WO2018010472A1 - Smart display device for controlling rotation of tripod head of unmanned aerial vehicle, and control system thereof - Google Patents

Abstract

A smart display device for controlling the rotation of a tripod head of an unmanned aerial vehicle, and a control system thereof, the smart display device for controlling the rotation of a tripod head of an unmanned aerial vehicle comprising: a posture sensor, a processor, and a communication module; the posture sensor is connected to the processor, the processor is connected to the communication module, and the communication module communicates wirelessly with the unmanned aerial vehicle control system; the posture sensor acquires posture information produced by the smart display screen when moving, and sends same to the processor; the processor, on the basis of the posture information, acquires angle variation data of the smart display device, and converts the angle variation data into a wireless signal; the communication module sends the wireless signal to the unmanned aerial vehicle control system, in order to control the rotation of the tripod head of the unmanned aerial vehicle. The present technical solution enables a camera mounted on the tripod head of the unmanned aerial vehicle to photograph omnidirectional aerial images; use is convenient.

Description

 Title: Inventive name: Intelligent display device for controlling the rotation of a drone head and its control system

 [0001] 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.

 Background technique

 [0002] 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.

 [0003] With the increasing maturity of drone technology and the civilianization of prices, more and more people are combining intelligent display devices and drones for aerial photography, for example, by using a gimbal to mount cameras on drones. The images captured by the camera can also be transmitted to the intelligent display device through the wireless transmission module, and the user can intuitively see the aerial image captured by the camera through the intelligent display device to achieve an immersive user experience.

 [0004] Generally, 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.

[0005] However, 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.

 technical problem

 Based on this, it is necessary to provide an intelligent display device for controlling the rotation of the unmanned aerial platform and a control system thereof for the technical problem that the existing intelligent display device is inconvenient to operate.

 Problem solution

 Technical solution

According to an aspect of the present invention, an intelligent display device for controlling rotation of a drone head includes: : attitude sensor, processor and communication module;

 [0008] 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;

[0009] the attitude sensor acquires the posture information generated by the movement of the smart display device, and sends the posture information to the processor; [0010] 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;

[0011] The communication module sends the wireless signal to the drone control system to control the rotation angle of the UAV pan/tilt.

 [0012] Preferably, the processor is specifically configured to:

 [0013] calculating an angle of the smart display device in the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information, to obtain angle change data.

[0014] Preferably, the communication module sends the wireless signal to the drone control system through an operating frequency of 2.4G.

 [0015] Preferably, the processor converts the angle change data into a PWM signal through a serial communication interface

[0016] 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.

[0017] Preferably, the communication module sends the wireless signal to the drone control system by means of broadcast transmission.

 [0018] Preferably, the smart display device further includes: a display module connected to the processor;

[0019] the communication module is further configured to receive an image captured by an imaging device mounted on the unmanned aerial platform;

[0020] the processor is further configured to convert the image and send the image to a display module;

[0021] The display module is configured to display the image to a user.

[0022] 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. According to the above technical solution, 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.

 [0023] According to another aspect of the present invention, 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;

[0024] the smart display device includes an attitude sensor, a processor, and a communication module;

 [0025] 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;

[0026] the attitude sensor acquires the posture information generated by the movement of the smart display device, and sends the posture information to the processor; [0027] 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;

[0028] the communication module sends the wireless signal to the PTZ control system;

[0029] The pan/tilt control system receives the wireless signal and controls a rotation angle of the drone head.

[0030] Preferably, the pan/tilt control system is configured to:

 [0031] parsing the wireless signal to obtain angle change data corresponding to the wireless signal;

[0032] driving the rotation of the motor according to the angle change data to control the rotation angle of the UAV pan/tilt.

[0033] Preferably, the pan/tilt control system is further configured to:

 [0034] converting the wireless signal into a PPM signal; wherein the wireless signal comprises a PPM signal converted by the multiple PWM signals;

[0035] splitting the PPM signal into multiple PWM signals;

[0036] Demodulating the PWM signal results in angle change data of the smart display device.

[0037] Preferably, the processor is specifically configured to:

 [0038] calculating an angle of the smart display device in the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information, and obtaining angle change data.

 Advantageous effects of the invention

 Beneficial effect

[0039] 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. According to the above technical solution, 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.

 Brief description of the drawing

 DRAWINGS

 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;

 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;

 3 is a schematic structural diagram of a UAV pan/tilt rotation control system according to an embodiment of the present invention.

4 is a schematic structural diagram of a drone pan tilt control system according to another embodiment of the present invention.

Embodiments of the invention

 The technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings and preferred embodiments.

[0045] As shown in FIG. 1, 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;

[0046] 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;

[0047] The attitude sensor 101 acquires gesture information generated by the smart display device movement and sends it to the processor 102;

 [0048] 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;

[0049] The communication module 103 transmits the wireless signal to the drone control system 200 to control the rotation of the drone head. [0050] 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. According to the above technical solution, 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.

[0051] In practical applications, 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. To control the rotation of the UAV pan/tilt, the camera mounted on the UAV pan/tilt can capture a full range of aerial images.

 [0052] In practical applications, 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.

 [0053] After 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. And the change of the roll angle, the rotation of the motor through the gimbal to drive the three shafts to rotate. In practical applications, 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.

 [0054] In practical applications, since the camera is mounted on the unmanned aerial platform, if the camera's shooting direction is simply adjusted, it is easy for the camera to capture the tripod of the drone, that is, appear in the captured image. Miscellaneous, this is not conducive to the customer to take a satisfactory image.

 [0055] In one embodiment, the intelligent display device for controlling the rotation of the drone of the present invention, the processor 102 can also be used to:

[0056] calculating, according to the posture information, the X direction, the Y direction, and the Z side of the smart display device 100 in the three-dimensional coordinate system The angle of the upward direction gives the angle change data.

 [0057] 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.

 [0058] In one embodiment, 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.

 [0059] In an actual application, 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. Specifically, the intelligent display device can utilize the built-in Bluetooth module. Adopt 2.4G Bluetooth antenna, transmit Bluetooth signal, realize Bluetooth to serial port TTL, adopt full-duplex, transparent transmission working mode, UAV control system uses 2.4G receiving module to receive wireless signal sent by intelligent display device; or intelligent display 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. Optionally, 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.

 [0060] In one embodiment, 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;

 [0061] 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.

 [0062] In an actual application, 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.

[0063] In one embodiment, the intelligent display device for controlling the rotation of the drone of the present invention, the communication module 103 transmits the wireless signal to the drone control system 200 by means of broadcast transmission. As shown in FIG. 2, 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. ;

[0065] 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;

[0067] The display module 104 is configured to display the image to a user.

 [0068] In the above embodiment, 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.

 As shown in FIG. 3, 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. PTZ control system 300;

 [0070] The smart display device 100 includes an attitude sensor 101, a processor 102, and a communication module 103;

 [0071] 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;

[0072] The attitude sensor 101 acquires the posture information generated by the smart display device 100 and sends it to the processor 102;

 [0073] 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;

[0074] The communication module 102 transmits the wireless signal to the PTZ control system 300;

[0075] The pan/tilt control system 300 receives the wireless signal and controls a rotation angle of the drone head.

[0076] In one embodiment, the UAV pan/tilt rotation control system of the present invention, the processor 10

3 Calculate an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information to obtain angle change data.

[0077] 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.

[0078] 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. Through the above technical solution, 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.

 As shown in FIG. 4, 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. In the above embodiment, 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.

 [0080] In practical applications, 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. 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/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.

 [0081] In one embodiment, the UAV pan/tilt rotation control system of the present invention, the PTZ control system 200 is configured to:

 [0082] parsing the wireless signal to obtain angle change data corresponding to the wireless signal;

[0083] driving the rotation of the motor according to the angle change data to control the rotation angle of the UAV pan/tilt.

[0084] In the above embodiment, the wireless signal received by the PTZ control system is a PPM signal, and the angle change data obtained by the PTZ control system can be understood as a PWM signal, and the PWM signal is used to drive the PTZ. The motor rotates to control the rotation of the drone. [0085] In one embodiment, the UAV pan/tilt rotation control system of the present invention, the PTZ control system 200 is further configured to:

 [0086] converting the wireless signal into a PPM signal; wherein the wireless signal comprises a PPM signal converted by the multiple PWM signals;

[0087] splitting the PPM signal into multiple PWM signals;

[0088] Demodulating the PWM signal results in angle change data of the smart display device.

 [0089] Since in the execution step of describing one end of the smart display device, the PPM signal is converted into a PWM signal for driving the motor rotation, and in the embodiment, the wireless signal transmitted by the smart display device is received at the unmanned aerial platform After that, 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.

 [0090] The technical features of the above-described embodiments may be combined in any combination. For the sake of brevity of description, all possible combinations of the technical features in the above embodiments are not described, however, as long as the combination of these technical features is not There are contradictions and should be considered as the scope of this manual.

 The above-mentioned embodiments are merely illustrative of several embodiments of the present invention, and the description thereof is more specific and detailed, but is not to be construed as limiting the scope of the invention. It should be noted that a number of variations and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention. Therefore, the scope of the invention should be determined by the appended claims.

 Industrial applicability

[0092] 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. Through the above technical solution, 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; Moreover, 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.

Claims

Claim  [Claim 1] An intelligent display device for controlling the rotation of a head of a drone, comprising: an attitude sensor, a processor, and a communication module;  The attitude sensor is coupled to the processor, the processor is coupled to the communication module, and the communication module communicates with the drone control system in a wireless manner;  The attitude sensor acquires posture information generated by the movement of the smart display device, and sends the posture information to the processor;  The processor acquires angle change data of the smart display device according to the posture information, and converts the angle change data into a wireless signal; wherein the angle change data includes pitch angle change data and yaw angle change data. And rolling angle change data; the communication module sends the wireless signal to the drone control system to control the rotation angle of the drone head.  [Claim 2] The intelligent display device for controlling the rotation of the head of the drone according to claim 1, wherein the processor is configured to:  Calculating an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information, and obtaining angle change data. [Claim 3] The intelligent display device for controlling the rotation of the head of the drone according to claim 1, wherein the communication module transmits the wireless signal to the drone control system through an operating frequency of 2.4G.  [Claim 4] The intelligent display device for controlling the rotation of the UAV pan/tilt head according to claim 1, wherein the processor converts the angle change data into a PWM signal through a serial port communication interface, and the communication module will have more The PWM signal is converted into a PPM signal, and the PPM signal is converted into a wireless signal and sent to the drone control system. [Claim 5] The intelligent display device for controlling the rotation of the head of the drone according to claim 1, wherein the communication module transmits the wireless signal to the drone control system by means of broadcast transmission. [Claim 6] The intelligent display device for controlling the rotation of the head of the drone according to claim 1, wherein 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: The image is converted and sent to a display module; the display module is for displaying the image to a user. An unmanned aerial platform pan-tilt rotation control system includes an intelligent display device for controlling the rotation of the unmanned aerial platform and a pan-tilt control system disposed on the unmanned aerial vehicle; The smart display device includes an attitude sensor, a processor, and a communication module; The attitude sensor is coupled to the processor, the processor is coupled to the communication module, and the communication module communicates with the drone control system in a wireless manner; The attitude sensor acquires posture information generated by the movement of the smart display device, and sends the posture information to the processor; Obtaining, according to the posture information, the angle change data of the smart display device And converting the angle change data into a wireless signal; The communication module transmits the wireless signal to a pan/tilt control system; The pan/tilt control system receives the wireless signal and controls a rotation angle of the drone head. The unmanned aerial platform pan/tilt rotation control system according to claim 7, wherein the pan/tilt control system is used to: Parsing the wireless signal to obtain angle change data corresponding to the wireless signal; driving the motor rotation according to the angle change data to control a rotation angle of the drone head. The unmanned aerial platform pan/tilt rotation control system according to claim 8, wherein the pan/tilt control system is further configured to: Converting the wireless signal into a PPM signal; wherein the wireless signal includes a PPM signal converted from multiple PWM signals; Splitting the PPM signal into multiple PWM signals; The PWM signal is demodulated to obtain angle change data of the intelligent display device. The UAV pan/tilt rotation control system according to claim 7, wherein the processor is configured to: Calculating an angle between the X direction, the Y direction, and the Z direction of the three-dimensional coordinate system according to the posture information, and obtaining angle change data.