CN108700887A - Data processing method and equipment - Google Patents
Data processing method and equipment Download PDFInfo
- Publication number
- CN108700887A CN108700887A CN201780013416.9A CN201780013416A CN108700887A CN 108700887 A CN108700887 A CN 108700887A CN 201780013416 A CN201780013416 A CN 201780013416A CN 108700887 A CN108700887 A CN 108700887A
- Authority
- CN
- China
- Prior art keywords
- attitude data
- moment
- data
- unmanned plane
- holder
- 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.)
- Pending
Links
- 238000003672 processing method Methods 0.000 title claims abstract description 11
- 238000012545 processing Methods 0.000 claims description 30
- 238000009499 grossing Methods 0.000 claims description 25
- 238000000034 method Methods 0.000 claims description 19
- 230000005540 biological transmission Effects 0.000 claims description 12
- 239000011521 glass Substances 0.000 claims description 12
- 238000004590 computer program Methods 0.000 claims description 8
- 238000005259 measurement Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 7
- 238000013459 approach Methods 0.000 claims description 4
- 230000003111 delayed effect Effects 0.000 claims 2
- 230000036544 posture Effects 0.000 description 29
- 241001269238 Data Species 0.000 description 14
- 238000010586 diagram Methods 0.000 description 12
- 230000000694 effects Effects 0.000 description 9
- 238000005516 engineering process Methods 0.000 description 9
- 230000001276 controlling effect Effects 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 230000003993 interaction Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 239000004065 semiconductor Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000004886 head movement Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 230000003238 somatosensory effect Effects 0.000 description 1
- 230000001960 triggered effect Effects 0.000 description 1
- 239000011800 void material Substances 0.000 description 1
Classifications
-
- 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
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
- F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- User Interface Of Digital Computer (AREA)
Abstract
A kind of data processing method is provided, the holder for controlling unmanned plane.The data processing method includes obtaining the first moment attitude data of targeted attitude data and holder.First moment attitude data is the current pose data of holder.The data processing method further includes the variation calculated between targeted attitude data and the first moment attitude data.If the variation is more than specific threshold, targeted attitude data are smoothed, to calculate the second moment attitude data.Unmanned plane is infinitely variable the posture of holder according to the second moment attitude data.Additionally provide a kind of control device, a kind of unmanned plane and a kind of computer readable storage medium.
Description
Technical field
This disclosure relates to data communication technology field, more specifically, this disclosure relates to a kind of data processing method and equipment.
Background technology
Currently, it is widely used using the technology that holder is shot.For example, taking photo by plane by unmanned plane
When, it can be by the attitudes vibration of control device (such as mobile terminal) come the holder of carrying camera in remote control unmanned plane
Attitudes vibration shoots desired scene to control camera.
Fig. 1 shows that user wears the schematic diagram of control device, which is virtual reality glasses.In general, in order to
The attitudes vibration of the control device is obtained to control the attitudes vibration of holder, Inertial Measurement Unit is housed on the control device, and
The attitude data of Inertial Measurement Unit is obtained with certain frequency (such as 50HZ), reconvert is at the posture of itself.It is usually used
Pitch angle, yaw angle and roll angle indicate posture, they correspond respectively to the x, y, z axis rotation in three-dimensional system of coordinate
Angle, range are usually -180~180 degree, as shown in fig. 1.
It, can be by the IMU's of the posture of holder and control device when control device begins through IMU remote control holders
Posture is denoted as respective initial attitude respectively.Later, control device periodically obtains the IMU postures relative to initial attitude of itself
(including pitch angle, yaw angle and roll angle), and these three relative angles are transferred to holder end.It is opposite that holder end receives these
After angle, corresponding pitch angle, yaw angle and the roll angle relative to itself initial attitude are moved to, to reach the phase of holder
The effect consistent with relative attitude (i.e. the posture of control device changes) of control device to posture (i.e. the posture of holder changes).
During control device controls holder, it can be recorded a video simultaneously using the camera on holder.If control
The IMU movements uneven (either the variation in amplitude quickly) of equipment or the IMU states of control device wirelessly pass
It is defeated to have delay to holder end, it will cause the movement of holder is unsmooth, to which to will appear apparent interim card (uneven for the video of shooting
It is sliding).
Invention content
At least part in order to solve problem above, the disclosure propose the relative attitude to the IMU for being sent to holder
The technical solution that data are smoothed.By the technical solution, the IMU control commands that can ensure to issue holder are smooth
, to enable holder smoothly to move, the final effect for improving video capture.
According to one aspect of the disclosure, a kind of data processing method is provided, the holder for controlling unmanned plane.The number
Include obtaining the first moment attitude data of targeted attitude data and holder according to processing method, the first moment attitude data is holder
Current pose data.The data processing method further includes the change calculated between targeted attitude data and the first moment attitude data
Change.If the variation is more than specific threshold, targeted attitude data are smoothed, to calculate the second moment posture number
According to.Unmanned plane executes corresponding operation according to the second moment attitude data.For example, unmanned plane can be according to the second moment posture number
According to the posture of the holder to adjust unmanned plane.
A kind of control device of unmanned plane another aspect of the present disclosure provides.The control device includes posture
Acquiring unit is configured as obtaining targeted attitude data.The control device further includes processor, is configured as obtaining for the first moment
Attitude data, and the variation between targeted attitude data and the first moment attitude data is calculated, the first moment attitude data is cloud
The current pose data of platform, and if the variation is more than specific threshold, smoothing processing is executed in terms of to targeted attitude data
Calculate the second moment attitude data.Unmanned plane can execute corresponding operation according to the second moment attitude data, such as adjust nobody
The posture of the holder of machine.
A kind of unmanned plane another aspect of the present disclosure provides, including holder, communication unit, attitude transducer
And processor.Communication unit is configured as obtaining targeted attitude data.Attitude transducer is configured as obtaining the first moment of holder
Attitude data, the first moment attitude data are the current pose data of holder.Processor is configured as calculating targeted attitude data
With the variation between the first moment attitude data, and if the variation be more than specific threshold, to targeted attitude data execute
Smoothing processing is to calculate the second moment attitude data.The processor is additionally configured to adjust cloud according to the second moment attitude data
The posture of platform.
A kind of control system of unmanned plane another aspect of the present disclosure provides, including control described above
Equipment and unmanned plane including holder.The unmanned plane is configured as adjusting the posture of holder under the control of the control device.
A kind of control system of unmanned plane another aspect of the present disclosure provides, including described above nobody
Machine and control device.The control device is configured as controlling unmanned plane.
A kind of computer readable storage medium another aspect of the present disclosure provides, is stored with computer program.
When computer program is run by least one processor, at least one processor is made to execute following operation:Obtain targeted attitude
Data and the first moment attitude data, the first moment attitude data are the current pose data of holder;Calculate targeted attitude data
With the variation between the first moment attitude data;If the variation is more than specific threshold, targeted attitude data are carried out smooth
Processing, to calculate the second moment attitude data.
Using the technical solution of the disclosure, the attitude data of the Inertial Measurement Unit in control device can be made equably to arrive
Up to holder, and variation of the attitude data in amplitude is relatively gentle.To realize the smooth movement of holder, ensure that
The effect of video capture.
Description of the drawings
By the detailed description below in conjunction with attached drawing, above and other feature of the disclosure will become more apparent,
In:
Fig. 1 shows that user wears the schematic diagram of control device.
Fig. 2 is the flow chart for showing the method according to an embodiment of the present disclosure.
Fig. 3 is the block diagram for showing the control device according to an embodiment of the present disclosure.
Fig. 4 is the block diagram for showing the unmanned plane according to an embodiment of the present disclosure.
Fig. 5 is the schematic diagram for showing control device and unmanned plane according to an embodiment of the present disclosure.
Fig. 6 is the interaction schematic diagram for showing control device and holder end according to an embodiment of the present disclosure.
Fig. 7 is the block diagram for showing the computer readable storage medium according to an embodiment of the present disclosure.
It should be noted that the drawings are not necessarily drawn to scale, it is preferred that emphasis is show the principle of presently disclosed technology.Separately
Outside, for the sake of clarity, the similar reference numeral run through in attached drawing refers to similar element.
Specific implementation mode
The disclosure is described in detail with reference to the accompanying drawings and detailed description.It should be noted that the disclosure does not answer office
It is limited to specific implementation mode described below.In addition, for simplicity pair public affairs not being directly linked with the disclosure are omitted
The detailed description for knowing technology, to prevent understanding of this disclosure from causing to obscure.
Fig. 2 is the flow chart for showing the method according to an embodiment of the present disclosure.This method can by control device Lai
It executes with remote control unmanned plane.Alternatively, this method can also be executed by unmanned plane itself.For example, can be by unmanned plane
In cradle head controllor execute, or can be executed by the independent control unit of other in unmanned plane.It is described herein
Unmanned plane may include unmanned vehicle, unmanned vehicle, unmanned boat etc..
As shown in Fig. 2, in step S210, the first moment attitude data of targeted attitude data and holder is obtained.Here,
" targeted attitude data " refer to the current pose data of the Inertial Measurement Unit (IMU) of control device, such as can pass through three
One group of pitch angle, yaw angle and roll angle in dimension coordinate system indicate." the first moment attitude data " refers in unmanned plane
The current pose data of holder can pass through another group of pitch angle, yaw angle and the roll angle in the same three-dimensional system of coordinate
To indicate.The holder of unmanned plane in a certain time interval will be from the first moment pose adjustment to targeted attitude.
In step S220, the variation between targeted attitude data and the first moment attitude data is calculated.For example, if target
Attitude data and the first moment attitude data are all indicated by pitch angle, yaw angle and the roll angle in three-dimensional system of coordinate, then may be used
To calculate the difference between this two groups of angles, as the variation between targeted attitude data and the first moment attitude data.
In step S230, if the variation being calculated at step S220 is more than specific threshold, to targeted attitude number
According to being smoothed, to calculate the second moment attitude data, make the holder of unmanned plane in a certain time interval smoothly from
First moment pose adjustment is to targeted attitude.Here, " the second moment attitude data " describes holder after the first moment
Next moment attitude data.Unmanned plane can execute corresponding operation according to the second moment attitude data.
Why to be smoothed, the movement for being mainly in view of control device is not usually uniform.For example, with void
For quasi- Reality glasses are as control device.When virtual reality glasses are worn on a user's head and as the head of user one is started shipment
When dynamic, due to user it is difficult to which smoothly mobile virtual Reality glasses, are transmitted directly to the IMU postures of the virtual reality glasses of holder
Data will present non-uniform bounce.When the head movement of user is more violent, this bounce becomes apparent, to the fortune of holder
It is dynamic can also beat it is larger.Thus, the camera carried on holder takes the video come since holder bounce is larger and effect is bad.
For this purpose, the disclosure proposes, after collecting IMU attitude datas on the control device, current IMU attitude datas are not immediately sent to
Holder end, but can according to before holder posture and current IMU attitude datas calculate the intermediate value approached, and this is forced
Close attitude data is sent to holder end.
In the following, describing the variation of the attitude data of IMU by taking the y-axis (yaw angle) in three-dimensional system of coordinate as an example.This field
Technical staff is appreciated that principles described herein may be equally applicable for the calculating of the attitude data in other directions, such as x-axis
The calculating of (pitch angle) and the attitude data of z-axis (roll angle).
Assuming that the last yaw angle of the IMU of control device is Y1, the yaw angle that the last time is sent to holder be S1 (
It is referred to as the first moment attitude data), and the current yaw angle of the IMU of control device is Y2 (also referred to as targeted attitude numbers
According to).Determine whether (Y2-S1) is more than a specific threshold first.If (Y2-S1) (illustrates the mesh of holder more than specific threshold
It is more violent to mark attitudes vibration), then it calculates:
S2=S1+ (Y2-S1) * factor (formula 1)
Wherein, S2 indicates the yaw angle (also referred to as the second moment attitude data) that be currently sent to holder end, and
Factor be one can adjust approach factor constant, 0 <=1 < factor.When factor closer to 1 when, velocity of approch
Faster, corresponding shake can be larger, but postpones smaller.When factor closer to 0 when, velocity of approch is slower, corresponding to shake
Can be smaller, but postpone larger.The value of factor can be adjusted as required by.For example, can be in the menu of control device
Increase a regulating switch, the size for adjusting factor in option.
Preferably, can it is one or many execute above-mentioned formulas calculating (i.e. smoothing processing), so that S2 is preferably approached Y2.
If (Y2-S1) is less than specific threshold (illustrating that the attitudes vibration of IMU is more gentle), following to calculate S2:
S2=S1 (formula 2)
Wherein, same as above, S2 indicates the yaw angle that be currently sent to holder end.
Herein, " specific threshold " can be set according to desired smoothness.For example, if it is desired to shake few
(can be more smooth to the shooting of holder), the threshold value can be arranged larger;On the contrary, if it is desired to more quickly in holder
The current pose of control device is embodied at end, the threshold value can be arranged smaller.
Alternatively, if (Y2-S1) is less than specific threshold, S2 can also be calculated as follows:
S2=Y2 (formula 3)
Above formula is meant that:It, can be straight by the current pose data of IMU since the target carriage change of holder is more gentle
Holder end is given in sending and receiving, without causing the picture that the camera on holder is shot apparent shake occur.
Preferably, when the target carriage change of holder is more violent, smoothing processing is performed a plurality of times and (such as executes above
The processing of formula 1), so that S2 is constantly approached Y2, until Y2-S1 is less than specific threshold.
According to the disclosure, different algorithms may be used to execute smoothing processing, principle not send IMU immediately
Current pose data give holder end, but send it is smooth after IMU attitude datas.For example, it is also possible to using rank as described below
The smoothing processing of ladder type.
First, the absolute value of the difference of attitude data is divided into N grades.Assuming that i-th grade of the upper limit is D (i), lower limit is D (i-
1), (0)=0, i=1 D, 2,3 ... N.One unit displacement distance L (n) of every grade of correspondence.Still with the yaw angle in IMU attitude datas
For.Assuming that the yaw angle of last IMU attitude datas is Y1, the yaw angle that the last time is sent to holder is S1, and current
The yaw angle of the IMU attitude datas of control device is Y2.It will again be assumed that the yaw angle that be currently sent to the attitude data of holder is
S2, then:
As D (i-1) <=s |Y2-S1|When < D (i),
S2=S1+L (n);If >=0 Y2-S1
S2=S1-L (n);If Y2-S1 < 0 (formula 4)
That is, can be described as according to the Smooth scheme of the disclosure:
The absolute value of the difference (Y2-S1) of targeted attitude data Y2 and the first moment attitude data S1 is calculated,
If the absolute value is more than specific threshold, incremental data is determined according to the absolute value,
If (Y2-S1) is more than zero, when the first moment attitude data S1 is added with the incremental data to obtain second
Carve attitude data S2;, whereas if (Y2-S1) is less than zero, then by the first moment attitude data S1 and the incremental data subtract each other with
Obtain the second moment attitude data S2.
For example, " incremental data " herein may include scale factor factor in formula (1) and (Y2-S1) multiplies
Product, the scale factor factor can be preset according to threshold interval;Or may include in formula 3 with it is specific
The corresponding numerical value of threshold value (L (n)), the numerical value (L (n)) can be preset by user.
In addition, during control device transmits attitude data to holder end, due to wireless environment interference etc., cloud
The data that end receives may have delay.If holder end runs to the position required by attitude data after receiving data every time
It sets, is then likely to occur and neglects slow movement soon suddenly, to influence the shooting effect of the camera on holder.For this purpose, the disclosure proposes, it can
It is cached with the attitude data received to holder end, and sends the attitude data of caching to holder with fixed frequency, to
It is at the uniform velocity to make the attitudes vibration of holder.It preferably, can frequency identical with the acquisition frequency of attitude data of control device
It is also more smooth to the movement of holder to holder to send corresponding attitude data.
Specifically, such as an attitude data queue can be created at control device end to cache these attitude datas.Phase
Ying Di can create a timer at control device end and be sent to control, so that control device is to determine frequency collection posture
Data and transmission attitude data give holder end.It is receiving after the attitude data of smoothing processing every time, by the attitude data
It is stored in the tail portion of the queue.When being triggered every time for controlling the timer sent, one group of attitude data is obtained from queue heads,
It is sent to holder end, position corresponding with transmitted IMU attitude datas is moved to control holder.
Alternatively, attitude data queue can also be created at holder end to cache the attitude data of reception.For example, working as from control
Control equipment receives after the attitude data of smoothing processing, and just by this, treated that attitude data is sent to holder end and is stored in number
According to the tail portion of queue.Later, holder end can obtain the attitude data of caching successively from the head of data queue, and control holder
Run to the position required by the attitude data.
It is appreciated that the data in attitude data queue should not be excessive, it is otherwise likely to result in bigger delay.It is preferred that
Ground can abandon partial data (such as data of queue heads) when finding that the attitude data in queue is excessive.Alternatively, may be used
Data the frequency for being used to control the timer sent to be set higher than to control device end IMU acquire (acquisition) frequency.For example,
Can will be set as acquisition (acquisition) frequency of control device end IMU for controlling the frequency of the timer sent two times.In this way,
Whenever for controlling the timers trigger sent, just one group of data is obtained from queue heads and be sent to holder.Due to transmission frequency
It is obtain frequency twice, enabling quickly send the attitude data of caching, reduce the data in queue.
Using the technical solution of the disclosure, the attitudes vibration of control device can be made equably to reach holder, and the appearance
Variation of the state data in amplitude is relatively gentle.To realize the smooth movement of holder, ensure that the effect of video capture.
Fig. 3 is the block diagram for showing the control device according to an embodiment of the present disclosure.As shown in figure 3, control device 30
Including posture acquiring unit 310 and processor 320.As an example, control device 30 may include virtual reality glasses, number
May include the Inertial Measurement Unit IMU in virtual reality glasses according to acquiring unit 310, processor 320 may include virtual existing
Microprocessor in real glasses.However, it will be understood by those skilled in the art that control device 30 can also take other a variety of shapes
Formula, such as remote controler, somatosensory device etc., and it is not limited to above-mentioned example.
Posture acquiring unit 310 is configured as obtaining targeted attitude data.Processor 320 is configured as obtaining for the first moment
Attitude data, and calculate the variation between targeted attitude data and the first moment attitude data.If the variation is more than certain threshold
Value then executes smoothing processing, to calculate the second moment attitude data to targeted attitude data.
As described above, " targeted attitude data " refer to the current pose number of the Inertial Measurement Unit (IMU) of control device
According to " the first moment attitude data " refers to the current pose data of the holder in unmanned plane.For example, they can pass through three-dimensional
One group of pitch angle, yaw angle and roll angle in coordinate system indicate.Here, " the second moment attitude data " describes holder
The attitude data at next moment after the first moment, can also by one group of pitch angle in three-dimensional system of coordinate, partially
Boat angle and roll angle indicate.
For example, processor 320 can calculate the targeted attitude data Y2 and the first moment appearance of the acquisition of posture acquiring unit 310
The absolute value of the difference of state data S1.If the absolute value of the difference is more than specific threshold, incremental data is calculated according to the difference, and
The incremental data is added with the first moment attitude data to obtain the second moment attitude data.In one example, incremental number
According to the product that may include difference (Y2-S1) and scale factor factor in above-mentioned formula l, which is more than 0 and less
In 1.In another example, incremental data may include the numerical value L (n) corresponding with specific threshold in formula 4.
Alternatively, processor 320 can be additionally configured to make the second moment appearance by one or many execution smoothing processings
State data approximation targeted attitude data.Alternatively, processor 320 can be additionally configured to send the second moment appearance with fixed frequency
State data.
Alternatively, control device 30 can also include buffer (being not shown in Fig. 3).As described above, due to wireless ring
Reasons, the data that holder end receives such as border interference may have delay.If holder end runs to posture after receiving data every time
Position required by data is then likely to occur and neglects slow movement soon suddenly, to influence the shooting effect of the camera on holder.Herein
In the case of, processor 320 can be configured as:Before sending the second moment attitude data, when caching second in the buffer
Carve attitude data.In such manner, it is possible to send the attitude data of caching (for example, to be obtained with control device to holder with fixed frequency
The identical frequency of frequency of attitude data sends corresponding attitude data), to making the attitudes vibration of holder be at the uniform velocity.
Fig. 4 is the block diagram for showing the unmanned plane according to an embodiment of the present disclosure.As shown in figure 4, unmanned plane 40 includes
Holder 410, communication unit 420, attitude transducer 430 and processor 440.
Camera can be carried on holder 410, to shoot desired picture.
Communication unit 420 is configured as obtaining targeted attitude data.Attitude transducer 430 is configured as obtaining the of holder
One moment attitude data." targeted attitude data " and the meaning of " the first moment attitude data " are same as above, rise for simplicity
See and is not repeated.
Processor 440 is configured as calculating the variation between targeted attitude data and the first moment attitude data.If should
Variation is more than specific threshold, then executes smoothing processing to targeted attitude data to calculate the second moment attitude data.Then, it handles
Device 440 can adjust the posture of holder 410 according to the second moment attitude data being calculated so that the phase on holder 410
Machine being capable of more smoothly shooting picture.
For example, processor 440 can be configured as:Calculate the difference of targeted attitude data Y2 and the first moment attitude data S1
Absolute value.If the absolute value of the difference is more than specific threshold, incremental data is calculated according to the difference, and by the incremental data
It is added with the first moment attitude data to obtain the second moment attitude data.For example, incremental data may include in above-mentioned formula 1
Difference (Y2-S1) and scale factor factor product, which can correspond to specific threshold and be configured, and value is more than
0 and be not more than 1.Alternatively, incremental data may include the numerical value L (n) corresponding with specific threshold in formula 4.
Alternatively, processor 440 can be configured as through one or many execution smoothing processings so that the second moment appearance
State data approximation targeted attitude data.
Alternatively, processor 440 can be configured as sends the second moment attitude data with fixed frequency.
Alternatively, unmanned plane 40 can also include buffer (being not shown in Fig. 4).As described above, due to wireless environment
Reasons, the data that holder end receives such as interference may have delay.If holder end runs to posture number after receiving data every time
According to required position, then it is likely to occur and neglects slow movement soon suddenly, to influence the shooting effect of the camera on holder.In this feelings
Under condition, processor 440 can be configured as:Before sending the second moment attitude data, cached for the second moment in the buffer
Attitude data.In such manner, it is possible to send the attitude data of caching (for example, to obtain attitude data with control device with fixed frequency
The identical frequency of frequency send corresponding attitude data), to making the attitudes vibration of holder be at the uniform velocity.
Preferably, processor 440 can be additionally configured to:If the second moment attitude data cached in buffer reaches
Predetermined quantity then abandons the part in the second moment attitude data of caching.
Preferably, processor 440 can be additionally configured to:If the second moment attitude data cached in buffer reaches
Predetermined quantity then sends the second moment attitude data according to transmission frequency more higher than the acquisition frequency of targeted attitude data.
The transmission frequency can be obtain frequency N times, and wherein N is the integer more than or equal to 1.For example, transmission frequency can be set as
Obtain two times of frequency.Thereby, it is possible to quickly send the attitude data of caching, to reduce the data in queue.
It should be pointed out that processor 440 can be realized in many ways.For example, processor 440 may include separation
Computing unit and control unit.In this example, computing unit is configured as calculating targeted attitude data and the first moment appearance
Variation between state data, and smoothing processing is executed to calculate to targeted attitude data if the variation is more than specific threshold
Second moment attitude data.And control unit is configured as adjusting the posture of holder according to the second moment attitude data.
Alternatively, processor 440 may include memory and microprocessor.The memory is configured as store instruction, should
Instruction makes microprocessor execute following operation when being run by microprocessor:Calculate targeted attitude data and the first moment posture number
Variation between;And if the variation is more than specific threshold, smoothing processing is executed to calculate the to targeted attitude data
Two moment attitude datas;And the posture of holder is adjusted according to the second moment attitude data.
In the following, describing the control system of the unmanned plane according to the disclosure referring to figure 5 and figure 6.
Fig. 5 is the schematic diagram for showing control device and unmanned plane according to an embodiment of the present disclosure.The first half of Fig. 5
Divide a picture example for showing unmanned plane.As can be seen that the unmanned plane includes holder, and can be carried on holder one or
More cameras.The lower half portion of Fig. 5 shows a kind of control device with Inertial Measurement Unit IMU, i.e. virtual reality
Glasses.User can wear the virtual reality glasses, to control the flight of unmanned plane.In addition, in unmanned plane and virtual reality
Between glasses, control device indicated by a dotted line transmits control instruction and IMU attitude datas to unmanned plane.
Fig. 6 is the interaction schematic diagram for showing control device and holder end according to an embodiment of the present disclosure.It needs
Bright, the smoothing processing shown in Fig. 6 is realized in control device.However, according to described above, people in the art
Member according to the smoothing processing of the disclosure at holder end it is appreciated that can also realize, such as realized in cradle head controllor.
As shown in fig. 6, the control device with IMU is under the control of a timer, the attitude data of IMU is periodically obtained.So
Afterwards, above-described smoothing processing is executed to the attitude data of acquired IMU, the attitude data that obtains that treated.Control is set
It is standby that by treated, holder end is given in attitude data transmission (such as in a manner of wireless communication).Holder end is by the IMU postures of reception
Data are stored in IMU attitude data queues, and periodically obtain IMU attitude datas from the queue under the control of a timer.So
Afterwards, cradle head controllor can correspondingly control the posture of holder itself according to acquired IMU attitude datas.
Below by two tables come compare the technical solution of the disclosure compared with the prior art scheme the advantages of.Table 1
Show the command sequence that holder is sent to using existing technical solution:
| (hour time:Minute:Milliseconds of the second) | Yaw angle (the unit of transmission:Degree) |
| 12:30:17.348 | 12.3 |
| 12:30:17.368 | 12.8 |
| 12:30:17.426 | 12.9 |
| 12:30:17.432 | 12.9 |
| 12:30:17.438 | 13.2 |
| 12:30:17.448 | 13.6 |
| 12:30:17.488 | 13.8 |
| 12:30:17.490 | 14.2 |
Table 1
As can be seen that the time interval for being sent to the command sequence of holder shown in table 1 is uneven, and amplitude variation compared with
Greatly.
Table 2 shows the command sequence that holder is sent in the case where using the technical solution according to the disclosure:
| (hour time:Minute:Milliseconds of the second) | Yaw angle (the unit of transmission:Degree) |
| 13:13:22.012 | 15.6 |
| 13:13:22.032 | 15.8 |
| 13:13:22.052 | 16.1 |
| 13:13:22.072 | 16.3 |
| 13:13:22.092 | 16.6 |
| 13:13:22.112 | 16.8 |
| 13:13:22.132 | 17.1 |
| 13:13:22.152 | 17.4 |
Table 2
As can be seen that the time interval for being sent to the command sequence of holder shown in table 2 is uniform, and amplitude variation is compared
Gently.
Using the technical solution of the disclosure, the IMU attitude datas for being sent to holder end are more uniform from the time, from sky
Between in amplitude from the point of view of variation it is more smooth.In this way, the movement of holder is also more smooth so that captured by the camera carried on holder
Video it is also more smooth, reduce because IMU variations are too fast or variation it is uneven caused by video cardton phenomenon.
In addition, embodiment of the disclosure can be realized by means of computer program product.For example, the computer program produces
Product can be computer readable storage medium.Computer program is stored on computer readable storage medium, when in computing device
When upper execution computer program, relevant operation is able to carry out to realize the above-mentioned technical proposal of the disclosure.
For example, Fig. 7 is the block diagram for showing the computer readable storage medium 70 according to an embodiment of the present disclosure.Such as figure
Shown in 7, computer readable storage medium 70 includes program 710.The program 710 by least one processor when being run so that
At least one processor executes following operation:Obtain targeted attitude data and the first moment attitude data;Calculate targeted attitude number
According to the variation between the first moment attitude data;If the variation is more than specific threshold, targeted attitude data are put down
Sliding processing, to calculate the second moment attitude data, makes the holder of unmanned plane in a certain time interval smoothly from the first moment
Pose adjustment is to targeted attitude.Here, " the second moment attitude data " describes next moment after the first moment
Attitude data.
It will be understood by those skilled in the art that the example packet of the computer readable storage medium 70 in embodiment of the disclosure
It includes but is not limited to:Semiconductor storage medium, optical storage medium, magnetic-based storage media any other computer-readable are deposited
Storage media.
Preferred embodiment is had been combined above disclosed method and the equipment being related to is described.Art technology
Personnel are appreciated that method illustrated above is merely exemplary.Disclosed method is not limited to step illustrated above
And sequence.
It should be understood that above-described embodiment of the disclosure can pass through the combination of both software, hardware or software and hardware
To realize.This set of the disclosure be typically provided as be arranged or encode such as optical medium (such as CD-ROM), floppy disk or
Software, code and/or other data structures or such as one or more ROM on the computer-readable medium of hard disk etc. or
Other media or one or more mould Downloadable software image in the block of firmware or microcode on RAM or PROM chips,
Shared data bank etc..Software or firmware or this configuration can install on the computing device so that one in computing device or
Multiple processors execute technical solution described in the embodiment of the present disclosure.
In addition, each function module or each feature of equipment used in above-mentioned each embodiment can be by circuit realities
Existing or execution, the circuit are usually one or more integrated circuits.It is designed to carry out each described in this specification
The circuit of function may include general processor, digital signal processor (DSP), application-specific integrated circuit (ASIC) or general integrated
Circuit, field programmable gate array (FPGA) or other programmable logic device, discrete door or transistor logic or discrete
The arbitrary combination of hardware component or more device.General processor can be microprocessor or the processor can be existing
Some processors, controller, microcontroller or state machine.Above-mentioned general processor or each circuit can be matched by digital circuit
It sets, or can be by logic circuit configuration.In addition, when the progress due to semiconductor technology, occur that current collection can be substituted
At circuit advanced technology when, the disclosure can also use the integrated circuit that is obtained using the advanced technology.
The program operated in equipment according to the present invention can make calculating by controlling central processing unit (CPU)
Machine realizes the program of the embodiment of the present invention function.The program or the information handled by the program can be temporarily stored in volatibility
Memory (such as random access memory ram), hard disk drive (HDD), nonvolatile memory (such as flash memory) or its
In his storage system.It can be recorded in computer readable recording medium storing program for performing for realizing the program of various embodiments of the present invention function
On.It can be corresponding to realize by making computer system read the program that be recorded in the recording medium and executing these programs
Function.So-called " computer system " herein can be built-in the computer system in the equipment, may include operation system
System or hardware (such as peripheral equipment).
As above, the embodiment of the present invention is described in detail by reference to attached drawing.But specific structure not office
It is limited to above-described embodiment, the present invention also includes any design change without departing from present subject matter.Furthermore it is possible in claim
In the range of the present invention is variously changed, it is obtained by being appropriately combined technological means disclosed in different embodiments
Embodiment is also included in the technical scope of the present invention.In addition, the component with same effect described in above-described embodiment
It can be substituted for each other.
Claims (39)
1. a kind of data processing method, the holder for controlling unmanned plane, the data processing method include:
The first moment attitude data of targeted attitude data and holder is obtained, the first moment attitude data is the current of holder
Attitude data;
Calculate the variation between the targeted attitude data and the first moment attitude data;And
If the variation is more than specific threshold, the targeted attitude data are smoothed, to obtain for the second moment
Attitude data, the unmanned plane execute corresponding operation according to the second moment attitude data.
2. according to the method described in claim 1, wherein, by one or many execution smoothing processings, making second moment
Attitude data approaches the targeted attitude data.
3. according to the method described in claim 1, further including:The second moment attitude data is sent with fixed frequency.
4. according to the method described in claim 3, before sending the second moment attitude data, by the second moment posture
Data are cached.
5. according to the method described in claim 4, wherein, if the second moment attitude data of caching reaches predetermined quantity,
Abandon the part in the second moment attitude data of caching.
6. according to the method described in claim 4, wherein, if the second moment attitude data of caching reaches predetermined quantity,
The second moment attitude data is sent according to transmission frequency more higher than the acquisition frequency of targeted attitude data.
7. according to the method described in claim 6, wherein, the transmission frequency is obtain frequency N times, N for more than etc.
In 1 integer.
8. method according to claim 2, wherein the smoothing processing includes:
Calculate the absolute value of the difference of the targeted attitude data and the first moment attitude data;And
If the absolute value of the difference is more than specific threshold, incremental data is calculated according to the difference, and by the incremental number
According to being added with the first moment attitude data to obtain the second moment attitude data.
9. according to the method described in claim 8, wherein, the incremental data includes the product of the difference and scale factor, institute
Scale factor is stated more than 0 and is not more than 1.
10. according to the method described in claim 8, wherein, the incremental data includes number corresponding with the specific threshold
Value.
11. according to the method described in claim 1, wherein, the attitude data includes the rotation angle in three-dimensional system of coordinate.
12. according to the method described in claim 1, wherein, the unmanned plane adjusts described according to the second moment attitude data
The posture of the holder of unmanned plane.
13. a kind of control device of unmanned plane, including:
Posture acquiring unit is configured as obtaining targeted attitude data;And
Processor is configured as obtaining the first moment attitude data, and calculates the targeted attitude data and described first
Variation between moment attitude data, the first moment attitude data are the current pose data of holder;And it is if described
Variation is more than specific threshold, then smoothing processing is executed to the targeted attitude data, to calculate the second moment attitude data;It is described
Unmanned plane executes corresponding operation according to the second moment attitude data.
14. control device according to claim 13, wherein the processor is configured as:It is held by one or many
Row smoothing processing makes the second moment attitude data approach the targeted attitude data.
15. control device according to claim 13, wherein the processor is additionally configured to:It is sent with fixed frequency
The second moment attitude data.
16. control device according to claim 14 further includes buffer,
Wherein, the processor is configured as:Before sending the second moment attitude data, institute is cached in the buffer
State the second moment attitude data.
17. control device according to claim 14, wherein the processor is configured as:
Calculate the exhausted of targeted attitude data that the targeted attitude acquiring unit obtains and the difference of the first moment attitude data
To value;And
If the absolute value of the difference is more than specific threshold, incremental data is calculated according to the difference, and by the incremental number
According to being added with the first moment attitude data to obtain the second moment attitude data.
18. control device according to claim 17, wherein the incremental data includes that the difference multiplies with scale factor
Product, the scale factor are more than 0 and are not more than 1.
19. control device according to claim 17, wherein the incremental data includes corresponding with the specific threshold
Numerical value.
20. control device according to claim 13, wherein the attitude data includes the rotation angle in three-dimensional system of coordinate
Degree.
21. control device according to claim 13, wherein the posture acquiring unit includes Inertial Measurement Unit.
22. control device according to claim 13, wherein the control device includes virtual reality glasses or remote control
Device.
23. control device according to claim 13, wherein the unmanned plane is adjusted according to the second moment attitude data
The posture of the holder of the unmanned plane.
24. a kind of unmanned plane, including:
Holder;
Communication unit is configured as obtaining targeted attitude data;
Attitude transducer is configured as obtaining the first moment attitude data of the holder, and the first moment attitude data is
The current pose data of holder;
Processor is configured as calculating the variation between the targeted attitude data and the first moment attitude data;And
If the variation is more than specific threshold, smoothing processing is executed to calculate the second moment posture number to the targeted attitude data
According to;And the posture of the holder is adjusted according to the second moment attitude data.
25. unmanned plane according to claim 24, wherein the processor is configured as:Pass through one or many execution
Smoothing processing makes the second moment attitude data approach the targeted attitude data.
26. unmanned plane according to claim 24, wherein the processor is configured as:Described in being sent with fixed frequency
Second moment attitude data.
27. unmanned plane according to claim 26 further includes buffer, wherein the processor is configured as:It is sending
Before the second moment attitude data, the second moment attitude data is cached in the buffer.
28. unmanned plane according to claim 27, wherein the processor is configured as:If delayed in the buffer
The the second moment attitude data deposited reaches predetermined quantity, then abandons the part in the second moment attitude data of caching.
29. unmanned plane according to claim 27, wherein the processor is configured as:If delayed in the buffer
The the second moment attitude data deposited reaches predetermined quantity, then according to transmission frequency more higher than the acquisition frequency of targeted attitude data
To send the second moment attitude data.
30. unmanned plane according to claim 29, wherein the transmission frequency is obtain frequency N times, and N is big
In the integer equal to 1.
31. unmanned plane according to claim 25, wherein the processor is configured as:
Calculate the absolute value of the difference of the targeted attitude data and the first moment attitude data;And
If the absolute value of the difference is more than specific threshold, incremental data is calculated according to the difference, and by the incremental number
According to being added with the first moment attitude data to obtain the second moment attitude data.
32. unmanned plane according to claim 31, wherein the incremental data includes that the difference multiplies with scale factor
Product, the scale factor are more than 0 and are not more than 1.
33. unmanned plane according to claim 31, wherein the incremental data includes corresponding with the specific threshold
Numerical value.
34. unmanned plane according to claim 24, wherein the attitude data includes the rotation angle in three-dimensional system of coordinate
Degree.
35. unmanned plane according to claim 24, wherein the processor includes computing unit and control unit,
The computing unit is configured as:Calculate the change between the targeted attitude data and the first moment attitude data
Change;And if the variation is more than specific threshold, when executing smoothing processing to the targeted attitude data to calculate second
Carve attitude data;
Described control unit is configured as:The posture of the holder is adjusted according to the second moment attitude data.
36. unmanned plane according to claim 24, wherein the processor includes memory and microprocessor, described to deposit
Reservoir is configured as store instruction, and described instruction makes the microprocessor execute following behaviour when being run by the microprocessor
Make:
Calculate the variation between the targeted attitude data and the first moment attitude data;And if the variation is more than
Specific threshold then executes smoothing processing to calculate the second moment attitude data to the targeted attitude data;And according to described
The second moment attitude data adjusts the posture of the holder.
37. a kind of control system of unmanned plane, including:
According to the control device described in any one of claim 13-23;And
Unmanned plane including holder, the unmanned plane are configured as adjusting the appearance of the holder under the control of the control device
State.
38. a kind of UAV system, including:
According to the unmanned plane described in any one of claim 24-36;And
Control device is configured as controlling the unmanned plane.
39. a kind of computer readable storage medium, is stored with computer program, when the computer program is by least one processing
When device is run, at least one processor is made to execute the method according to any one of claim 1-12.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/111082 WO2019095139A1 (en) | 2017-11-15 | 2017-11-15 | Data processing method and device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108700887A true CN108700887A (en) | 2018-10-23 |
Family
ID=63844164
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780013416.9A Pending CN108700887A (en) | 2017-11-15 | 2017-11-15 | Data processing method and equipment |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN108700887A (en) |
| WO (1) | WO2019095139A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111699340A (en) * | 2019-05-30 | 2020-09-22 | 深圳市大疆创新科技有限公司 | Control method and device of holder, handheld holder and storage medium |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111638715B (en) * | 2020-05-29 | 2023-09-01 | 京东科技信息技术有限公司 | Robot control method, robot, electronic device, and storage medium |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202758245U (en) * | 2012-06-29 | 2013-02-27 | 深圳一电科技有限公司 | Pan-tilt camera controlling device and pan-tilt camera system |
| CN104469292A (en) * | 2014-11-27 | 2015-03-25 | 国网上海市电力公司 | Control device and method for PTZ camera with altitude self-calibration function |
| CN105759833A (en) * | 2016-02-23 | 2016-07-13 | 普宙飞行器科技（深圳）有限公司 | Immersive unmanned aerial vehicle driving flight system |
| CN106488131A (en) * | 2016-11-16 | 2017-03-08 | 贵州斯凯威科技有限公司 | A kind of VR shoots unmanned plane and image pickup method |
| CN106708091A (en) * | 2016-12-26 | 2017-05-24 | 昊翔电能运动科技(昆山)有限公司 | Obstacle avoidance device |
| CN106708074A (en) * | 2016-12-06 | 2017-05-24 | 深圳市元征科技股份有限公司 | Method and device for controlling unmanned aerial vehicle based on VR glasses |
| CN106742003A (en) * | 2015-11-20 | 2017-05-31 | 广州亿航智能技术有限公司 | Unmanned plane cloud platform rotation control method based on intelligent display device |
| CN106843245A (en) * | 2016-12-01 | 2017-06-13 | 北京京东尚科信息技术有限公司 | A kind of UAV Attitude control method, device and unmanned plane |
| CN107002941A (en) * | 2016-05-31 | 2017-08-01 | 深圳市大疆灵眸科技有限公司 | Head method of adjustment, system, device and head |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9324189B2 (en) * | 2013-09-27 | 2016-04-26 | Intel Corporation | Ambulatory system to communicate visual projections |
| CN105222761A (en) * | 2015-10-29 | 2016-01-06 | 哈尔滨工业大学 | The first person immersion unmanned plane control loop realized by virtual reality and binocular vision technology and drive manner |
| CN106681344B (en) * | 2016-12-26 | 2019-08-27 | 湖南纳雷科技有限公司 | A kind of height control method and control system for aircraft |
| CN107065901B (en) * | 2017-01-18 | 2020-06-30 | 北京京东尚科信息技术有限公司 | Rotor unmanned aerial vehicle attitude control method and device and unmanned aerial vehicle |
-
2017
- 2017-11-15 WO PCT/CN2017/111082 patent/WO2019095139A1/en active Application Filing
- 2017-11-15 CN CN201780013416.9A patent/CN108700887A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202758245U (en) * | 2012-06-29 | 2013-02-27 | 深圳一电科技有限公司 | Pan-tilt camera controlling device and pan-tilt camera system |
| CN104469292A (en) * | 2014-11-27 | 2015-03-25 | 国网上海市电力公司 | Control device and method for PTZ camera with altitude self-calibration function |
| CN106742003A (en) * | 2015-11-20 | 2017-05-31 | 广州亿航智能技术有限公司 | Unmanned plane cloud platform rotation control method based on intelligent display device |
| CN106791354A (en) * | 2015-11-20 | 2017-05-31 | 广州亿航智能技术有限公司 | Control the intelligent display device and its control system of unmanned plane cloud platform rotation |
| CN105759833A (en) * | 2016-02-23 | 2016-07-13 | 普宙飞行器科技（深圳）有限公司 | Immersive unmanned aerial vehicle driving flight system |
| CN107002941A (en) * | 2016-05-31 | 2017-08-01 | 深圳市大疆灵眸科技有限公司 | Head method of adjustment, system, device and head |
| CN106488131A (en) * | 2016-11-16 | 2017-03-08 | 贵州斯凯威科技有限公司 | A kind of VR shoots unmanned plane and image pickup method |
| CN106843245A (en) * | 2016-12-01 | 2017-06-13 | 北京京东尚科信息技术有限公司 | A kind of UAV Attitude control method, device and unmanned plane |
| CN106708074A (en) * | 2016-12-06 | 2017-05-24 | 深圳市元征科技股份有限公司 | Method and device for controlling unmanned aerial vehicle based on VR glasses |
| CN106708091A (en) * | 2016-12-26 | 2017-05-24 | 昊翔电能运动科技(昆山)有限公司 | Obstacle avoidance device |
Non-Patent Citations (1)
| Title |
|---|
| 李国芳: "《可编程控制器、变频器与组态软件综合应用技术》", 31 January 2015, 合肥工业大学出版社 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111699340A (en) * | 2019-05-30 | 2020-09-22 | 深圳市大疆创新科技有限公司 | Control method and device of holder, handheld holder and storage medium |
| CN111699340B (en) * | 2019-05-30 | 2021-10-26 | 深圳市大疆创新科技有限公司 | Control method and device of holder, handheld holder and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019095139A1 (en) | 2019-05-23 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11216013B2 (en) | Control method, apparatus, and device, and UAV | |
| US20200104598A1 (en) | Imaging control method and device | |
| CN114527872B (en) | Virtual reality interaction system, method and computer storage medium | |
| CN109071034A (en) | Switch method, controller and the image stability augmentation equipment of holder operating mode | |
| CN108596827B (en) | Three-dimensional face model generation method and device and electronic equipment | |
| CN109074087A (en) | Yaw attitude control method, unmanned plane, computer readable storage medium | |
| WO2019127052A1 (en) | Method of repeating flight path and aerial vehicle | |
| WO2021098453A1 (en) | Target tracking method and unmanned aerial vehicle | |
| CN107003680B (en) | Control the mobile methods, devices and systems of mobile object | |
| WO2022126436A1 (en) | Delay detection method and apparatus, system, movable platform, and storage medium | |
| US20200404179A1 (en) | Motion trajectory determination and time-lapse photography methods, device, and machine-readable storage medium | |
| CN113875222B (en) | Shooting control method and device, unmanned aerial vehicle and computer readable storage medium | |
| CN113985928A (en) | Control method and controller of cloud deck and cloud deck | |
| WO2022021027A1 (en) | Target tracking method and apparatus, unmanned aerial vehicle, system, and readable storage medium | |
| CN108702456A (en) | A kind of focusing method, equipment and readable storage medium storing program for executing | |
| CN109076101B (en) | Holder control method, device and computer readable storage medium | |
| CN104281114B (en) | Smart machine kinetic control system | |
| CN107211089A (en) | Tracking system, terminal installation, camera apparatus, follow shot method and program | |
| US20170153864A1 (en) | Synchronization Object Determining Method, Apparatus, and System | |
| WO2017177369A1 (en) | Tracking shooting control method and system for stabilizer | |
| CN108700887A (en) | Data processing method and equipment | |
| CN109814588A (en) | Aircraft and object tracing system and method applied to aircraft | |
| CN109521869A (en) | A kind of information interacting method, device and electronic equipment | |
| CN113759948A (en) | Intelligent glasses, method for controlling holder of intelligent glasses, holder, control method and unmanned aerial vehicle | |
| CN110291777B (en) | Image acquisition method, device and machine-readable storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20181023 |