Remote control method and terminal

Patent metadata

Field	Value
Publication number	US-2016159463-A1
Application number	US-201514977406-A
Country	US
Kind code	A1
Filing date	Dec 21, 2015
Priority date	Jul 31, 2013
Publication date	Jun 9, 2016
Grant date	—

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.

First claim

1 . A method of controlling positioning of a payload, the payload being supported by a carrier on a vehicle or living subject, the payload being movable relative to the vehicle or living subject via the carrier about one or more orthogonal axes of rotation, the carrier comprising one or more frame components and one or more actuators, the one or more 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 vehicle, a signal from a terminal that is remote to (i) the vehicle or 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 controllable axes of rotation of the carrier, said plurality of modes including a one-axis control mode, and a multi-axis control mode; calculating, with the signal from the terminal and with aid of a processor, an angle or speed by which the payload is to be rotated about the one or more orthogonal axes of rotation; generating a command signal to move the payload, based on the calculation; and moving the payload about the one or more orthogonal axes of rotation via movement of the one or more frame components driven by the one or more actuators of the carrier in response to the command signal.

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

3 . The method of claim 2 , wherein the vehicle is an unmanned aerial vehicle.

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

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

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

7 . The method of claim 1 , wherein the gimbal comprises at least three frame components that are configured to pivot at three axes which are orthogonal to one another.

8 . The method of claim 7 , wherein the payload is movable via the carrier about the three orthogonal axes that remain orthogonal to one another throughout the movement of the payload.

9 . The method of claim 1 , wherein the signal from the terminal is indicative of the user input.

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:
one or more frame components configured to be attached to a vehicle or living subject, said one or more frame components further being configured to support a payload, wherein the payload is movable relative to the vehicle or living subject via actuation of the one or more frame components about one or more orthogonal axes of rotation, wherein the one or more 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 the one or more frame components that effects movement of the payload relative to the vehicle or living subject about the one or more orthogonal axes of rotation at an angle or speed calculated with a signal from a terminal, wherein the terminal (1) is remote relative to (i) the vehicle or 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 controllable axes of rotation of the carrier, said plurality of modes including a one-axis control mode, and a multi-axis control mode, and (3) generates the signal based on the mode selection.

12 . The carrier of claim 11 , wherein the one-axis control mode controls rotation about a pitch axis only.

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

14 . The carrier of claim 11 , wherein the terminal is a handheld terminal.

15 . The carrier of claim 11 , wherein the terminal has a screen that serves as an image display device.

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 at three axes which are orthogonal to one another.

18 . The carrier of claim 17 , wherein the payload is movable via the carrier about the three orthogonal axes that remain orthogonal to one another throughout the movement of the payload.

19 . The carrier of claim 11 , wherein the signal from the terminal is indicative of the user input.

20 . The carrier of claim 11 , wherein the command signal is generated based on an attitude of the payload.

21 . A remote terminal configured to control positioning of a payload supported by a carrier that is configured to be attached to a vehicle or 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 controllable axes of rotation provided by the carrier, said plurality of modes including a one-axis control mode, and a multi-axis control mode; one or more processors that, individually or collectively, generates a signal based on the mode selected; and (b) a communication unit that transmits the signal to the carrier, wherein the carrier comprises (1) one or more frame components configured to support the payload, wherein the payload is movable relative to the vehicle or living subject via actuation of the one or more frame components about one or more orthogonal axes of rotation, wherein the one or more 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 the one or more frame components that effects movement of the payload relative to the vehicle or living subject about the one or more orthogonal axes of rotation at an angle or speed calculated based on the signal transmitted by the communication unit.

22 . The remote terminal of claim 21 , wherein the carrier is on a vehicle, and wherein the payload is moved relative to the vehicle.

23 . The remote terminal of claim 22 , wherein the vehicle is an unmanned aerial vehicle.

24 . The remote terminal of claim 21 , wherein the remote terminal is a handheld terminal.

25 . The remote terminal of claim 21 , further comprising a screen that serves as an image display device.

26 . The remote terminal of claim 21 , wherein the payload is an image capturing device.

27 . The remote terminal of claim 21 , wherein the gimbal comprises at least three frame components that are configured to pivot at three axes which are orthogonal to one another.

28 . The remote terminal of claim 27 , wherein the payload is movable via the carrier about the three orthogonal axes that remain orthogonal to one another throughout the movement of the payload.

29 . The remote terminal of claim 21 , wherein the signal of (a) generated is indicative of the user input.

30 . The remote terminal of claim 21 , wherein the command signal of (b) is generated based on an attitude of the payload.

Assignees

• Sz Dji Technology Co Ltd

Inventors

• Wang Tao
• Wang Mingyu

Classifications

• B64U2201/20

  Remote controls · CPC title

• B64U2101/30

  for imaging, photography or videography · CPC title

• B64D47/08

  Arrangements of cameras · CPC title

• B64C39/024

  of the remote controlled vehicle type, i.e. RPV · CPC title

• B64C19/00 Primary

  Aircraft control not otherwise provided for · CPC title