Unmanned aerial vehicle, control method and control system thereof, handheld control device, and head-mounted device

Patent metadata

Field	Value
Publication number	US-12498730-B2
Application number	US-202318332852-A
Country	US
Kind code	B2
Filing date	Jun 12, 2023
Priority date	Dec 25, 2020
Publication date	Dec 16, 2025
Grant date	Dec 16, 2025

Abstract

A movable object control method includes obtaining attitude information of a handheld control device, determining control information of a movable object according to the attitude information of the handheld control device, and sending the control information of the movable object to a head-mounted device to enable the head-mounted device to display a mark on a display device of the head-mounted device according to the control information of the movable object. The mark indicates a moving direction of the movable object.

First claim

What is claimed is:

1 . A control method for the movable object comprising:
obtaining attitude information of a handheld control device, the handheld control device including an accelerator device; determining control information of a movable object according to the attitude information of the handheld control device; sending the control information of the movable object to a head-mounted device, to enable the head-mounted device to display a mark on a display device of the head-mounted device according to the control information of the movable object, the mark indicating a moving direction of the movable object; obtaining an accelerator control value, the accelerator control value being generated based on a travel distance of an accelerator of the accelerator device, a travel range of the accelerator comprising at least a first region and a second region, a moving speed of the movable object being associated with the accelerator control value based on a first correspondence relationship or a second correspondence relationship, respectively, when the travel distance of the accelerator falls within the first region or the second region, the first correspondence relationship being different from the second correspondence relationship; and controlling the movable object to move according to the accelerator control value.

2 . The method according to claim 1 , wherein controlling the movable object according to the accelerator control value includes controlling a position of the movable object to remain unchanged in response to the accelerator control value being a minimum accelerator control value.

3 . The method according to claim 1 , wherein controlling the movable object according to the accelerator control value includes controlling the movable object to move toward the moving direction indicated by the mark at a preset moving speed in response to the accelerator control value being a maximum accelerator control value.

4 . The method according to claim 1 , wherein controlling the movable object according to the accelerator control value includes gradually increasing an increment of the moving speed of the movable object in response to the accelerator control value changing uniformly from a minimum accelerator control value to a maximum accelerator control value.

5 . The method according to claim 1 ,
wherein the movable object includes a photographing device; the method further comprising:
sending image information captured by the photographing device to the head-mounted device, to enable the display device of the head-mounted device to superimpose and display the image information and the mark.

6 . The method according to claim 5 , wherein:
the photographing device is installed on the movable object through a gimbal; and the control information of the movable object includes at least one of attitude control information of the movable object or attitude control information of the gimbal.

7 . The method according to claim 6 , wherein:
a yaw attitude of the movable object is related to at least one of a yaw attitude or a roll attitude of the handheld control device; and/or a pitch attitude of the gimbal is related to a pitch attitude of the handheld control device.

8 . The method according to claim 1 , wherein determining the control information of the movable object includes at least one of:
determining the control information of the movable object for moving the mark to the left or right according to at least one of a yaw angle or a roll angle of the handheld control device; or determining the control information of the movable object for moving the mark up or down according to a pitch angle of the handheld control device.

9 . The method according to claim 1 , wherein determining the control information of the movable object according to the attitude information of the handheld control device includes:
obtaining reference attitude information of the handheld control device; and determining the control information of the movable object according to the attitude information of the handheld control device and the reference attitude information of the handheld control device.

10 . The method according to claim 9 , wherein determining the control information of the movable object according to the attitude information of the handheld control device and the reference attitude information of the handheld control device includes:
obtaining reference attitude information of the movable object; and determining the control information of the movable object according to the attitude information of the handheld control device, the reference attitude information of the handheld control device, and the reference attitude information of the movable object.

11 . The method according to claim 10 , wherein:
obtaining the reference attitude information of the handheld control device includes using attitude information of the handheld control device when an initialization operation is triggered as the reference attitude information of the handheld control device; and obtaining the reference attitude information of the movable object includes using attitude information of the movable object when the initialization operation is triggered as the reference attitude information of the movable object.

12 . The method according to claim 11 , wherein:
obtaining the reference attitude information of the handheld control device includes using a yaw angle of the handheld control device when an initialization operation is triggered as a reference yaw angle of the handheld control device; obtaining the reference attitude information of the movable object includes using a yaw angle of the movable object when the initialization operation is triggered as a reference yaw angle of the movable object; and a reference pitch angle and a reference roll angle of the handheld control device are preset values.

13 . The method according to claim 11 , wherein using the attitude information of the handheld control device when the initialization operation is triggered as the reference attitude information of the handheld control device and using the attitude information of the movable object when the initialization operation is triggered as the reference attitude information of the movable object include:
in response to the attitude information of the handheld control device when the initialization operation is triggered satisfying a preset condition:
using the attitude information of the handheld control device when the initialization operation is triggered as the reference attitude information of the handheld control device, and
using the attitude information of the movable object when the initialization operation is triggered as the reference attitude information of the movable object; and
in response to the attitude information of the handheld control device when the initialization operation is triggered not satisfying the preset condition, outputting prompt information to prompt a user to adjust an attitude of the handheld control device.

14 . The control method according to claim 1 , wherein the moving direction of the movable object indicated by the mark comprises a direction of a future movement.

15 . A handheld control device comprising:
an attitude sensor configured to obtain attitude information of the handheld control device; an accelerator device; one or more processors working individually or jointly to obtain an accelerator control value, the accelerator control value being generated based on a travel distance of an accelerator of the accelerator device, a travel range of the accelera

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Zhang Litian
• Xu Tianye
• Huang Xiaoying

Classifications

• G05D1/223

  Command input arrangements on the remote controller, e.g. joysticks or touch screens · CPC title

• G05D1/48

  Control of altitude or depth · CPC title

• G05D1/2247

  providing the operator with simple or augmented images from one or more cameras · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64U20/87 Primary

  Mounting of imaging devices, e.g. mounting of gimbals · CPC title