Remote control method and terminal

• US 9,493,232 B2
• Filed: 12/21/2015
• Issued: 11/15/2016
• Est. Priority Date: 07/31/2013
• Status: Active Grant

• Current Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Original Assignee: SZ DJI Technology Co., Ltd. (d/b/a DJI) (iFlight Technology Company Limited)
• Inventors: Wang, Tao, Wang, Mingyu
• Primary Examiner(s): Black, Thomas G
• Assistant Examiner(s): Nolan, Peter D
• Application Number:
  US14/977,406
• Publication Number:
  US 20160159463A1
• Time in Patent Office: 330 Days
• US Class Current: 1/1
• CPC Class Codes: B64U 2101/30 for imaging, photography or videography
• CPC Class Codes: B64U 2201/20 Remote controls
• CPC Class Codes: G05D 1/0016 characterised by the operator's input device input arrangements for computing systems in general G06F3/00
• CPC Class Codes: G05D 1/0038 by providing the operator with simple or augmented images from one or more cameras located onboard the vehicle, e.g. tele-operation images analyzed by a computer and used for automatic navigation G05D1/0246
• CPC Class Codes: G05D 1/0094 involving pointing a payload, e.g. camera, weapon, sensor, towards a fixed or moving target
• CPC Class Codes: G06F 3/04883 for inputting data by handwriting, e.g. gesture or text

Abstract

The present application discloses a remote control method and apparatus for controlling the state of a movable object and/or a load carried thereon. The remote control method comprising: receiving, via an apparatus, a state signal that corresponds to a user'"'"'s position; remote-controlling the state of the a load being carried on a movable object based on the state signal; wherein the state of the load is the result of combining the movement of the load relative to the movable object and the movement of the object relative to its environment. For example, the control of the state can be achieved through the state of the apparatus itself, a user'"'"'s state captured by an apparatus, a graphical interface on a screen of an apparatus, or a voice command.

Claims

1. A method of controlling positioning of a payload, the payload being supported by a carrier on an unmanned aerial vehicle (UAV) or on a living subject, the payload being movable relative to the UAV or the living subject via the carrier about a plurality of axes of rotation, the carrier comprising a plurality of frame components and a plurality of actuators, the plurality of frame components being connected to one another to form a multi-axis gimbal, said method comprising:

receiving, at a receiver positioned on the carrier or the UAV, a signal from a terminal that is remote to (i) the UAV or the living subject, (ii) the carrier, and (iii) the payload, wherein the signal from the terminal is generated based on a user input to the terminal indicative of a mode selection from a plurality of modes having a different number of user controllable axes of rotation of the carrier, said plurality of modes including a single-axis user controllable mode and a multi-axis user controllable mode;

calculating, with aid of one or more processors, an angle or speed by which the payload is to be rotated about at least one axis of rotation based on (1) a user-generated movement on the terminal and (2) the mode selection;

generating a command signal to move the payload, based on the calculation; and

moving the payload about the at least one axis of rotation via movement of one or more frame components driven by one or more actuators of the carrier in response to the command signal.

2. The method of claim 1, wherein the carrier is on the UAV, and wherein the payload is moved relative to the UAV.

3. The method of claim 2, wherein the user-generated movement includes rotating the terminal about its roll, pitch, or yaw axis.

4. The method of claim 3, wherein rotating the terminal about a given axis results in rotation of the payload about a corresponding axis of the payload.

5. The method of claim 1, wherein the terminal is a handheld terminal.

6. The method of claim 1, wherein the terminal has a screen that serves as an image display device.

7. The method of claim 1, wherein the payload is an image capturing device.

8. The method of claim 1, wherein the gimbal comprises at least three frame components that are configured to pivot about three axes which are orthogonal to one another, and wherein the payload is movable via the carrier about the three axes, at least two of which remain orthogonal to one another throughout movement of the payload.

9. The method of claim 1, wherein the user-generated movement includes user finger movement on the terminal.

10. The method of claim 1, wherein the command signal is generated based on an attitude of the payload.

11. A carrier for positioning a payload, said carrier comprising:

a plurality of frame components configured to be attached to an unmanned aerial vehicle (UAV) or a living subject, said plurality of frame components further being configured to support a payload, wherein the payload is movable relative to the UAV or the living subject via actuation of the plurality of frame components about a plurality of axes of rotation, wherein the plurality of frame components are connected to one another to form a multi-axis gimbal; and

one or more actuators configured to respond to a command signal to actuate one or more frame components to effect movement of the payload relative to the UAV or the living subject about at least one axis of rotation at an angle or speed calculated based on a signal from a terminal,

wherein the terminal (1) is remote relative to (i) the UAV or the living subject, (ii) the frame assembly, and (iii) the payload, (2) obtains a user input indicative of a mode selection from a plurality of modes having a different number of user controllable axes of rotation of the carrier, said plurality of modes including a single-axis user controllable mode and a multi-axis user controllable mode, and (3) generates the signal based on the mode selection and a user-generated movement on the terminal.

12. The carrier of claim 11, wherein the single-axis user controllable mode controls rotation about a pitch axis only.

13. The carrier of claim 11, wherein the multi-axis user controllable mode controls rotation about a pitch axis and a yaw axis.

14. The carrier of claim 11, wherein the user-generated movement includes rotating the terminal about its roll, pitch, or yaw axis.

15. The carrier of claim 14, wherein rotating the terminal about a given axis results in rotation of the payload about a corresponding axis of the payload.

16. The carrier of claim 11, wherein the payload is an image capturing device.

17. The carrier of claim 11, wherein the gimbal comprises at least three frame components that are configured to pivot about three axes which are orthogonal to one another, and wherein the payload is movable via the carrier about the three axes, at least two of which remain orthogonal to one another throughout movement of the payload.

18. A remote terminal configured to control positioning of a payload supported by a carrier that is configured to be attached to an unmanned aerial vehicle (UAV) or a living subject, said terminal comprising:

(a) a device that receives a user input indicative of a mode selection from a plurality of modes having a different number of user controllable axes of rotation provided by the carrier, said plurality of modes including a single-axis user controllable mode and a multi-axis user controllable mode; and

one or more processors that generates a signal based on the mode selected; and

(b) a communication unit that transmits the signal to the carrier or the UAV, wherein the carrier comprises (1) a plurality of frame components configured to support the payload, wherein the payload is movable relative to the UAV or the living subject via actuation of the plurality of frame components about a plurality of axes of rotation, wherein the plurality of frame components are connected to one another to form a multi-axis gimbal; and

(2) one or more actuators configured to respond to a command signal to actuate one or more frame components to effect movement of the payload relative to the UAV or the living subject about at least one axis of rotation at an angle or speed calculated based on (1) the signal transmitted by the communication unit and (2) a user-generated movement on the terminal.

19. The remote terminal of claim 18, wherein the carrier is on the UAV, and wherein the payload is movable relative to the UAV.

20. The remote terminal of claim 18, wherein the user-generated movement includes rotating the terminal about its roll, pitch, or yaw axis.

21. The remote terminal of claim 20, wherein rotating the terminal about a given axis results in rotation of the payload about a corresponding axis of the payload.

22. The remote terminal of claim 18, wherein the remote terminal is a handheld terminal.

23. The remote terminal of claim 18, further comprising a screen that serves as an image display device.

24. The remote terminal of claim 18, wherein the payload is an image capturing device.

25. The remote terminal of claim 18, wherein the gimbal comprises at least three frame components that are configured to pivot about three axes which are orthogonal to one another, and wherein the payload is movable via the carrier about the three axes, two of which remain orthogonal to one another throughout movement of the payload.

26. The remote terminal of claim 18, wherein the signal of (a) generated is indicative of the user input.

27. The remote terminal of claim 18, wherein the command signal of (b) is generated based on an attitude of the payload.

28. A system for positioning a payload, said system comprising:

an unmanned aerial vehicle (UAV);

a carrier configured to be attached to the UAV, wherein said carrier comprises a plurality of frame components configured to support a payload, wherein the payload is movable relative to the UAV via actuation of the plurality of frame components about a plurality of axes of rotation using one or more actuators, wherein the plurality of frame components are connected to one another to form a multi-axis gimbal;

a terminal remote relative to (i) the UAV, (ii) the carrier, and (iii) the payload, wherein said terminal is configured to obtain a user input indicative of a mode selection from a plurality of modes having a different number of user controllable axes of rotation of the carrier, said plurality of modes including a single-axis user controllable mode and a multi-axis user controllable mode; and

one or more processors configured to;

(1) calculate an angle or speed by which the payload is to be rotated about at least one axis of rotation based on (i) a user-generated movement on the terminal and (ii) the mode selection; and

(2) generate a command signal to move the payload based on the calculation, wherein the one or more actuators of the carrier are configured to drive one or more frame components to move the payload about at least one axis of rotation in response to the command signal.

29. The system of claim 28, wherein the one or more processors are onboard the UAV or the carrier.

30. The system of claim 28, wherein the user-generated movement includes user finger movement on the terminal.