned aerial vehicle, control the direction of the gimbal of the unmanned aerial vehicle, control the focal length of the gimbal camera of the unmanned aerial vehicle, etc., wherein, A specific control command is generated by the user by manipulating the terminal and sent to the UAV, so that the UAV executes the control command.
  • FIG. 3 is a schematic flowchart of a method for controlling the direction of a pan/tilt provided in an embodiment of the present application
  • the method for controlling the direction of the pan-tilt is applied to an unmanned aerial vehicle
  • the unmanned aerial vehicle includes a pan-tilt
  • the pan-tilt is provided with a pan-tilt camera
  • the unmanned aerial vehicle is connected to a terminal for communication
  • the terminal includes a An adjusting device is used for controlling the focal length of the pan-tilt camera of the unmanned aerial vehicle.
  • the execution subject of the method for controlling the direction of the pan/tilt is a terminal.
  • the terminal includes terminal equipment, such as computer equipment, PC terminals, and other electronic equipment that establishes a communication connection with the UAV.
  • the execution subject of the method for controlling the direction of the pan-tilt is one or more processors of the terminal.
  • the method for controlling the direction of the pan/tilt includes:
  • Step S31 controlling the display interface of the terminal to enter the remote control interface
  • the display interface for controlling the terminal enters the remote control interface from the live broadcast interface, specifically, enters the unmanned aerial vehicle remote control interface.
  • the terminal turns on the screen display, its display interface is in the live broadcast interface.
  • Step S32 When the unmanned aerial vehicle is in the remote control state of the terminal, based on the remote control interface, in response to the first operation of the adjustment device, generate a direction control control, and adjust the pan/tilt based on the direction control control the direction of
  • FIG. 4 is a schematic diagram of a remote control interface provided by an embodiment of the present application.
  • the remote control interface includes a guide interface for the direction of the pan/tilt, wherein the interface for guiding the direction of the pan/tilt includes a direction control control, and the interface for guiding the direction of the pan/tilt is the display interface of the terminal when entering the remote control interface for the first time , an interface automatically generated by the terminal.
  • the gimbal direction guide interface is used to guide the user on how to control the gimbal direction, for example: how to change the gimbal direction through dynamic guidance, for example: press and hold the direction control control position by adjusting the device , and drag the direction control to change the direction of the gimbal.
  • the guide interface of the direction of the pan-tilt also includes a reset control, which is used to reset the direction of the pan-tilt, for example: through the click operation of the cursor corresponding to the adjustment device, the reset control is triggered to generate a reset option, wherein the reset
  • the options include multiple centering methods, such as: centering in the horizontal direction, centering in the vertical direction, centering in the horizontal and vertical directions, etc., the user selects one of the centering methods through the cursor to generate a reset command, and sends the reset command to the UAV to reset The gimbal direction of the UAV.
  • FIG. 5 is a schematic structural diagram of an adjustment device provided in an embodiment of the present application.
  • the adjusting device 50 includes: a left button 51 , a right button 52 and a rolling member 53 , and the rolling member 53 is used to adjust the focal length of the pan/tilt camera.
  • the first operation includes: a movement operation, a gesture operation, a sliding operation, a click operation, a long press operation or a drag operation of the adjustment device, for example: the The adjustment device corresponds to a cursor control in the remote control interface.
  • the cursor control performs the corresponding operation.
  • the terminal For mobile operation, the terminal generates a direction control control on the remote control interface in response to the mobile operation of the adjusting device.
  • the adjusting the direction of the pan/tilt based on the direction control control includes:
  • the direction of the pan/tilt is adjusted in response to a second operation of the adjustment device, wherein the second operation includes a drag operation on the direction control control.
  • the second operation includes a moving operation, a gesture operation, a sliding operation, a clicking operation, a long-pressing operation or a dragging operation of the adjusting device, for example:
  • the second operation includes a dragging operation on the direction control control, for example: drag the direction control control to a preset direction, then generate a direction adjustment command, and send the direction adjustment command to the unmanned aerial vehicle to adjust the direction of the unmanned aircraft. Adjust the direction of the gimbal of the unmanned aerial vehicle to be the same as the preset direction;
  • the second operation includes a click operation on the direction control control, for example: click the first position of the direction control control, determine the first direction corresponding to the first position, generate a direction adjustment instruction, and adjust the direction
  • the adjusting the direction of the pan/tilt in response to the second operation of the adjusting device includes:
  • the dragging direction of the direction control control is determined, and the direction of the pan/tilt is adjusted.
  • the adjustment device corresponds to a cursor control.
  • the adjustment device is a mouse.
  • the terminal When the user presses and holds the left button of the mouse to select the direction control control and drags the direction control control, the direction control is determined.
  • the dragging direction and dragging angle of the control the terminal generates a direction adjustment command, and sends the direction adjustment command to the unmanned aerial vehicle, so that the unmanned aerial vehicle determines the first adjustment direction and the first adjustment angle after receiving the direction adjustment command , and adjust the direction of the gimbal of the UAV based on the first adjustment direction and the first adjustment angle, wherein the first adjustment direction is the same as the dragging direction, and the first adjustment angle is the same as the dragging angle.
  • the method further includes:
  • the direction control control After responding to the first operation of the adjusting device, if no operation of the adjusting device is received within a preset time, the direction control control is hidden. For example: the preset time is 2 seconds. After the terminal responds to the first operation of the adjustment device, within 2 seconds, no operation of the adjustment device is received, and the direction control control is hidden in the remote control interface until Again in response to the first operation of the adjustment device, the directional control control is called out.
  • the terminal communicates with a plurality of unmanned aerial vehicles, and the method further includes:
  • a first control window corresponding to each unmanned aerial vehicle is generated
  • a second control window is generated, wherein the area of the second control window is larger than the area of the first control window.
  • FIG. 6a is a schematic diagram of a first control window provided by an embodiment of the present application.
  • the remote control interface includes a plurality of first control windows, wherein each first control window corresponds to an unmanned aerial vehicle one by one, indicating that the unmanned aerial vehicle establishes a communication connection with the terminal.
  • each first control window includes a window adjustment control, and the window adjustment control is used to convert the first control window into a second control window.
  • the terminal When the terminal responds to an operation on the first control window, it generates a second control window, wherein the operation on the first control window includes a first operation on the window adjustment control, for example, a click operation.
  • the operation on the first control window includes a first operation on the window adjustment control, for example, a click operation.
  • FIG. 6b is a schematic diagram of a second control window provided by an embodiment of the present application.
  • the terminal when the terminal responds to the operation on the first control window, it generates a second control window, wherein the area of the second control window is larger than the area of the first control window, and when the first control window Switching to the second control window indicates that the unmanned aerial vehicle corresponding to the first control window is in the remote control state of the terminal, so that the direction of the gimbal is controlled through the second control window.
  • control the unmanned aerial vehicle to enter the remote control state of the terminal that is, when the terminal responds to the click operation on the window adjustment control, send a remote control request instruction to the unmanned aerial vehicle, so that The UAV enters the remote control state of the terminal.
  • the method further includes:
  • a direction control control is generated in response to a first operation of the adjusting device, wherein the first operation includes a long press operation.
  • a directional control control is generated, and in the second control window, in response to the second operation of the adjustment device, the cloud
  • the first operation includes: adjusting the device’s moving operation, gesture operation, sliding operation, clicking operation, long press operation or dragging operation;
  • the second operation includes: adjusting the device’s moving operation, gesture operation Action, swipe action, tap action, long press action or drag action. Since the area of the second control window is much larger than that of the first control window, the user can adjust the direction of the pan-tilt more conveniently, improving the efficiency of adjusting the direction of the pan-tilt.
  • FIG. 7 is a flow chart of another method for controlling the direction of the pan/tilt provided by the embodiment of the present application.
  • the method for controlling the direction of the pan/tilt includes:
  • Step S701 Enter the live broadcast window
  • the terminal After the terminal is turned on, if the terminal communicates with at least one unmanned aerial vehicle, its display interface enters the live broadcast window, that is, the display interface is in the live broadcast interface.
  • Step S702 Presenting a guide interface for the direction of the gimbal
  • the guide interface of the direction of the gimbal is used to guide the user to adjust the direction, for example: to present the guide information of the quick operation of the gimbal. Adjustment.
  • Step S703 closing the guide interface
  • the guidance interface for the direction of the pan/tilt is closed.
  • Step S704 adjust the direction of the gimbal based on the direction control control
  • the unmanned aerial vehicle includes a pan-tilt, and the unmanned aerial vehicle is connected to a terminal through communication, and the terminal includes an adjustment device.
  • the method Including: when the unmanned aerial vehicle is in the remote control state of the terminal, controlling the display interface of the terminal to enter the remote control interface; based on the remote control interface, in response to the first operation of the adjustment device, generating a direction control control, based on The direction control controls are used to adjust the direction of the pan/tilt.
  • the application can improve the pan tilt direction control efficiency.
  • the embodiment of the present application provides a control device for the direction of the pan-tilt, wherein the control device for the direction of the pan-tilt is applied to an unmanned aerial vehicle, and the unmanned aerial vehicle includes a pan-tilt, so The unmanned aerial vehicle is communicatively connected to a terminal, and the terminal includes an adjustment device.
  • FIG. 8 is a schematic structural diagram of a pan-tilt direction control device provided by an embodiment of the present application.
  • control device 80 of this pan-tilt direction comprises:
  • a remote control interface unit 801 configured to control the display interface of the terminal to enter the remote control interface
  • the pan/tilt direction adjustment unit 802 is configured to generate a direction control control based on the remote control interface in response to the first operation of the adjustment device when the UAV is in the remote control state of the terminal, and generate a direction control control based on the direction control control to adjust the direction of the gimbal.
  • the control device for the direction of the pan/tilt includes: a remote control interface unit, used to control the display interface of the terminal to enter the remote control interface; a pan-tilt direction adjustment unit, used for when the unmanned aerial vehicle is in the remote control state of the terminal, Based on the remote control interface, a direction control control is generated in response to the first operation of the adjusting device, and the direction of the pan/tilt is adjusted based on the direction control control.
  • the present application can improve the control efficiency of the pan/tilt direction.
  • control device for the direction of the pan-tilt can execute the method for controlling the direction of the pan-tilt provided in the embodiment of the present application, and has corresponding functional modules and beneficial effects for executing the method.
  • the method for controlling the direction of the pan-tilt provided in the embodiment of the present application please refer to the method for controlling the direction of the pan-tilt provided in the embodiment of the present application.
  • FIG. 9 is a schematic structural diagram of a terminal provided in an embodiment of the present application.
  • the terminal 90 includes: a processor 901 , a memory 902 and a communication module 903 .
  • the processor 901, the memory 902, and the communication module 903 establish any communication connection between them through a bus.
  • the processor 901 may be any type of processor with one or more processing cores. It can perform single-threaded or multi-threaded operations, and is used to parse instructions to perform operations such as obtaining data, performing logical operation functions, and delivering operation processing results.
  • the memory 902 as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs, non-transitory computer-executable programs and modules, such as the program corresponding to the control method of the pan-tilt direction in the embodiment of the present application directive/module.
  • the processor 801 executes the non-transitory software programs, instructions and modules stored in the memory 802 to implement the method for controlling the direction of the pan/tilt in the above method embodiments.
  • the memory 902 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required by a function; the data storage area may store data created according to the use of the remote control device, and the like.
  • the memory 902 may include a high-speed random access memory, and may also include a non-transitory memory, such as at least one magnetic disk storage device, a flash memory device, or other non-transitory solid-state storage devices.
  • the memory 902 may optionally include memory located remotely relative to the processor 901, and these remote memories may be connected to the UAV through a network. Examples of the aforementioned networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
  • the memory 902 stores instructions executable by the at least one processor 901; the at least one processor 901 is configured to execute the instructions, so as to implement the method for controlling the pan/tilt direction in any of the above method embodiments.
  • the communication module 903 is a functional module for establishing a communication connection and providing a physical channel.
  • the communication module 903 may be any type of wireless or wired communication module, including but not limited to a WiFi module or a Bluetooth module.
  • the embodiment of the present application also provides a non-transitory computer-readable storage medium, the non-transitory computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are executed by one or more processors Execution at 901 may cause the above-mentioned one or more processors 901 to execute the method for controlling the direction of the pan/tilt in any method embodiment above.
  • the device embodiments described above are only illustrative, and the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed to multiple network elements. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Some or all of the modules are selected according to actual needs to realize the purpose of the solution of this embodiment.
  • each embodiment can be implemented by means of software plus a general hardware platform, and of course also by hardware.
  • the computer program can be stored in a non-transitory computer.
  • the computer program includes program instructions, and when the program instructions are executed by the relevant equipment, the relevant equipment can execute the processes of the embodiments of the above-mentioned methods.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM) or a random access memory (Random Access Memory, RAM), etc.
  • the above-mentioned product can execute the method for controlling the direction of the pan-tilt provided by the embodiment of the present application, and has corresponding functional modules and beneficial effects for performing the method for controlling the direction of the pan-tilt.
  • the method for controlling the direction of the pan/tilt provided in the embodiment of this application can execute the method for controlling the direction of the pan/tilt provided in the embodiment of this application.

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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)
  • Selective Calling Equipment (AREA)
  • User Interface Of Digital Computer (AREA)

Abstract

L'invention concerne un procédé de commande et un appareil de commande (80) pour la direction d'un cardan, ainsi qu'un terminal (90, 300). Le procédé de commande pour la direction d'un cardan est appliqué à un véhicule aérien sans pilote (100), le véhicule aérien sans pilote (100) comprenant un cardan, le véhicule aérien sans pilote (100) étant en liaison de communication avec le terminal (90, 300) et le terminal (90, 300) comprenant un appareil de réglage (50). Le procédé de commande pour la direction d'un cardan consiste à : lorsqu'un véhicule aérien sans pilote (100) se trouve dans un état de commande à distance d'un terminal (90, 300), commander une interface d'affichage du terminal (90, 300) pour entrer dans une interface de commande à distance (S31) ; sur la base de l'interface de commande à distance et en réponse à une première opération d'un appareil de réglage (50), générer un widget de commande de direction et régler la direction d'un cardan sur la base du widget de commande de direction (S32). Dans le procédé, lorsque le véhicule aérien sans pilote (100) se trouve dans l'état de commande à distance du terminal (90, 300), sur la base de l'interface de commande à distance et en réponse à la première opération de l'appareil de réglage (50), le widget de commande de direction est généré pour ajuster la direction du cardan, ce qui permet d'améliorer l'efficacité de commande de la direction du cardan.
PCT/CN2022/114562 2021-08-25 2022-08-24 Procédé et appareil de commande de direction de cardan et terminal WO2023025202A1 (fr)

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