WO2018010472A1 - Dispositif d'affichage intelligent pour commander la rotation d'une tête de trépied d'un véhicule aérien sans équipage, et système de commande pour celui-ci - Google Patents

Dispositif d'affichage intelligent pour commander la rotation d'une tête de trépied d'un véhicule aérien sans équipage, et système de commande pour celui-ci Download PDF

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Publication number
WO2018010472A1
WO2018010472A1 PCT/CN2017/082972 CN2017082972W WO2018010472A1 WO 2018010472 A1 WO2018010472 A1 WO 2018010472A1 CN 2017082972 W CN2017082972 W CN 2017082972W WO 2018010472 A1 WO2018010472 A1 WO 2018010472A1
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WO
WIPO (PCT)
Prior art keywords
control system
display device
rotation
processor
drone
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2017/082972
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English (en)
Chinese (zh)
Inventor
胡华智
朱剑锋
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangzhou Ehang Intelligent Technology Co Ltd
Original Assignee
Guangzhou Ehang Intelligent Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Priority claimed from CN201610562047.6A external-priority patent/CN106791354A/zh
Application filed by Guangzhou Ehang Intelligent Technology Co Ltd filed Critical Guangzhou Ehang Intelligent Technology Co Ltd
Publication of WO2018010472A1 publication Critical patent/WO2018010472A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the present invention relates to the field of intelligent display devices, and more particularly to an intelligent display device for controlling the rotation of a drone head and its control system.
  • Intelligent display devices are the most popular wearable devices at present, just like smart phones, smart display devices have independent operating systems, and users can install software, games and other software service providers to provide programs through voice or action. Manipulating the functions of adding schedules, map navigation, interacting with friends, taking photos and videos, making video calls with friends, and accessing wireless networks via mobile communication networks.
  • the posture of the smart display device is changed by the user wearing the smart display device to swing the head, thereby adjusting the shooting angle of the imaging device, so as to capture an aerial image that is satisfactory to the user.
  • the existing intelligent display device simply changes the shooting angle of the imaging device. If the shooting angle adjustment is too large, the camera lens cannot be prevented from being blocked. Therefore, the camera cannot capture the user's desire. The desired image is very inconvenient to operate.
  • an intelligent display device for controlling rotation of a drone head includes: : attitude sensor, processor and communication module;
  • the attitude sensor is connected to a processor, the processor is connected to the communication module, and the communication module communicates with the drone control system in a wireless manner;
  • the attitude sensor acquires the posture information generated by the movement of the smart display device, and sends the posture information to the processor;
  • the processor acquires the angle change data of the smart display device according to the posture information, and Converting the angle change data into a wireless signal;
  • the communication module sends the wireless signal to the drone control system to control the rotation angle of the UAV pan/tilt.
  • the processor is specifically configured to:
  • the communication module sends the wireless signal to the drone control system through an operating frequency of 2.4G.
  • the processor converts the angle change data into a PWM signal through a serial communication interface
  • the communication module converts the multi-channel PWM signal into a PPM signal, and then converts the PPM signal into a wireless signal and transmits the signal to the drone control system.
  • the communication module sends the wireless signal to the drone control system by means of broadcast transmission.
  • the smart display device further includes: a display module connected to the processor;
  • the communication module is further configured to receive an image captured by an imaging device mounted on the unmanned aerial platform;
  • the processor is further configured to convert the image and send the image to a display module
  • the display module is configured to display the image to a user.
  • the above-mentioned intelligent display device for controlling the rotation of the UAV pan/tilt, acquiring the posture information generated by the movement of the smart display device by the posture sensor, and transmitting the posture information to the processor; the processor acquiring the smart display according to the posture information
  • the angle change data of the device converts the angle change data into a wireless signal; the communication module sends the wireless signal to the drone control system to control the rotation angle of the drone head.
  • the intelligent display device for controlling the rotation of the unmanned aerial platform of the present invention is By controlling the rotation angle of the UAV pan/tilt head, the camera mounted on the UAV pan/tilt can capture a full range of aerial images, avoiding the situation that the existing camera device control method is prone to camera occlusion; Easy to use.
  • an unmanned aerial platform pan-tilt rotation control system includes: an intelligent display device for controlling the rotation of an unmanned pan/tilt head; and a pan-tilt control system disposed on the drone;
  • the smart display device includes an attitude sensor, a processor, and a communication module
  • the attitude sensor is connected to the processor, the processor is connected to the communication module, and the communication module communicates with the drone control system in a wireless manner;
  • the attitude sensor acquires the posture information generated by the movement of the smart display device, and sends the posture information to the processor;
  • the processor acquires the angle change data of the smart display device according to the posture information, and Converting the angle change data into a wireless signal;
  • the communication module sends the wireless signal to the PTZ control system
  • the pan/tilt control system receives the wireless signal and controls a rotation angle of the drone head.
  • the pan/tilt control system is configured to:
  • the pan/tilt control system is further configured to:
  • the processor is specifically configured to:
  • the UAV pan/tilt rotation control system acquires posture information generated by the movement of the smart display device by using an attitude sensor built in the smart display device; and acquiring the smart display device according to the posture information Preparing angle change data; converting the angle change data into a wireless signal, and transmitting the wireless signal to a pan/tilt control system; the pan/tilt control system receiving the wireless signal to control rotation of the drone head angle.
  • the UAV pan/tilt rotation control system of the present invention realizes that the camera mounted on the UAV pan/tilt can capture an all-round aerial image by controlling the rotation angle of the UAV pan/tilt, thereby avoiding
  • the existing camera device control method is prone to a situation in which the camera is blocked; moreover, it is convenient to use.
  • FIG. 1 is a schematic structural view of an intelligent display device for controlling rotation of a drone head according to an embodiment of the present invention
  • FIG. 2 is a schematic structural view of an intelligent display device for controlling rotation of a drone head according to another embodiment of the present invention
  • FIG. 3 is a schematic structural diagram of a UAV pan/tilt rotation control system according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a drone pan tilt control system according to another embodiment of the present invention.
  • FIG. 1 is an intelligent display device for controlling rotation of a drone head according to an embodiment of the present invention.
  • a schematic structural diagram of 100 comprising: an attitude sensor 101, a processor 102, and a communication module 103;
  • the attitude sensor 101 is connected to the processor 102, and the processor 102 is connected to the communication module 103.
  • the communication module 103 communicates with the drone control system 200 in a wireless manner
  • the attitude sensor 101 acquires gesture information generated by the smart display device movement and sends it to the processor 102;
  • the processor 102 acquires angle change data of the smart display device according to the posture information, and converts the angle change data into a wireless signal;
  • the communication module 103 transmits the wireless signal to the drone control system 200 to control the rotation of the drone head.
  • the smart display device 100 for controlling the rotation of the UAV pan/tilt acquires the posture information generated by the movement of the smart display device 100 by the posture sensor 101, and sends the posture information to the processor 102; the processor 102 according to the posture information Obtaining angle change data of the smart display device 100, and converting the angle change data into a wireless signal; the communication module 103 sends the wireless signal to the drone control system 200 to control the drone's pan/tilt Turn.
  • the intelligent display device for controlling the rotation of the UAV pan/tilt of the present invention realizes that the camera mounted on the UAV pan/tilt can capture an all-round aerial image by controlling the rotation of the UAV pan/tilt. It avoids the situation that the camera of the traditional control method is blocked, so that the camera can capture a full range of aerial images; Moreover, the device is simple and convenient to use.
  • the smart display device of the present invention can be configured as glasses, that is, smart glasses, so that the user can directly wear the smart glasses at the eye position by rotating the user's head.
  • the camera mounted on the UAV pan/tilt can capture a full range of aerial images.
  • the attitude sensor described in this embodiment may include a gravity accelerometer, a motion sensor such as a gyroscope and the like, and may select a three-axis accelerometer or a three-axis gyroscope to obtain no Attitude information such as three-dimensional posture data and orientation data of the human machine.
  • the intelligent display device embodying the present invention is used to control the rotation of the unmanned aerial platform
  • three rotating shafts can be set on the unmanned aerial platform to control the pitch angle and the yaw angle of the drone.
  • the change of the roll angle the rotation of the motor through the gimbal to drive the three shafts to rotate.
  • the wireless signal is sent to the drone flight control system, and the flight control system is used to control the motor rotation, thereby driving the cloud.
  • the rotation of the table rotates to control the change of the rotation angle of the drone, thereby adjusting the angle of the camera device fixed on the rotating shaft to take a landscape image of different angles.
  • the intelligent display device for controlling the rotation of the drone of the present invention can also be used to:
  • the angle change data described in this embodiment may include, but is not limited to, pitch angle change data, yaw angle change data, and roll angle change data, etc., for the subsequent steps of providing the rotational orientation of the UAV pan/tilt head. in accordance with.
  • the intelligent display device of the present invention controls the rotation of the UAV pan/tilt, and the communication module 102 transmits the wireless signal to the UAV control system through an operating frequency of 2.4G.
  • the intelligent display device for controlling the rotation of the UAV pan/tilt of the present invention can communicate with the UAV control system by using Bluetooth or WIFI.
  • the intelligent display device can utilize the built-in Bluetooth module.
  • the device communicates with the drone control system using the built-in WIFI module. Thereafter, the low voltage linear regulator 104 supplies power to the WIFI module.
  • the WIFI module operates at a frequency of 2.4 GHz, radiates WIFI signals, implements WIFI to serial TTL, full-duplex, transparent transmission mode, and the drone control system uses a 2.4G receiving module to receive wireless transmissions from the intelligent display device. signal.
  • the intelligent display device of the present invention controls the rotation of the UAV pan/tilt, and the processor 102 converts the angle change data into a PWM signal through a serial communication interface;
  • the communication module 103 converts the multi-channel PWM signal into a PPM signal, and then converts the PPM signal into a wireless signal and transmits it to the drone control system 200.
  • the intelligent display device for controlling the rotation of the UAV pan/tilt of the present application after receiving the wireless signal, the UAV control system 200 controls the drone cloud by driving the pan/tilt motor rotation.
  • the rotation of the table therefore, after the UAV control system receives the wireless signal, the wireless signal needs to be processed first, because the wireless signal received by the UAV control system is the RC signal, ie, PPM (Pulse Position Modulation) , pulse position modulation) signal, and the PWM (Pulse Width Modulation) signal can be controlled by the PTZ motor. This requires converting the PPM signal into a PWM signal, and then using the PWM signal to drive the motor to rotate, and then control the The man-machine pan tilts.
  • PPM Pulse Position Modulation
  • PWM Pulse Width Modulation
  • the intelligent display device for controlling the rotation of the drone of the present invention transmits the wireless signal to the drone control system 200 by means of broadcast transmission.
  • FIG. 2 is a schematic structural diagram of an intelligent display device for controlling the rotation of a drone head according to another embodiment of the present invention, and may further include: a display module 104 connected to the processor 102. ;
  • the communication module 103 is further configured to receive an image captured by an imaging device mounted on the unmanned aerial platform; [0066] the processor 102 is further configured to convert the image and send the image to a display module;
  • the display module 104 is configured to display the image to a user.
  • the intelligent display device for controlling the rotation of the UAV pan/tilt of the present invention further includes a display module for displaying the aerial image captured by the camera device mounted on the UAV pan/tilt to the user. , giving users an immersive experience.
  • FIG. 3 is a schematic structural diagram of an unmanned aerial platform pan-tilt rotation control system according to an embodiment of the present invention, including an intelligent display device 100 for controlling the rotation of a drone head and a drone.
  • the smart display device 100 includes an attitude sensor 101, a processor 102, and a communication module 103;
  • the attitude sensor 101 is connected to the processor 102, and the processor 102 is connected to the communication module 103.
  • the communication module 103 communicates with the pan/tilt control system 300 in a wireless manner
  • the attitude sensor 101 acquires the posture information generated by the smart display device 100 and sends it to the processor 102;
  • the processor 102 acquires angle change data of the smart display device 100 according to the posture information, and converts the angle change data into a wireless signal;
  • the communication module 102 transmits the wireless signal to the PTZ control system 300;
  • the pan/tilt control system 300 receives the wireless signal and controls a rotation angle of the drone head.
  • the UAV pan/tilt rotation control system of the present invention the processor 10
  • the angle change data described in this embodiment may include, but is not limited to, pitch angle change data, yaw angle change data, and roll angle change data, etc., and is used for subsequent steps to provide a rotational orientation of the UAV pan/tilt head. in accordance with.
  • the UAV pan/tilt rotation control system acquires the posture information generated by the movement of the smart display device 100 by using the posture sensor 101 built in the smart display device 100; and acquires the wisdom according to the posture information.
  • the angle change data of the device 100 can be displayed; the angle change data is converted into a wireless signal, and the wireless signal is sent to the pan/tilt control system 300; the pan/tilt control system 300 receives the wireless signal, and controls the unmanned The angle of rotation of the machine head.
  • the UAV pan/tilt rotation control system of the invention adjusts the camera shooting picture by controlling the rotation angle of the gimbal, thereby avoiding the situation that the camera of the traditional control method is blocked, so that the camera can capture the whole
  • the aerial image of the orientation optimizes the control method of the intelligent display device for the drone; Moreover, it is convenient to use.
  • FIG. 4 is a schematic structural diagram of a drone control system of a drone according to another embodiment of the present invention, which is used to display a display module 104 connected to the processor 102 in an intelligent display device.
  • An aerial image captured by an imaging device mounted on the UAV pan/tilt; wherein the image is a captured image transmitted by the UAV control system that the processor 102 receives wirelessly.
  • the user can display an aerial image captured by the image pickup apparatus mounted on the head of the drone by using the display module 104 of the smart display device 100 to give the user an immersive experience.
  • the intelligent display device-based UAV pan/tilt rotation azimuth control method of the present application after receiving the wireless signal, the UAV control system needs to control the drone cloud by driving the motor to rotate The rotation of the table, therefore, after the UAV control system receives the wireless signal, the wireless signal needs to be processed first, because the wireless signal received by the UAV control system is the RC signal, ie, P PM (Pulse Position Modulation) , pulse position modulation) signal, and the PWM (Pulse Width Modulation) signal can be controlled by the PTZ motor.
  • P PM Pulse Position Modulation
  • PWM Pulse Width Modulation
  • the man-machine pan/tilt rotates that is, the angle change data is converted into a wireless signal through a serial communication interface, and the wireless signal is sent to the drone control system to control the rotation of the drone head.
  • the UAV pan/tilt rotation control system of the present invention is configured to:
  • the wireless signal received by the PTZ control system is a PPM signal
  • the angle change data obtained by the PTZ control system can be understood as a PWM signal
  • the PWM signal is used to drive the PTZ.
  • the motor rotates to control the rotation of the drone.
  • the UAV pan/tilt rotation control system of the present invention, the PTZ control system 200 is further configured to:
  • Demodulating the PWM signal results in angle change data of the smart display device.
  • the PPM signal is converted into a PWM signal for driving the motor rotation
  • the wireless signal transmitted by the smart display device is received at the unmanned aerial platform
  • the obtained wireless signal needs to be parsed through the above steps to obtain angle change data of the intelligent display device, and the drone control system adjusts the rotational orientation of the unmanned aerial platform according to the obtained angle change data, so as to control the unmanned position.
  • the camera device on the pan/tilt camera captures an aerial image that meets the requirements; moreover, the camera device also avoids shooting the drone stand when shooting.
  • the above-mentioned intelligent display device for controlling the rotation of the UAV pan/tilt head and the UAV pan/tilt rotation control system acquire the posture information generated by the movement of the smart display device by using the posture sensor built in the smart display device; Obtaining angle change data of the smart display device; converting the angle change data into a wireless signal, and transmitting the wireless signal to a pan/tilt control system; the pan/tilt control system receiving the wireless signal, and controlling the unmanned The rotation of the machine head.
  • the UAV pan/tilt rotation control system of the invention realizes that the camera mounted on the UAV pan/tilt can capture an all-round aerial image by controlling the rotation of the UAV pan/tilt, thereby avoiding the present Some camera device control methods
  • the situation that the camera is occluded is easy to occur;
  • the smart display device of the present invention has a simple structure and is convenient to use, and is relatively easy to control to meet the needs of users. Therefore, it has industrial applicability.

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Abstract

La présente invention concerne un dispositif d'affichage intelligent pour commander la rotation d'une tête de trépied d'un véhicule aérien sans équipage, et un système de commande pour celui-ci, le dispositif d'affichage intelligent de commande de la rotation d'une tête de trépied d'un véhicule aérien sans équipage comportant: un capteur d'attitude, un processeur, et un module de communication; le capteur d'attitude étant relié au processeur, le processeur étant relié au module de communication, et le module de communication communique sans fil avec le système de commande du véhicule aérien sans équipage; le capteur d'attitude acquiert des informations d'attitude produites par l'écran d'affichage intelligent en cours de déplacement, et les envoie au processeur; le processeur, d'après les informations d'attitude, acquiert des données de variation d'angle du dispositif d'affichage intelligent et convertit les données de variation d'angle en un signal sans fil; le module de communication envoie le signal sans fil au système de commande du véhicule aérien sans équipage, afin de commander la rotation de la tête de trépied du véhicule aérien sans équipage. La présente solution technique permet à une caméra montée sur la tête de trépied du véhicule aérien sans équipage de photographier des images aériennes omnidirectionnelles; l'utilisation est commode.
PCT/CN2017/082972 2016-07-13 2017-05-04 Dispositif d'affichage intelligent pour commander la rotation d'une tête de trépied d'un véhicule aérien sans équipage, et système de commande pour celui-ci Ceased WO2018010472A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN201610562047.6A CN106791354A (zh) 2015-11-20 2016-07-13 控制无人机云台转动的智能显示设备及其控制系统
CN201610562047.6 2016-07-13

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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108908349A (zh) * 2018-10-05 2018-11-30 西北农林科技大学 一种采摘机器人底盘控制系统
CN109151392A (zh) * 2018-09-29 2019-01-04 桂林智神信息技术有限公司 拍摄监控设备以及包括其的云台系统
CN116309843A (zh) * 2023-03-27 2023-06-23 中国矿业大学(北京) 基于深度学习的摄像机姿态感知系统

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WO2007033033A2 (fr) * 2005-09-12 2007-03-22 Honeywell International Inc. Appareil et procede octroyant des capacites de pointage a une camera fixe
CN103426282A (zh) * 2013-07-31 2013-12-04 深圳市大疆创新科技有限公司 遥控方法及终端
CN204406748U (zh) * 2014-12-24 2015-06-17 何军 一种用于无人机器操控的虚拟驾驶系统
CN104811615A (zh) * 2015-04-17 2015-07-29 刘耀 一种体感控制摄像系统及方法

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Publication number Priority date Publication date Assignee Title
WO2007033033A2 (fr) * 2005-09-12 2007-03-22 Honeywell International Inc. Appareil et procede octroyant des capacites de pointage a une camera fixe
CN103426282A (zh) * 2013-07-31 2013-12-04 深圳市大疆创新科技有限公司 遥控方法及终端
CN204406748U (zh) * 2014-12-24 2015-06-17 何军 一种用于无人机器操控的虚拟驾驶系统
CN104811615A (zh) * 2015-04-17 2015-07-29 刘耀 一种体感控制摄像系统及方法

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109151392A (zh) * 2018-09-29 2019-01-04 桂林智神信息技术有限公司 拍摄监控设备以及包括其的云台系统
CN109151392B (zh) * 2018-09-29 2023-11-03 桂林智神信息技术股份有限公司 拍摄监控设备以及包括其的云台系统
CN108908349A (zh) * 2018-10-05 2018-11-30 西北农林科技大学 一种采摘机器人底盘控制系统
CN116309843A (zh) * 2023-03-27 2023-06-23 中国矿业大学(北京) 基于深度学习的摄像机姿态感知系统

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