WO2017181511A1 - Borne et système de commande pour véhicule aérien sans pilote - Google Patents

Borne et système de commande pour véhicule aérien sans pilote Download PDF

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Publication number
WO2017181511A1
WO2017181511A1 PCT/CN2016/086313 CN2016086313W WO2017181511A1 WO 2017181511 A1 WO2017181511 A1 WO 2017181511A1 CN 2016086313 W CN2016086313 W CN 2016086313W WO 2017181511 A1 WO2017181511 A1 WO 2017181511A1
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WIPO (PCT)
Prior art keywords
aerial vehicle
unmanned aerial
control command
state
display state
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PCT/CN2016/086313
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English (en)
Chinese (zh)
Inventor
高鹏
张利军
李玉刚
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Individual
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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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0016—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement characterised by the operator's input device
    • 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
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • G05D1/0038—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation
    • 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 technical field of unmanned aerial vehicles, in particular to a terminal device, a control system of an unmanned aerial vehicle and an unmanned aerial vehicle control system based on the terminal device.
  • FPV is the abbreviation of English First Person View, which is “first person main perspective”. It is a kind of wireless camera back-transfer equipment installed on the drone (or unmanned aerial vehicle) or vehicle model. The method of manipulating the model. This method is widely used in consumer drones and is a combination of video codec technology, wireless transmission technology and flight control technology. The main idea of this method is to collect video data, transmit it remotely and then display it. An unmanned aerial vehicle operator on the ground can view images captured by the unmanned aerial vehicle through the display and control the aircraft based on the images.
  • the target object may be offset or even lost in the picture, or out of focus.
  • the target object is always kept in the preset display state (for example, always in the center of the screen, always maintain a certain size, always maintain a certain clarity, etc.) Users usually need to take pictures of the camera. Remote adjustment is made, which greatly increases the difficulty of the user's operation.
  • the technical problem to be solved by the present invention is how to simplify the user's control operation on the unmanned aerial vehicle to achieve flight and shooting control centered on the target object.
  • a terminal device characterized in that the terminal device comprises: a display for displaying a picture captured by an image acquisition device on an unmanned aerial vehicle; an acquisition component, collecting and identifying a user a gesture signal; an instruction generating component, configured to generate a control command according to the gesture signal, the control command is used to control a flight state of the unmanned aerial vehicle and a shooting state of the image capturing device on the unmanned aerial vehicle; The control command is sent to the unmanned aerial vehicle to control the flight state of the unmanned aerial vehicle and the photographing state of the image capturing device on the unmanned aerial vehicle such that the photographed target object is preset on the display The display status is displayed.
  • a control system for an unmanned aerial vehicle comprises: a receiving component that receives a control command from the terminal device, the control command corresponding to a gesture signal of the user, Controlling the flight state of the unmanned aerial vehicle and the photographing state of the image capturing device on the unmanned aerial vehicle; the command conversion unit converting the received control command into a flight control command for controlling the flight state of the unmanned aerial vehicle, And a photographing control command for controlling a photographing state of the image capturing device on the unmanned aerial vehicle; a driving component that changes a driving state of the unmanned aerial vehicle according to the flight control command to change a flying state of the unmanned aerial vehicle; The image capturing device changes the shooting state according to the shooting control command, so that the captured target object is displayed in a preset display state in the captured image; and the transmitting component transmits the captured image to the terminal device.
  • a terminal device-based unmanned aerial vehicle control system comprising: the aforementioned terminal system and a control system for an unmanned aerial vehicle, wherein the control system is mounted on an unmanned aerial vehicle .
  • the display is displayed in a preset display state, thereby realizing simultaneous control of the flight state and shooting state of the aircraft with a simple one-hand operation, and achieving target-centered flight and simple operation with simple operation.
  • Shooting control reduces operational complexity.
  • FIG. 1 is a block diagram showing a terminal device according to an embodiment of the present invention.
  • Figure 2a shows a gesture signal with a single contact moving down.
  • Figure 2b shows a gesture signal with a single contact moving up.
  • Figure 2c shows a gesture signal with a single contact moving to the right.
  • Figure 2d shows the gesture signal with a single contact moving to the left.
  • Figure 2e shows the gesture signal with the two contacts facing away from movement.
  • Figure 2f shows a gesture signal with two contacts approaching movement.
  • Figure 2g shows a gesture signal with two contacts moving down in parallel.
  • Figure 2h shows a gesture signal with two contacts moving up in parallel.
  • Figure 2i shows a gesture signal for the two contacts moving clockwise.
  • Figure 2j shows a gesture signal for two contacts rotating counterclockwise.
  • FIG. 3 is a block diagram showing a control system of an unmanned aerial vehicle according to an embodiment of the present invention.
  • FIG. 4a is a flow chart showing a control method corresponding to a single-contact downward movement gesture signal for a control command received by an unmanned aerial vehicle, in accordance with an embodiment of the present invention.
  • 4b is a flow chart showing a control method corresponding to a single-contact upward movement gesture signal for a control command received by an unmanned aerial vehicle according to another example of an embodiment of the present invention.
  • 4c is a flow chart showing a control method corresponding to a control signal received by an unmanned aerial vehicle and a single-touch rightward moving gesture signal according to still another example of an embodiment of the present invention.
  • 4d is a flow chart showing a control method corresponding to a control signal received by an unmanned aerial vehicle and a single-touch leftward gesture signal, in accordance with an exemplary embodiment of the present invention.
  • 4e is a flow chart showing a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal in which two contacts face away from movement according to another example of an embodiment of the present invention.
  • 4f is a flow chart showing a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal in which two contacts are close to move, according to still another example of an embodiment of the present invention.
  • 4g illustrates a flow chart of a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal in which two contacts move in parallel downward, in accordance with an embodiment of the present invention.
  • 4h is a flow chart showing a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal in which two contacts move in parallel according to another example of an embodiment of the present invention.
  • 4i is a flow chart showing a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal of two contacts rotating clockwise according to still another example of an embodiment of the present invention.
  • 4j illustrates a flow chart of a control method corresponding to a control signal received by an unmanned aerial vehicle and a gesture signal of two contacts rotating counterclockwise in accordance with an embodiment of the present invention.
  • FIG. 5 is a block diagram showing the structure of an unmanned aerial vehicle control system based on a terminal device according to an embodiment of the present invention.
  • FIG. 6 is a block diagram showing the structure of a terminal device according to another embodiment of the present invention.
  • FIG. 1 is a block diagram showing a terminal device according to an embodiment of the present invention.
  • the terminal device 1 mainly includes: a display 101 for displaying a picture captured by an image acquisition device on an unmanned aerial vehicle; an acquisition unit 102 for acquiring and recognizing a gesture signal of the user; and an instruction generation unit 103, according to the a gesture signal generating control command for controlling a flight state of the unmanned aerial vehicle and a shooting state of the image capturing device on the unmanned aerial vehicle; the communication component 104 transmitting the control command to the unmanned aerial vehicle And controlling the flight state of the unmanned aerial vehicle and the photographing state of the image capturing device on the unmanned aerial vehicle such that the photographed target object is displayed on the display 101 in a preset display state.
  • the terminal device identifies the gesture signal of the user, and generates a control instruction according to the corresponding gesture signal to control the flight state of the unmanned aerial vehicle and the shooting state of the image capturing device on the unmanned aerial vehicle, thereby enabling the captured image.
  • the target object is displayed on the display in a preset display state, thereby achieving simultaneous flight status of the aircraft with a simple one-handed operation. Controlled by the shooting state, the target-object-based flight and shooting control is realized with a simple operation, which reduces the operational complexity.
  • the display state referred to herein may include one or more of the following: a display position of the target object in the screen displayed by the display (for example, a relative center position), and a target object occupying an area percentage of the screen (for example, two of the entire screen) One-by-one, one-quarter or other percentage), the display resolution of the target object (for example, only the overall outline of the target object needs to be resolved, or some details of the target object need to be resolved, etc.).
  • a desired display state for the target object can be set to "the target object is always at the relative center of the screen, reaching 1/4 of the total area of the screen and reaching the preset definition".
  • control command will adjust the flight state of the aircraft.
  • shooting angles such as the shooting angle and the shooting focal length of the image capturing device are adjusted so that the target object is always displayed in the display state set as described above regardless of the flight state.
  • the display 101 can be used to display a picture captured by an image acquisition device on an unmanned aerial vehicle.
  • the picture can be transmitted to the terminal device via the communication device on the unmanned aerial vehicle, received via the communication device on the terminal device and provided to the display 101 for display.
  • the display 101 can be any device that can be used to display an image, and can be a display with a touch display, such as a mobile phone screen display or an iPad screen display, which is not limited by the present invention.
  • the acquisition component 102 can be a component for acquiring and recognizing a gesture signal of the user.
  • the acquisition component 102 can make the user Gestures are captured and different gesture signals are identified.
  • the gesture signal may include: a single contact moves downward (as shown in FIG. 2a, the aircraft can be controlled to descend), a single contact moves upward (as shown in FIG. 2b, the aircraft can be controlled to rise), and a single contact moves to the right.
  • the aircraft can be controlled to move to the right
  • the single contact moves to the left (as shown in Figure 2d, the aircraft can be moved to the left)
  • the two contacts move away from each other (as shown in Figure 2e, the aircraft can be controlled close to The target object), the two contacts move close to each other (as shown in Figure 2f, the aircraft can be controlled away from the target object), and the two contacts move downward in parallel (as shown in Figure 2g, the aircraft can be controlled to move in a downward direction, such as bowing, Dive flight, etc.), the two contacts move upwards in parallel (as shown in Figure 2h, the aircraft can be moved upside down, such as head-up, up-and-forward flight, etc.), and the two contacts move clockwise (as shown in Figure 2i).
  • One or more of the right-handed movement of the aircraft can be controlled and the two contacts can be rotated counterclockwise (as shown in Figure 2j, the left-handed movement of the aircraft can be controlled).
  • the above gesture signals can be realized by one hand, and the operation is simple and convenient.
  • the acquisition component 102 can be any component known to those skilled in the art that can implement acquisition and recognition of gesture signals, for example, can be a touch screen gesture acquisition and recognition system associated with a touch screen, which can be combined with a general purpose processor and dedicated hardware. Logic instructions are implemented.
  • the instruction generating component 103 can receive the gesture signal from the acquisition component 102 and generate a control command according to the gesture signal, which can be used to control the flight state of the unmanned aerial vehicle and the shooting state of the image acquisition device on the unmanned aerial vehicle.
  • a control command according to the gesture signal, which can be used to control the flight state of the unmanned aerial vehicle and the shooting state of the image acquisition device on the unmanned aerial vehicle.
  • control instructions may control the flight status of the unmanned aerial vehicle and initiate adjustments to the photographing state of the image capture device.
  • the current display state of the target object usually deviates from the preset display state (for example, off center, becomes too large or too small, out of focus, etc.), and the adjustment can be captured according to the image capturing device.
  • Embodiment 2 For the specific manner of adjustment, refer to Embodiment 2.
  • the instruction generating component 103 may include a first instruction generating unit, a second instruction generating unit, a third instruction generating unit, a fourth instruction generating unit, a fifth instruction generating unit, and a sixth instruction generating unit.
  • One or more of the first to tenth control commands are generated by clockwise rotation movement and one or more gesture signals of two contacts counterclockwise rotation movements, respectively, to respectively cause the unmanned aerial vehicle to descend One or more of ascending, ascending, moving to the right, moving to the left, close to the target object, away from the target object, tilting movement, tilting movement, right rotation movement, and left rotation movement, and corresponding Initiating adjustment of the shooting state of the image capturing device, adjusting the shooting state of the image capturing device according to the difference between the current display state of the target object and the preset display state in the image captured by the image capturing device, to adapt to the driverless
  • the instruction generating component 103 can be any component that can be implemented by an instruction that can be implemented by a person skilled in the art.
  • the component can be implemented by a general-purpose processor in combination with the logic instruction, or can be implemented by a dedicated hardware circuit. component.
  • the communication component 104 can implement signal transmission between the terminal device and the unmanned aerial vehicle, and the control command generated by the command generating component 103 is transmitted to the unmanned aerial vehicle through the communication component 104, and the unmanned aerial vehicle is controlled according to the received control command.
  • the flight state of the unmanned aerial vehicle and the photographing state of the image pickup device on the unmanned aerial vehicle cause the photographed target object to be displayed on the display 101 in a preset display state.
  • Communication component 104 can be any component known to those skilled in the art that can transmit communication signals.
  • communication component 104 can be a fifth generation wireless fidelity 5G WIFI communication module.
  • FIG. 3 is a block diagram showing a control system of an unmanned aerial vehicle according to another embodiment of the present invention.
  • the control system 3 of the unmanned aerial vehicle mainly includes: a receiving part 301, which receives a control instruction from the terminal device, the control instruction corresponding to a gesture signal of the user, and is used for controlling the unmanned aerial vehicle.
  • the command conversion component 302 converts the received control command into a flight control command for controlling the flight state of the unmanned aerial vehicle, and is used to control the unmanned a photographing control command for capturing a photographing state of the image capturing device on the aircraft; a driving component 303, changing a driving state of the unmanned aerial vehicle according to the flight control command to change a flying state of the unmanned aerial vehicle; the image capturing device 304, According to the shooting control command, the shooting state is changed such that the captured target object is displayed in a preset display state in the captured screen; the transmitting component 305 transmits the captured image to the terminal device.
  • the embodiment receives the control command corresponding to the gesture signal to control the flight state of the unmanned aerial vehicle and the shooting state of the image capturing device on the unmanned aerial vehicle, so that the target object to be photographed is displayed in a preset manner.
  • the status display makes it possible to control the flight state and shooting state of the aircraft at the same time with a simple one-hand operation, and realizes the flight and shooting control centered on the target object with a simple operation, thereby reducing the operation complexity.
  • the receiving component 301 may be a component for receiving a control command from the terminal device, wherein the control command from the terminal device may correspond to a gesture signal of the touch display screen of the user touching the display, the control command being converted by the instruction conversion component 302 It can then be used to control the flight status of the unmanned aerial vehicle and the shooting status of the image acquisition device 304 on the unmanned aerial vehicle.
  • the receiving component 301 can be any component known to those skilled in the art that can implement the functionality of receiving control commands, such as a communications module that can receive control commands.
  • the receiving component 301 passes the received control command to the command conversion component 302, and the command conversion component 302 can convert the received control command into a corresponding flight control command for controlling the flight state of the unmanned aerial vehicle, and for controlling A shooting control command for the shooting state of the image capturing device 304 on the unmanned aerial vehicle.
  • the instruction conversion component 302 can be implemented by a flight control system composed of a processor on the drone in conjunction with dedicated logic instructions.
  • the flight control command for controlling the flight state of the unmanned aerial vehicle may indicate the manner and magnitude of the flight state change (eg, a drop of N meters), where the amplitude may be proportional to the magnitude of the gesture.
  • the flight control command may also only indicate the manner in which the flight state changes, and the change amplitude may be a preset fixed amplitude corresponding to one command. For example, based on a control command corresponding to a single-contact up gesture, the command conversion component 302 can generate a flight control command that rises by 10 meters, which can be provided to a flight system of the aircraft (eg, a drive motor) to control aircraft changes. Its flight status.
  • control system may further comprise a determining component that determines whether the aircraft has completed the change of the flight state according to the indication of the flight control instruction, and the determining component can determine, for example, whether the aircraft has moved in place according to the indication of the flight control instruction. If the determination is YES, the notification command conversion unit 302 stops outputting the flight control command to stop the aircraft from changing the flight state. For example, if the flight control command is to raise the aircraft by 10 meters, the judging means can judge whether the aircraft ascending distance reaches 10 meters according to the ascending speed and the rising time of the aircraft, and if so, notify the command conversion unit 302, thereby The plane stopped rising.
  • the instruction conversion component 302 can generate a shooting control instruction to adjust the image collection according to the difference between the current display state of the target object and the preset display state in the image captured by the image capturing device 304.
  • the shooting state of the device 304 e.g., shooting angle, focal length, etc.
  • the shooting state of the device 304 is adapted to the flight state of the unmanned aerial vehicle.
  • the instruction conversion component 302 can identify a target object in the picture (which can be based on video recognition techniques selectable by those skilled in the art) Performs) and calculates the difference between the current display state of the target object and the preset display state (for example, the distance and direction of the target object from the preset position (such as the center of the screen), the deviation from the preset size, and the deviation
  • the degree of sharpness and the like may be performed by means of a video tracking technology selectable by a person skilled in the art, and the shooting control command may be a change mode and a change amount of the shooting state of the image capturing device 304 calculated based on the difference described above.
  • the image acquisition device can be calculated.
  • Rotation angle and direction according to the degree to which the target object deviates from the preset definition, the focus adjustment direction and amplitude of the image acquisition device can be calculated.
  • a person skilled in the art can establish a corresponding relationship between the above difference and the shooting state changing manner and the amount of change of the image capturing device according to actual conditions (for example, image capturing device parameters, aircraft parameters, etc.), thereby generating a shooting control command.
  • the instruction conversion component 302 can start the process of generating the shooting control instruction when receiving the control instruction from the terminal device, and monitor the current display state in real time according to the current display state and the preset The difference in status is displayed, the shooting control command is generated in real time and the process is stopped after the flight state control is completed (ie, after the flight state change of the aircraft is completed, or after moving to the designated position).
  • the command conversion component 302 can continue to monitor the current display state in real time after the flight state control is completed, and generate a shooting control command in real time according to the difference between the current display state and the preset display state. To track the movement of the target object.
  • control system can also include a carrier component for carrying the image acquisition device 304, such as a pan/tilt.
  • the carrier member can be moved according to the shooting control command (for example, moving up (for example, rotating upward at a fixed point), moving down (for example, rotating downward at a fixed point), moving left (for example, rotating to a left point), and shifting to the right (for example, rotating to the right around a fixed point), etc.) to change the shooting angle of the image capture device 304.
  • the image capture device 304 can also change the shooting focal length according to the shooting control command.
  • the driving component 303 can change the driving state of the unmanned aerial vehicle according to the flight control instruction from the command conversion component 302, thereby changing the flight state of the unmanned aerial vehicle, for example, the unmanned aerial vehicle can be lowered, raised, moved to the right, Move left, close to the target object, away from the target object, tilting, tilting, right-handing, or left-handing.
  • Drive component 303 can be any component known to those skilled in the art that can change the flight state of an unmanned aerial vehicle, such as a drive motor.
  • the image pickup device 304 can change its photographing state in accordance with the photographing control instruction from the instruction conversion section 302, so that the photographed target object is displayed in the photographed screen in a display state set in advance by the user.
  • changing the shooting state of the image capturing device 304 may be lengthening or shortening the shooting focal length, changing the shooting angle of the image capturing device in the horizontal or vertical direction, and the like.
  • the image capture device 304 can be any device or component known to those skilled in the art that can implement image acquisition, such as a CCD digital camera, an optical camera, an infrared scanner, a laser scanner, etc., and the present invention does not impose any limitation.
  • the sending component 305 can receive the image captured by the image capturing device 304, and send the captured image to the terminal device for real-time display and update, so that the user can operate the unmanned aerial vehicle based on the screen displayed by the terminal device to achieve the target of the user.
  • Object-centric flight and shooting control can be used to control the unmanned aerial vehicle based on the screen displayed by the terminal device to achieve the target of the user.
  • Transmitting component 305 can be any component known to those skilled in the art that can transmit a picture taken by image acquisition device 304, such as a 5G WIFI communication module.
  • control system of the unmanned aerial vehicle receives different control commands to control the flight state of the unmanned aerial vehicle and the shooting state of the image capturing device 304 on the unmanned aerial vehicle, respectively, as an example to illustrate the difference of the embodiment.
  • the examples are only for ease of understanding and are not intended to limit the invention in any way.
  • FIG. 4a is a flow chart showing a control method corresponding to a single-contact downward movement gesture signal for a control command received by an unmanned aerial vehicle, in accordance with an embodiment of the present invention.
  • the instruction conversion unit 302 can generate a control for control.
  • a flight control command that the unmanned aerial vehicle descends the command may control the flight state of the unmanned aerial vehicle to be descending (eg, the command may include a reduced distance, or a fixed distance is decreased each time an instruction is received).
  • the command conversion unit 302 can determine whether the current display state of the target object in the screen captured by the image capturing device 304 reaches a preset display state, and if it is determined that the preset display state is not reached, according to the current display.
  • the difference between the state and the preset display state generates a shooting control command for moving the carrier member up, for example, the shooting control command may include an angle at which the pan/tilt is rotated upward, or a fixed angle of rotation up each time the command is received.
  • FIG. 4b is a flow chart showing a control method corresponding to a single-contact upward movement gesture signal for a control command received by an unmanned aerial vehicle according to another example of an embodiment of the present invention.
  • the command conversion unit 302 can generate a control for A flight control command that the human aircraft is propelled, the command may control the flight state of the unmanned aerial vehicle to rise (eg, the command may include a rising distance, or a fixed distance each time an instruction is received).
  • the command conversion unit 302 can determine whether the current display state of the target object in the screen captured by the image capturing device 304 reaches a preset display state, and if it is determined that the preset display state is not reached, according to the current display.
  • the difference between the state and the preset display state generates a shooting control command for moving the carrier member downward.
  • the shooting control command may include an angle at which the pan/tilt is rotated downward, or a fixed angle is rotated downward every time the command is received.
  • FIG. 4c is a flow chart showing a control method corresponding to a control signal received by an unmanned aerial vehicle and a single-touch rightward moving gesture signal according to still another example of an embodiment of the present invention.
  • the command conversion unit 302 can generate a control for control.
  • a flight control command that moves the unmanned aerial vehicle to the right
  • the command may control the flight state of the unmanned aerial vehicle to move to the right (for example, the command may include a distance to the right, or each time an instruction is received to move to the right distance).
  • the command conversion unit 302 can determine whether the current display state of the target object in the screen captured by the image capturing device 304 reaches a preset display state, and if it is determined that the preset display state is not reached, according to the current display.
  • the difference between the state and the preset display state generates a shooting control command for moving the carrier member to the left.
  • the shooting control command may include an angle at which the pan/tilt is rotated to the left, or a fixed angle is rotated to the left each time the command is received.
  • FIG. 4d is a flow chart showing a control method corresponding to a control signal received by an unmanned aerial vehicle and a single-touch leftward gesture signal, in accordance with an exemplary embodiment of the present invention.
  • the control method is similar to the control method shown in FIG. 4c, except that the flight state of the unmanned aerial vehicle is controlled to move to the left, and the shooting control command is to move the carrier member to the right.
  • FIG. 4e is a flow chart showing a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal of two contacts facing away from movement, as shown in FIG. 4e, in the instruction conversion, according to another example of the present invention.
  • the command conversion component 302 can generate a flight for controlling the unmanned aerial vehicle approaching the target object.
  • a control command that can control the flight state of the unmanned aerial vehicle to be close to the target object (eg, the command can include moving closer to the target object, or each time the command is received is close to a fixed distance relative to the target object),
  • the command conversion unit 302 can determine whether the current display state of the target object in the image captured by the image capture device 304 reaches a preset display state, and if it is determined that the preset display is not reached.
  • a shooting control command for causing the image capturing device 304 to lengthen the focal length is generated based on the difference between the current display state and the preset display state.
  • the shooting control command may include a specific value of the focal length change, or each time the command is received, the fixed focal length is elongated.
  • FIG. 4f is a flow chart showing a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal in which two contacts are close to move, according to still another example of an embodiment of the present invention.
  • the control method is similar to the control method shown in FIG. 4e, except that the flight state of the unmanned aerial vehicle is controlled to be away from the target object, and the shooting control command is to cause the image capturing device 304 to shorten the focal length.
  • FIG. 4g illustrates a flow chart of a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal in which two contacts move in parallel downward, in accordance with an embodiment of the present invention.
  • the command conversion unit 302 can generate a flight control command for controlling the downward movement of the unmanned aerial vehicle, the command may control the flight state of the unmanned aerial vehicle to be a downward movement (eg, the command may include an angle that causes the aircraft to bow, or each time an instruction is received, the head is fixed angle).
  • the command conversion unit 302 can determine whether the current display state of the target object in the screen captured by the image capturing device 304 reaches a preset display state, and if it is determined that the preset display state is not reached, determine the target object.
  • the shooting control command may include an angle at which the pan/tilt is rotated downward, or a fixed angle is rotated downward every time the command is received; if it is determined to be biased downward, according to the current display state and the preset display
  • the difference in state generates a shooting control command that causes the carrier member to move up to compensate (for example, the shooting control command may include an angle at which the pan/tilt is rotated upward, or a fixed angle of rotation up each time the command is received).
  • FIG. 4h is a flow chart showing a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal in which two contacts move in parallel according to another example of an embodiment of the present invention.
  • the control The method of control is similar to the control method shown in Fig. 4g, except that the flight state of the unmanned aerial vehicle is controlled to be an upshift.
  • FIG. 4i is a flow chart showing a control method corresponding to a control command received by an unmanned aerial vehicle and a gesture signal of two contacts rotating clockwise according to still another example of an embodiment of the present invention.
  • the command conversion unit 302 can generate a flight control command for controlling the right-handed movement of the unmanned aerial vehicle, the command may control the flight state of the unmanned aerial vehicle to be a right-handed movement (eg, the command may include an angle of turning the aircraft right-handed, or each time an instruction is received Fixed angle).
  • the command conversion unit 302 can determine whether the current display state of the target object in the screen captured by the image capturing device 304 reaches a preset display state, and if it is determined that the preset display state is not reached, determine the target object. Whether the current display position is shifted to the left or right relative to the preset display position, and if it is determined to be leftward, the camera that generates the right shift of the carrier member is compensated according to the difference between the current display state and the preset display state.
  • the shooting control command may include an angle at which the pan/tilt rotates to the right, or a fixed angle is rotated to the right each time the command is received; if it is determined to be rightward, according to the current display state and the preset display The difference in state generates a shooting control command that causes the carrier member to shift to the left to compensate (for example, the shooting control command may include an angle at which the pan/tilt is rotated to the left, or a fixed angle to the left each time the command is received).
  • FIG. 4j illustrates a flow chart of a control method corresponding to a control signal received by an unmanned aerial vehicle and a gesture signal of two contacts rotating counterclockwise in accordance with an embodiment of the present invention.
  • the control method is similar to the control method shown in FIG. 4i, except that the flight state of the unmanned aerial vehicle is controlled to be left-handed.
  • Another embodiment of the present invention further provides a terminal device-based unmanned aerial vehicle control system, the system comprising the terminal device described in Embodiment 1 and the unmanned flight described in Embodiment 2 The control system of the device, wherein the control system is mounted on an unmanned aerial vehicle.
  • the system may include a terminal device 1 and a control system 3 of the unmanned aerial vehicle, by which the user applies one or more gesture signals with one hand on the display of the terminal device according to the screen displayed on the display.
  • the control of the unmanned aerial vehicle can be realized to carry out the flight and shooting centered on the target object, which reduces the operation complexity of the user, makes the operation more intelligent and simple, and improves the user experience.
  • FIG. 6 is a block diagram showing the structure of a terminal device according to another embodiment of the present invention.
  • the terminal device 1100 may be a host server having a computing capability, a personal computer PC, or a portable computer or terminal that can be carried.
  • the specific embodiments of the present invention do not limit the specific implementation of the computing node.
  • the terminal device 1100 includes a processor 1110, a communication interface 1120, a memory 1130, and a bus 1140.
  • the processor 1110, the communication interface 1120, and the memory 1130 complete communication with each other through the bus 1140.
  • Communication interface 1120 is for communicating with network devices, including, for example, a virtual machine management center, shared storage, and the like.
  • the processor 1110 is configured to execute a program.
  • the processor 1110 may be a central processing unit CPU, or an Application Specific Integrated Circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present invention.
  • ASIC Application Specific Integrated Circuit
  • the memory 1130 is used to store files.
  • the memory 1130 may include a high speed RAM memory and may also include a non-volatile memory such as at least one disk memory.
  • Memory 1130 can also be a memory array.
  • the memory 1130 may also be partitioned, and the blocks may be combined into a virtual volume according to certain rules.
  • the function is implemented in the form of computer software and sold or used as a stand-alone product, it is considered to some extent that all or part of the technical solution of the present invention (for example, a part contributing to the prior art) is It is embodied in the form of computer software products.
  • the computer software product is typically stored in a computer readable non-volatile storage medium, including instructions for causing a computer device (which may be a personal computer, server, or network device, etc.) to perform all of the methods of various embodiments of the present invention. Or part of the steps.
  • the foregoing storage medium includes various media that can store program codes, such as a USB flash drive, a removable hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.
  • the display is displayed in a preset display state, thereby realizing simultaneous control of the flight state and shooting state of the aircraft with a simple one-hand operation, and achieving target-centered flight and simple operation with simple operation.
  • Shooting control reduces operational complexity.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Computing Systems (AREA)
  • Mathematical Physics (AREA)
  • Theoretical Computer Science (AREA)
  • User Interface Of Digital Computer (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne une borne (1, 1100) et un système de commande (3) pour un véhicule aérien sans pilote. La borne (1, 1100) comprend : un dispositif d'affichage (100) utilisé pour afficher une image filmée par un dispositif d'acquisition d'image (304) sur le véhicule aérien sans pilote ; un composant d'acquisition (102), utilisé pour acquérir et identifier des signaux de geste d'utilisateur ; un composant de génération d'instruction (103) utilisé pour générer des instructions de commande sur la base des signaux de geste, les instructions de commande étant utilisées pour commander l'état de vol du véhicule aérien sans pilote et l'état de prise de vues du dispositif d'acquisition d'image (304) sur le véhicule aérien sans pilote ; et un composant de communication (104) utilisé pour envoyer les instructions de commande au véhicule aérien sans pilote afin de commander l'état de vol du véhicule aérien sans pilote et l'état de prise de vues du dispositif d'acquisition d'image (304) sur le véhicule aérien sans pilote de sorte que l'objet cible filmé soit affiché sur le dispositif d'affichage (101) dans un état d'affichage prédéfini. Des signaux de geste d'utilisateur sont identifiés par la borne (1, 1100) afin de commander l'état de vol du véhicule aérien et l'état de prise de vues, ce qui permet de mettre en œuvre un vol et une prise de vues centrés sur un objet cible au moyen d'opérations simples et de réduire ainsi la complexité de fonctionnement.
PCT/CN2016/086313 2016-04-20 2016-06-17 Borne et système de commande pour véhicule aérien sans pilote Ceased WO2017181511A1 (fr)

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