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WO2022000137A1 - Système de plateforme mobile, dispositif et procédé de commande associés - Google Patents

Système de plateforme mobile, dispositif et procédé de commande associés Download PDF

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Publication number
WO2022000137A1
WO2022000137A1 PCT/CN2020/098581 CN2020098581W WO2022000137A1 WO 2022000137 A1 WO2022000137 A1 WO 2022000137A1 CN 2020098581 W CN2020098581 W CN 2020098581W WO 2022000137 A1 WO2022000137 A1 WO 2022000137A1
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WIPO (PCT)
Prior art keywords
movable platform
target
angle
gimbal
deflection angle
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.)
Ceased
Application number
PCT/CN2020/098581
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English (en)
Chinese (zh)
Inventor
谢振生
刘帅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to CN202080032562.8A priority Critical patent/CN113795806B/zh
Priority to CN202510119435.6A priority patent/CN119937614A/zh
Priority to PCT/CN2020/098581 priority patent/WO2022000137A1/fr
Publication of WO2022000137A1 publication Critical patent/WO2022000137A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • 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
    • 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
    • G05D1/0011—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots associated with a remote control arrangement
    • 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
    • G05D1/02—Control of position or course in two dimensions

Definitions

  • the present application relates to the field of control, and in particular, to a movable platform system and a control method and device thereof.
  • the load is a photographing device
  • the image captured by the photographing device guides the movement of the movable platform.
  • FOV Field of view
  • the photographing device may not be able to photograph the obstacles on the turning trajectory of the movable platform, or when the obstacles on the turning trajectory are photographed , the movable platform has no time to brake or evade and hit an obstacle, or even be damaged, which makes the turning of the movable platform very difficult and affects the control experience of the movable platform.
  • the present application provides a movable platform system and a control method and device thereof.
  • an embodiment of the present application provides a control method for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support
  • the load for obstacle avoidance the method includes:
  • the heading of the gimbal is controlled to be deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.
  • an embodiment of the present application provides a control device for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support
  • the control device of the movable platform system includes:
  • a storage device for storing program instructions
  • One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:
  • the heading of the gimbal is controlled to be deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.
  • an embodiment of the present application provides a control method for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support
  • the load for obstacle avoidance the method includes:
  • the attitude of the head and/or the movable platform is controlled, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction is the same as that of the movable platform.
  • the turning direction of the mobile platform is a preset angle.
  • an embodiment of the present application provides a control method for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support
  • the load for obstacle avoidance the method includes:
  • the attitude of the gimbal and/or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.
  • an embodiment of the present application provides a control method for a movable platform system, where the movable platform system includes a movable platform and a PTZ mounted on the movable platform, and the PTZ is used for carrying support
  • the load for obstacle avoidance the method includes:
  • the movement of the pan/tilt head and/or the movable platform is controlled so that the sensing range of the payload and the body of the movable platform are deflected in the same direction, and the payload of the payload is deflected in the same direction.
  • the deflection angle of the sensing range is greater than the deflection angle of the body of the movable platform.
  • an embodiment of the present application provides a control device for a movable platform system, where the movable platform system includes a movable platform and a PTZ mounted on the movable platform, and the PTZ is used for carrying support An obstacle avoidance load, the device includes:
  • a storage device for storing program instructions
  • One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:
  • the attitude of the head and/or the movable platform is controlled, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction is the same as that of the movable platform.
  • the turning direction of the mobile platform is a preset angle.
  • an embodiment of the present application provides a control device for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support An obstacle avoidance load, the device includes:
  • a storage device for storing program instructions
  • One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:
  • the attitude of the gimbal and/or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.
  • an embodiment of the present application provides a control device for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support An obstacle avoidance load, the device includes:
  • a storage device for storing program instructions
  • One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:
  • the movement of the pan/tilt head and/or the movable platform is controlled so that the sensing range of the payload and the body of the movable platform are deflected in the same direction, and the payload of the payload is deflected in the same direction.
  • the deflection angle of the sensing range is greater than the deflection angle of the body of the movable platform.
  • an embodiment of the present application provides a movable platform system, where the movable platform system includes:
  • control device of the movable platform system is supported by the movable platform and/or the pan/tilt head.
  • the present application controls the movable platform to enter the first mode when the movable platform turns, and in the first mode, controls the heading of the gimbal to deflect relative to the moving direction of the movable platform, and the deflection
  • the direction and the turning direction of the movable platform form a preset angle, or control the attitude of the gimbal, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle , or control the attitude of the gimbal so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load, or control the movement of the gimbal so that the sensing range of the load and the body of the movable platform are in the same direction Deflection, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform
  • FIG. 1 is a schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application.
  • FIG. 2 is a schematic flowchart of a method for controlling a method for an unmanned aerial vehicle system in an embodiment of the present application
  • 3A is a schematic diagram of the speed of the unmanned aerial vehicle in an embodiment of the present application when it flies;
  • 3B is a schematic diagram of the speed of the unmanned aerial vehicle in another embodiment of the present application when flying;
  • FIG. 3C is a schematic view of the flight of the unmanned aerial vehicle in an embodiment of the present application
  • FIG. 3C(a) discloses the positional relationship between the field of view angle FOV of the photographing device and the heading of the unmanned aerial vehicle in the second mode of the unmanned aerial vehicle
  • Figure 3C(b) discloses the positional relationship between the field of view angle FOV of the photographing device and the heading of the UAV in the first mode of the UAV;
  • FIG. 3D is a schematic flight diagram of the unmanned aerial vehicle in another embodiment of the present application, and FIG. 3D(a) discloses the positional relationship between the field of view angle FOV of the photographing device and the heading of the unmanned aerial vehicle in the second mode of the unmanned aerial vehicle , Fig. 3D(b) reveals the positional relationship between the FOV of the photographing device and the heading of the UAV in the first mode of the UAV;
  • 3E is a schematic diagram of a turning of the unmanned aerial vehicle in an embodiment of the present application.
  • FIG. 4 is a schematic diagram of an implementation process in which the heading of the control head is deflected relative to the movement direction of the unmanned aerial vehicle in an embodiment of the present application, and the deflection direction and the turning direction of the unmanned aerial vehicle form a preset angle;
  • FIG. 5 is a schematic flowchart of a method for controlling a movable platform system in another embodiment of the present application.
  • FIG. 6 is a schematic flowchart of a method for controlling a movable platform system in another embodiment of the present application.
  • FIG. 7 is a schematic flowchart of a method for controlling a movable platform system in another embodiment of the present application.
  • FIG. 8 is a structural block diagram of a control device of a mobile platform system in an embodiment of the present application.
  • FIG. 9 is another schematic structural diagram of a movable platform system in an embodiment of the present application.
  • the movable platform When the mobile platform is guided to avoid obstacles by carrying a load on the gimbal, if the load is a photographing device, when the mobile platform is guided to avoid obstacles by using the images captured by the photographing device, if the FOV of the photographing device is relatively small, the movable platform will When turning, the photographing device may not be able to photograph the obstacles on the turning track of the movable platform, or when the obstacles on the turning track are photographed, the movable platform may not have time to brake or evade and hit the obstacle, or even be damaged, resulting in The turning of the movable platform becomes very difficult, which affects the user's control experience of the movable platform.
  • the movable platform is an unmanned aerial vehicle.
  • the user manually operates the unmanned aerial vehicle to fly, such as controlling the unmanned aerial vehicle to fly in the FPV (First Person View) of the first person perspective, he will use equipment such as flying glasses or a display screen to pass the image
  • the real-time image of the onboard camera is transmitted, and the operation is performed according to the real-time image to control the flight of the unmanned aerial vehicle.
  • the user can usually only use the real-time image Judging the environment around the unmanned aerial vehicle, but cannot see the environment around the unmanned aerial vehicle in the real world with the naked eye.
  • the photographing device does not capture any obstacles or obstacles on the turning trajectory If the obstacle on the turning trajectory is photographed later, when the user judges the surrounding environment of the UAV through the real-time image, the user will be too late to operate due to the untimely judgment, which will cause the UAV to hit the obstacle during the turning process. Even bombing the machine will bring great losses to the user.
  • the camera may not be able to photograph the obstacles on the turning trajectory or take pictures of the obstacles on the turning trajectory later. Become cautious and seriously affect the flying experience.
  • the embodiment of the present application controls the movable platform to enter the first mode when the movable platform turns, and in the first mode, controls the heading of the gimbal to deflect relative to the moving direction of the movable platform, and the deflection direction is the same as that of the movable platform.
  • the turning direction is a preset angle, or the attitude of the gimbal is controlled so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction is a preset angle with the turning direction of the movable platform, or the gimbal is controlled.
  • the deflection angle of the sensing range is greater than the deflection angle of the body of the movable platform, which is equivalent to controlling the gimbal to advance the movable platform by an angle, so that the turning trajectory is exposed to the sensing range of the load in advance, so that the load can sense the turning trajectory in advance. obstacles on top, thereby improving flight safety and flight experience.
  • turning track or track point described in this application may be preset, or may be estimated according to the movement of the movable platform, which is not specifically limited here.
  • the movable platform system in the embodiment of the present application includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for carrying a load supporting obstacle avoidance.
  • the movable platform includes unmanned aerial vehicles, unmanned vehicles, unmanned ships, etc., and the user can remotely control the movable platform through the control terminal.
  • the load in this embodiment of the present application may include a load supporting obstacle avoidance, and the load supporting obstacle avoidance includes but is not limited to a photographing device and/or an obstacle avoidance sensor.
  • the load is a photographing device, such as a camera, mounted on a gimbal.
  • the images collected by the photographing device can be displayed in real time on the control terminal to guide the pilot to control the movement of the movable platform, such as to achieve artificial obstacle avoidance;
  • the load is an obstacle avoidance sensor
  • the obstacle avoidance operation can be performed on the movable platform
  • the obstacle avoidance sensor may include a visual obstacle avoidance sensor and/or an electromagnetic wave obstacle avoidance sensor, wherein the visual obstacle avoidance sensor may include a binocular vision sensor, and the electromagnetic wave obstacle avoidance sensor may include a lidar or TOF (Time of flight, time-of-flight ranging) sensor; of course, the obstacle avoidance sensor can also be of other types.
  • the movable platform as an unmanned aerial vehicle as an example. It can be understood that the corresponding description of other movable platforms can refer to the unmanned aerial vehicle, its cooperation with the gimbal, and the unmanned aerial vehicle. The cooperation between the aircraft and the gimbal is basically similar, which will not be repeated in this embodiment of the present application.
  • the unmanned aerial vehicle system of the embodiment of the present application may include an unmanned aerial vehicle 100 and a gimbal 200 mounted on the unmanned aerial vehicle 100 , and the gimbal 200 is used to carry a load 300 supporting obstacle avoidance.
  • the unmanned aerial vehicle 100 in the embodiment of the present application may be an unmanned aerial vehicle, such as a multi-rotor unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, or other types of unmanned aerial vehicles, such as a helicopter unmanned aerial vehicle; of course, the unmanned aerial vehicle 100 may also Can be used for other types of unmanned aerial vehicles.
  • the gimbal 200 may be a single-axis gimbal, a two-axis gimbal, a three-axis gimbal, or other multi-axis gimbal.
  • the payload may include a photographing device and/or obstacle avoidance sensor.
  • the payload is a photographing device
  • the photographing device may include a first-person main-view FPV photographing device or other photographing devices, such as a downward-looking photographing device mounted on the bottom of the UAV 100 device, a rear-view camera mounted on the rear of the unmanned aerial vehicle 100, a left-view camera mounted on the left side of the unmanned aerial vehicle 100, a right-view camera mounted on the right side of the unmanned aerial vehicle 100, exemplarily, a camera device It is a first-person main perspective FPV shooting device.
  • the UAV 100 is connected to the gimbal 200 in communication, and the UAV 100 can control the gimbal 200, such as controlling the heading rotation of the gimbal 200, or controlling the attitude of the gimbal 200 (that is, controlling the movement of the gimbal 200). yaw attitude and/or pitch attitude and/or roll attitude), or control the movement of the gimbal 200 (ie, control the yaw attitude and/or pitch attitude and/or roll attitude and/or translation of the gimbal 200).
  • a trigger signal is sent to the gimbal 200 , and the gimbal 200 rotates and/or translates according to the trigger signal, so that the UAV 100 indirectly controls the gimbal 200 .
  • the translation refers to that by controlling the pan/tilt head 200, the load can be translated in at least one direction to realize displacement.
  • FIG. 2 is a schematic flowchart of a method for controlling a UAV system in an embodiment of the present application
  • the execution subject of the control method for an UAV system in an embodiment of the present application is an UAV system, for example, the execution subject may be an unmanned aerial vehicle system.
  • control method of the unmanned aerial vehicle system may include steps S201-S202.
  • whether the UAV is turning is automatically determined based on the motion information of the UAV.
  • the motion information of the unmanned aerial vehicle is obtained. If the motion information satisfies the first preset condition, it is determined that the UAV turns.
  • the motion information may include the target linear velocity and the target angular velocity of the UAV
  • the first preset condition may include: the target linear velocity is greater than the preset linear velocity threshold, and the target angular velocity is greater than the preset angular velocity threshold, that is, when the target linear velocity is greater than the preset angular velocity threshold When the speed is greater than the preset linear velocity threshold, and the target angular velocity is greater than the preset angular velocity threshold, it is determined that the UAV turns.
  • the motion information may also include other items, and the first preset condition may also include other items accordingly.
  • the target linear velocity may be the linear velocity of the unmanned aerial vehicle (for example, it may be the direction of the head of the unmanned aerial vehicle indicating the heading, and the user only hits the pitch stick of the remote control of the unmanned aerial vehicle,
  • the linear velocity in the forward direction of the UAV that is, the linear velocity in the heading of the UAV.
  • the target linear velocity is the linear velocity of the movable platform moving forward (for example, it can be used to indicate the heading in the direction of the nose of the movable platform, and the user only lays down the remote control of the movable platform to control the movable platform).
  • the linear velocity of the forward moving direction of the movable platform that is, the linear velocity of the heading of the movable platform
  • the linear velocity of the forward movement of the movable platform includes the forward movement of the unmanned aerial vehicle. Line speed.
  • the combined linear velocity V of the UAV can be decomposed into Vx and Vy, where the direction of Vx is parallel to the direction of the UAV.
  • the heading that is, the direction of the above-mentioned forward flying linear velocity
  • the direction of Vy is perpendicular to the heading of the UAV. That is, this situation is applicable to the coexistence of forward flight and side flight of the unmanned aerial vehicle, that is, the user hits the pitch stick and roll stick of the remote control of the unmanned aerial vehicle.
  • the unmanned aerial vehicle due to the influence of forward flight and side flight, when the unmanned aerial vehicle is turning and flying, the combined linear velocity V of the unmanned aerial vehicle does not coincide with the heading of the unmanned aerial vehicle, but the heading of the gimbal can still be controlled according to Vx. , so that the heading of the gimbal is ahead of the movement direction of the unmanned aerial vehicle, and the unmanned aerial vehicle can be prevented from hitting obstacles in the process of turning.
  • Vx is not equal to 0
  • Vy is equal to 0
  • Vx points to the front of the unmanned aerial vehicle
  • the movement direction of the unmanned aerial vehicle is the direction of Vx, that is, the movement direction of the unmanned aerial vehicle is the same as that of the unmanned aerial vehicle.
  • the course of the human aircraft coincides. That is to say, this situation is suitable for the UAV to fly forward, that is, the user hits the pitch stick and yaw stick of the remote controller of the UAV to achieve turning flight, and can control the heading of the gimbal according to Vx to Make the heading of the gimbal ahead of the moving direction of the UAV, and avoid the UAV hitting obstacles during the turning process.
  • the coordinate system is established with the body of the unmanned aerial vehicle, and the orientation of the nose is the direction of Vx.
  • Back flight means that the user hits the pitch stick of the remote control of the unmanned aerial vehicle, but the direction of the shot is opposite to the direction of forward flight.
  • backward flight there may also be a turning situation.
  • the heading of the gimbal can be controlled to make the cloud
  • the heading of the platform is ahead of the moving direction of the UAV, so as to avoid the UAV hitting obstacles in the process of turning.
  • the heading of the gimbal and the movement direction may or may not be coincident.
  • the load is a photographing device
  • the course of the gimbal coincides with the bisector of the field of view angle FOV of the photographing device
  • the course of the gimbal coincides with the movement direction, which is equivalent to the coincidence of the bisector of the FOV with the movement direction
  • the gimbal coincides with the movement direction.
  • the misalignment of the heading and the motion direction is equivalent to the fact that the bisector of the field of view angle FOV does not coincide with the motion direction. Therefore, the bisector of the field of view angle FOV can be used to characterize the heading of the gimbal.
  • the heading of the gimbal coincides with the angular bisector of the sensing range of the obstacle avoidance sensor, and the heading of the gimbal coincides with the movement direction, which is equivalent to the angular bisector of the sensing range and the movement direction.
  • the heading of the gimbal does not coincide with the moving direction, which means that the angular bisector of the sensing range does not coincide with the moving direction. Therefore, the heading of the gimbal can be characterized by the angular bisector of the sensing range. For example, in some embodiments, before the UAV is controlled to enter the first mode, the heading of the gimbal coincides with the movement direction.
  • the dotted line in ) coincides with the direction of Vx, that is, the heading of the gimbal coincides with the heading of the UAV.
  • the heading of the gimbal and the heading of the UAV are suitable for the mode that the gimbal follows the UAV.
  • the user controls the heading rotation of the UAV through the remote control device.
  • the heading follows the heading of the UAV. It should be noted that before the gimbal enters the mode that the gimbal follows the unmanned aerial vehicle, the heading of the gimbal and the heading of the unmanned aerial vehicle can also coincide.
  • the heading of the gimbal does not coincide with the moving direction.
  • the angle between the dotted line in ) and the direction of Vx is the preset angle ⁇ , that is, the angle between the heading of the gimbal and the heading of the UAV is the preset angle ⁇ .
  • the preset angle ⁇ can be set by the user, which is suitable for the scenario where the user controls the heading of the gimbal through the remote control device, so that the heading is different from the heading of the unmanned aerial vehicle.
  • the preset linear velocity threshold and the preset angular velocity threshold can be set as required.
  • the preset linear velocity threshold is slightly greater than 0, and the preset angular velocity threshold is also slightly greater than 0.
  • the preset linear velocity threshold is 2m/ s (unit: m/s)
  • the preset angular velocity threshold is 5°/s (unit: degree/s)
  • the first preset condition includes: the target linear velocity is greater than 2m/s, and the target angular velocity is greater than 5°/s.
  • the UAV when at least one of the target linear velocity and the target angular velocity does not meet the first preset condition, the UAV is controlled to enter the second mode, and at least one of the target linear velocity and the target angular velocity does not meet the first preset condition indicates that The UAV is not in a turning state or exiting a turning state.
  • the first preset condition includes: the target linear velocity is greater than the preset linear velocity threshold, and the target angular velocity is greater than the preset angular velocity threshold, and at least one of the target linear velocity and the target angular velocity is greater than the preset angular velocity threshold.
  • a failure to satisfy the first preset condition includes: the target linear velocity is less than or equal to the preset linear velocity threshold, and/or the target angular velocity is less than or equal to the preset angular velocity threshold.
  • the target linear velocity is less than or equal to the preset linear velocity threshold, it means that the UAV is flying at a small target linear velocity (such as a target linear velocity close to 0).
  • the target angular velocity is greater than the preset angular velocity threshold, it can be It is considered that the UAV rotates, and in the autorotation state, the UAV will not collide with obstacles; if the target angular velocity is less than or equal to the preset angular velocity threshold, it can be considered that the UAV is hovering, and in the hovering state, the UAV will also Does not collide with obstacles.
  • the target angular velocity is less than or equal to the preset angular velocity threshold, it means that the UAV rotates at a small target angular velocity (such as a target angular velocity close to 0). At this time, whether the target linear velocity is greater than the preset linear velocity threshold or less than or equal to the preset linear velocity threshold.
  • the target angular velocity is small, when the user controls the UAV, because the UAV rotates slowly, after the user finds the obstacle on the turning trajectory through the real-time image, the UAV will not immediately collision with obstacles, so the user has time to manually adjust the UAV to prevent the UAV from colliding with obstacles.
  • the relationship between the heading of the gimbal and the direction of movement can be determined according to the relationship between the heading of the gimbal and the direction of movement before the UAV enters the first mode.
  • the relationship between the movement direction is the same as the relationship between the gimbal's heading and the movement direction before the UAV enters the first mode; of course, in the second mode, the relationship between the gimbal's heading and the movement direction is the same as that before the UAV enters the first mode. , the relationship between the heading of the gimbal and the direction of movement may also be inconsistent.
  • the relationship between the heading of the gimbal and the direction of movement can be set as required.
  • the heading of the control gimbal coincides with the movement direction; in other embodiments, in the second mode, the included angle between the heading of the gimbal and the movement direction is controlled It is the size of the preset included angle, and the preset included angle is set by the user.
  • the UAV is controlled to enter the second mode.
  • the heading of the gimbal is controlled to coincide with the moving direction, or the angle between the heading and the moving direction of the gimbal is controlled to be a preset angle.
  • Such a design can prevent the unmanned aerial vehicle from flying slowly or rotating slowly, and the unmanned aerial vehicle is still in the first mode, which will cause the gimbal heading to shake, and further cause the sudden change of the real-time image.
  • the unmanned aerial vehicle may be controlled to be in the second mode, that is, when the unmanned aerial vehicle turns, the unmanned aerial vehicle is controlled to switch from the second mode to the first mode.
  • the target angular velocity is less than or equal to the preset angular velocity threshold, that is, the target angular velocity is approximately 0. Therefore, at the end of the turning of the unmanned aerial vehicle, the unmanned aerial vehicle can be controlled to switch from the first mode to In the second mode, when the UAV flies slowly or rotates slowly, the UAV is still in the first mode, which will cause the gimbal heading to shake, and further cause the sudden change of the real-time image.
  • the target linear velocity and the target angular velocity in the embodiments of the present application are both determined according to the speed control quantity sent from the outside.
  • the target linear velocity is determined according to the speed control quantity and the mapping relationship between the speed control quantity and the speed of the unmanned aerial vehicle. and the target angular velocity, wherein the mapping relationship between the speed control amount and the speed of the UAV is the existing mapping relationship.
  • the speed control amount may be determined according to the stick amount of the remote controller; it should be understood that the speed control amount may also be generated by a mobile phone, a tablet computer, or a somatosensory control device.
  • the heading of the gimbal is controlled to deflect relative to the movement direction of the unmanned aerial vehicle, and the deflection direction and the turning direction of the unmanned aerial vehicle form a preset angle.
  • FIG. 3E shows the position of the UAV 100 on the turning trajectory at time t1 and time t2 , time t1 is earlier than time t2 , wherein , the turning direction of the UAV 100 can be characterized by the connection direction between the position of the UAV 100 on the turning trajectory at time t1 and the position of the UAV 100 on the turning trajectory at time t2.
  • an implementation process of controlling the heading of the gimbal to deflect relative to the movement direction of the UAV, and the deflection direction and the turning direction of the UAV form a preset angle may include steps S401 - S402 .
  • the target deflection angle is determined according to the target linear velocity and the target angular velocity.
  • the preset angle can be smaller than the target deflection angle or equal to the target deflection angle.
  • the target deflection angle is negatively correlated with the turning radius of the UAV, that is, the smaller the turning radius is, the larger the target deflection angle is set.
  • the smaller the turning radius the faster the UAV turns, and the greater the possibility that the UAV will hit the obstacle because the camera cannot capture the obstacles on the turning trajectory.
  • the turning radius is determined according to the target linear velocity and the target angular velocity.
  • the calculation formula of the turning radius r is as follows:
  • v is the target linear velocity
  • w is the target angular velocity
  • the load is a photographing device
  • the target deflection angle is negatively correlated with the field of view FOV of the photographing device, that is, the smaller the field of view FOV, the larger the target deflection angle is.
  • the heading of the platform is deflected by a large target deflection angle relative to the movement direction of the UAV, and the deflection direction is at a preset angle with the turning direction of the UAV, so that the camera can capture the obstacles on the turning trajectory and reduce the risk of unmanned aerial vehicles. Risk of collision of human aircraft with obstacles.
  • the target deflection angle is positively correlated with the target angular velocity, that is, the larger the target angular velocity is, the larger the target deflection angle is set.
  • the target angular velocity the faster the UAV turns, and the greater the possibility that the UAV will hit the obstacle because the camera does not have time to capture the obstacles on the turning trajectory. Therefore, the higher the target angular velocity.
  • the obstacles on the turning trajectory can be photographed in time to reduce the risk of the UAV hitting the obstacles.
  • the target deflection angle is negatively correlated with the turning radius of the UAV, and negatively correlated with the field of view FOV of the photographing device, so that the photographing device The obstacles on the turning trajectory can be photographed in time to reduce the risk of the UAV hitting the obstacles.
  • the target deflection angle is less than or equal to the preset angle threshold.
  • the gimbal can be prevented from being deflected beyond the rotation angle range of the gimbal, and at the same time It can prevent the gimbal's heading from deflecting too much relative to the movement direction of the UAV, which will cause the gimbal to shake too much, and further cause the sudden change of the real-time image.
  • the size of the preset angle threshold can be set as required. Exemplarily, the size of the preset angle threshold can be determined according to the angular rotation range of the gimbal.
  • the target deflection angle determined in S401 is greater than the preset angle threshold, the target is deflected
  • the angle is limited to the preset angle threshold value to prevent the target deflection angle from being too large and exceeding the angular rotation range of the gimbal.
  • the heading of the gimbal is controlled to deflect relative to the movement direction of the unmanned aerial vehicle, and the deflection direction and the turning direction of the unmanned aerial vehicle form a preset angle.
  • S402 can be realized by controlling the rotation of the gimbal and/or by controlling the rotation of the unmanned aerial vehicle.
  • the description is given by taking the load as a photographing device as an example. It can be understood that the corresponding description of the load as an obstacle avoidance sensor can refer to the load as a photographing device. example.
  • the heading of the gimbal is controlled to deflect toward the turning direction of the UAV so that there is a deflection between the heading of the gimbal and the movement direction of the UAV.
  • the target deflection angle is the target deflection angle of the gimbal heading.
  • the process of controlling the course of the gimbal to deflect toward the turning direction of the unmanned aerial vehicle may include, but is not limited to, the following steps:
  • the first target angle is equal to the third target angle of the UAV, and the direction is a preset angle, and the third target angle is determined according to the target angular velocity.
  • the target angular velocity is 10°/s
  • the angle of the UAV at the current moment is 90° (unit: degrees)
  • the third target angle of the UAV in the next second is 100°.
  • the first target angle is 100°.
  • first target angle and the third target angle both include the heading angle; of course, the first target angle and the third target angle may also include angles in other directions, such as the pitch angle and/or roll angle.
  • the first target angle includes the first heading target angle of the gimbal
  • the second target angle includes the second heading target angle of the gimbal
  • step (2) is the target deflection angle and the first heading in the first target angle.
  • the target angles are superimposed to obtain a second heading target angle among the second target angles. It should be understood that when the first target angle includes angles in other directions, the second target angle also includes angles in corresponding directions.
  • the target deflection angle and the first target angle are smoothly superimposed to obtain the second target of the gimbal at different times. Angle, so that the heading of the gimbal is smoothly deflected toward the turning direction of the unmanned aerial vehicle, and the shaking of the gimbal is reduced, thereby reducing the shaking of the picture captured by the photographing device.
  • the first preset algorithm may include a low-pass filtering algorithm, and may also include other filtering algorithms, such as a mean filtering algorithm.
  • the first preset algorithm is a low-pass filtering algorithm, and according to the first preset algorithm, the target deflection angle and the first target angle are smoothly superimposed to obtain the second target angle of the gimbal at different times, according to The target deflection angle, the first low-pass filter coefficient, and the superimposed deflection angle of the gimbal at the previous moment determine the superimposed deflection angle of the gimbal at the current moment; superimpose the superimposed deflection angle of the gimbal at the current moment with the first target angle , to obtain the second target angle of the gimbal at the current moment.
  • the calculation method of determining the superimposed deflection angle of the gimbal at the current time t by the low-pass filtering algorithm is as follows:
  • ⁇ t (1-p 1 )* ⁇ t-1 +p 1 * ⁇ (2);
  • ⁇ t represents the superimposed deflection angle at the current time t
  • ⁇ t-1 represents the superimposed deflection angle at the previous moment (t-1);
  • ⁇ represents the target deflection angle
  • p 1 represents the first low-pass filter coefficient, 0 ⁇ p 1 ⁇ 1, the larger p 1 is, the weaker the filtering effect, and the faster the superposition speed of the target deflection angle to the first target angle.
  • the recording can also be superimposed on the deflection angle [alpha] t of the current time t to (t + 1) is superimposed deflection angle [alpha] t used in the calculation of the next time.
  • the superimposed deflection angle of the gimbal at the current time t is superimposed with the second target angle, and the calculation method to obtain the second target angle of the gimbal at the current time t is as follows:
  • ⁇ represents the first target angle
  • ⁇ ⁇ 0 + ⁇ *t
  • ⁇ 0 represents the initial first target angle
  • ⁇ t represents the second target angle of the gimbal at the current time t.
  • the calculation method of the superimposed deflection angle at the current time t is not limited to the formula (2), and the calculation of the second target angle at the current time t is not limited to the formula (3).
  • the heading of the gimbal is the same as that of the unmanned aerial vehicle.
  • the UAV's heading angle is controlled to rotate to 91°, and the gimbal's heading is controlled.
  • the angle is rotated to 92°, so that the heading of the gimbal is deflected by 1° toward the turning direction of the UAV; at time 2, the heading angle of the UAV is controlled to rotate to 92°, and the heading angle of the gimbal is controlled to rotate to 93.8°, The heading of the gimbal is deflected by 1.8° towards the turning direction of the UAV. In this way, the heading of the gimbal is ahead of the moving direction of the UAV by an angle, so that the inside of the turning trajectory is more exposed to the FOV of the camera.
  • the user can see more vision inside the turning track through the image transmission screen, so that the user can know in advance whether there are obstacles on the turning track, and make corresponding obstacle avoidance operations to improve flight safety and control experience. It should be noted that at time 1 and time 2, the heading angle of the unmanned aerial vehicle
  • the unmanned aerial vehicle flies forward and turns, and the heading of the gimbal coincides with the heading of the unmanned aerial vehicle, please refer to Figure 3C(a), when the unmanned aerial vehicle flies forward and turns in the second mode, the heading of the gimbal Not ahead of the movement direction of the UAV. At this time, the heading of the gimbal coincides with Vx, and the obstacle 1 cannot be photographed within the FOV of the camera. The user may not be able to control the UAV in time to avoid obstacles.
  • the UAV hits obstacle 1; please refer to Figure 3C(b), when the UAV turns forward, control the gimbal to enter the first mode, so that the heading of the gimbal is ahead of the moving direction of the UAV Deflection by an angle ⁇ t , that is, the heading of the gimbal is deflected by an angle ⁇ t ahead of Vx, so that the inner side of the turning trajectory is more exposed to the field of view FOV of the camera, and the camera can shoot within the field of view FOV of the camera to obstacle 1, thereby avoiding the UAV hitting obstacle 1.
  • the unmanned aerial vehicle flies forward and turns, and the included angle between the heading of the gimbal and the heading of the unmanned aerial vehicle is ⁇ , please refer to 3D(a), when the unmanned aerial vehicle flies forward and turns in the second mode, The heading of the gimbal is not ahead of the movement direction of the UAV. At this time, the angle between the heading of the gimbal and Vx is the size of ⁇ . Obstacle 2 cannot be photographed within the FOV of the camera. Control the UAV to avoid obstacles and cause the UAV to hit the obstacle 2; please refer to Figure 3D(b).
  • the heading is deflected by an angle ⁇ t ahead of the moving direction of the UAV, that is, the angle between the heading of the gimbal and Vx is the sum of ⁇ and ⁇ t , so that the inside of the turning trajectory is more exposed to the field of view of the camera.
  • the obstacle 2 can be photographed within the field of view FOV of the photographing device, thereby preventing the unmanned aerial vehicle from hitting the obstacle 2 .
  • the unmanned aerial vehicle flies forward and turns, and the angle between the heading of the gimbal and the heading of the unmanned aerial vehicle is ⁇ .
  • the gimbal is an angle ahead of or behind the body of the movable platform, that is, in this case, it means that the angle ⁇ between the heading of the gimbal and the heading of the UAV has achieved the position of the gimbal relative to the body of the movable platform. ahead.
  • the movement direction of the unmanned aerial vehicle is controlled to deviate from the turning direction, so that there is a deflection between the heading of the gimbal and the movement direction of the unmanned aerial vehicle.
  • the movement direction of the UAV is controlled to deviate from the turning direction by a small angle, which is equivalent to the movement direction of the UAV lags the heading of the gimbal by an angle, which can also make the inside of the turning trajectory more exposed.
  • the user can see more of the inner side of the turning trajectory through the real-time image transmitted through the image, so that the user can know in advance whether there are obstacles on the turning trajectory, improving flight safety and control experience.
  • the target deflection angle is the target deflection angle of the UAV heading.
  • the process of controlling the movement direction of the UAV to deviate from the turning direction may include but not be limited to the following steps:
  • the target angular velocity is 10°/s, and the angle of the UAV at the current moment is 90°, then the third target angle of the UAV in the next second is 100°.
  • the third target angle includes the third heading target angle of the unmanned aerial vehicle
  • the fourth target angle includes the fourth heading target angle of the unmanned aerial vehicle
  • the fourth heading target angle is the third heading in the third target angle. The difference is obtained by subtracting the target deflection angle from the target angle. It should be understood that when the third target angle includes angles in other directions, the fourth target angle also includes angles in corresponding directions.
  • the third target angle and the target deflection angle are controlled to be smoothly subtracted, and the third target angle of the unmanned aerial vehicle at different times is determined.
  • the four target angles make the movement direction of the UAV smoothly deflect away from the turning direction.
  • the second preset algorithm may include a low-pass filtering algorithm, and may also include other filtering algorithms, such as a mean filtering algorithm.
  • the second preset algorithm is a low-pass filter algorithm, and when the second target angle and the target deflection angle are controlled to be smoothly subtracted according to the second preset algorithm to determine the fourth target angle of the unmanned aerial vehicle at different times, Determine the subtracted deflection angle of the UAV at the current moment according to the target deflection angle, the second low-pass filter coefficient, and the subtracted deflection angle of the UAV at the previous moment; subtract the UAV at the current moment from the third target angle The difference obtained by the subtracted deflection angle at the moment determines the fourth target angle of the UAV at the current moment.
  • the calculation method of determining the subtracted deflection angle of the gimbal at the current time t by the low-pass filtering algorithm is as follows:
  • p 2 represents the first low-pass filter coefficient, 0 ⁇ p 2 ⁇ 1, the larger p 2 is, the weaker the filtering effect, and the faster the subtraction speed between the third target angle and the target deflection angle.
  • the subtracted deflection angle of the current time t can also be Recording is made to use ⁇ t in calculating the subtracted deflection angle at the next time instant (t+1).
  • the calculation method for determining the fourth target angle of the unmanned aerial vehicle at the current time t is as follows:
  • ⁇ represents the third target angle
  • ⁇ ⁇ 0 + ⁇ *t
  • ⁇ 0 represents the initial third target angle
  • ⁇ t represents the third target angle of the UAV at the current time t.
  • the calculation method of the subtracted deflection angle at the current time t is not limited to the formula (4), and the calculation of the fourth target angle at the current time t is not limited to the formula (5).
  • Yaw angle at time 1, control the heading angle of the gimbal to rotate to 91°, and control the heading angle of the UAV to rotate to 90°, so that the heading of the UAV is deviated from the turning direction by 1°, so that no one
  • the heading of the aircraft lags the heading of the gimbal by 1°; at time 2, the heading angle of the gimbal is controlled to rotate to 92°, and the heading angle of the UAV is controlled to rotate to 90.2°.
  • the heading of the gimbal is deflected by 1.8° towards the turning direction of the UAV.
  • the moving direction of the UAV is lagged behind the heading of the gimbal by an angle, so that the inside of the turning trajectory is more exposed to the FOV of the camera.
  • the user can see more vision inside the turning track through the image transmission screen, so that the user can know in advance whether there are obstacles on the turning track, and make corresponding obstacle avoidance operations to improve flight safety and control experience.
  • the target deflection angle may not be calculated, but a preset angle can be directly given.
  • the deflection angle controls the heading of the gimbal to deflect relative to the movement direction of the unmanned aerial vehicle, and the deflection direction and the turning direction of the unmanned aerial vehicle form a preset angle.
  • the heading of the gimbal When the heading of the gimbal is controlled to deflect relative to the movement direction of the UAV according to the preset deflection angle, and the deflection direction is at a preset angle with the turning direction of the UAV, the heading of the gimbal can be controlled to be ahead of the UAV.
  • the movement direction is controlled by an angle and/or the movement direction of the UAV is controlled to lag the heading of the gimbal by an angle
  • the heading of the gimbal is controlled by an angle ahead of the movement direction of the UAV or the movement direction of the UAV is controlled to lag the gimbal.
  • the preset angle may be smaller than the preset deflection angle, or may be equal to the preset deflection angle.
  • automatic obstacle avoidance of the unmanned aerial vehicle or manual obstacle avoidance can be realized according to the data information of load sensing (including the position information of obstacles).
  • the load can sense the position information of obstacles on the turning trajectory in advance. Therefore, the data information sensed according to the load can effectively detect the UAV. Avoid obstacles and improve cornering safety.
  • the unmanned aerial vehicle obtains the position information of the obstacle detected by the load to avoid the obstacle, and the automatic obstacle avoidance method does not require human intervention.
  • the load is a photographing device, and the data information sensed by the load includes a real-time image collected by the photographing device.
  • the control method of the unmanned aerial vehicle system may further include: sending the real-time image collected by the photographing device to an external display device, and the user It can be judged whether there are obstacles on the turning track according to the real-time image displayed by the external display device (if there is an obstacle on the turning track, the real-time image can indicate the position information of the obstacle on the turning track), so as to control the unmanned aerial vehicle to achieve Obstacle avoidance, wherein the photographing device may include a first-person main view FPV photographing device, or may include other photographing devices, and the external display device may include video glasses or other display devices.
  • the execution body of the control method for a mobile platform system in this embodiment of the present application is the mobile platform system, for example, the execution body may be The main controller of the movable platform, or other controllers provided on the movable platform, or a combination of the main controller of the movable platform and other controllers provided on the movable platform.
  • the control method of the movable platform system in the embodiment of the present application may include the following steps:
  • the sensing direction of the load can be characterized by the angle bisector of the sensing range of the load, or by the boundary of the sensing range of the load, or by any point within the sensing range of the load and the sensing range of the load.
  • the connection direction of the corner vertices is characterized.
  • the load and the body of the movable platform can be controlled to deflect the same angle in the same direction, but in order to make the load lead the body by an angle, an angle can be superimposed on the deflection angle of the load and/or the deflection angle of the body. An angle is subtracted upward, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.
  • the difference between the control method of the movable platform system of the embodiment shown in FIG. 5 and the control method of the unmanned aerial vehicle system of the embodiment shown in FIG. 2 is: the embodiment shown in FIG. 2
  • the heading of the control gimbal is ahead of the moving direction of the unmanned aerial vehicle by an angle, so that the load can sense the obstacles on the turning trajectory in advance.
  • the sensing direction of the load is advanced by an angle relative to the movement direction of the unmanned aerial vehicle, so that the load is advanced in advance Obstacles on the turning trajectory are sensed, which is not only suitable for the scene where the UAV turns on a plane (such as a horizontal or vertical plane or a plane between the horizontal and vertical), but also applies to the scene where the UAV turns In the scenario of space turning (the turning trajectory is located in multiple planes), when the UAV turns on a plane, if the turning trajectory is parallel to the horizontal plane, when controlling the attitude of the gimbal, you only need to control the yaw attitude of the gimbal.
  • the sensing direction of the load is advanced by an angle relative to the movement direction of the unmanned aerial vehicle, which is similar to that of the embodiment shown in FIG.
  • the attitude of the gimbal you only need to control the pitch attitude of the gimbal, and the sensing direction of the load can be advanced by an angle relative to the movement direction of the UAV; and when the UAV turns in space, it can be controlled when the gimbal is controlled.
  • the attitude of the unmanned aerial vehicle UAV
  • the aircraft When the aircraft rolls back and forth while changing the heading, it can control the yaw attitude and pitch attitude of the gimbal, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform are preset. angle.
  • the UAV rolls back and forth while changing the heading, it can also adjust the roll attitude, which can be used to enhance stability or assist in adjusting the sensing direction of the load.
  • the payload is a photographing device
  • the sensing direction of the payload is the photographing range of the photographing device.
  • the method of determining the target linear velocity in the embodiment shown in FIG. 5 is similar to the method of determining the target linear velocity in the embodiment shown in FIG. 2 .
  • the target angular velocity if the UAV turns horizontally, the attitude of the control head is , only the yaw attitude is controlled, and the target angular velocity in the embodiment shown in Figure 5 is the same as the target angular velocity in the embodiment shown in Figure 2, both refer to the yaw angular velocity; if the UAV turns upward or downward, then
  • the target angular velocity in the embodiment shown in FIG. 5 is the pitch angular velocity. That is, the target angular velocity corresponds to the turning direction, and adaptive adjustment can be made under different turning situations.
  • the execution body of the control method for a mobile platform system in this embodiment of the present application is the mobile platform system, for example, the execution body may be The main controller of the movable platform, or other controllers provided on the movable platform, or a combination of the main controller of the movable platform and other controllers provided on the movable platform.
  • the control method of the movable platform system in the embodiment of the present application may include the following steps:
  • the load and the body of the movable platform can be controlled to deflect the same angle in the same direction, but in order to make the load lead the body by an angle, an angle can be superimposed on the deflection angle of the load and/or the deflection angle of the body. Decrease an angle upward, so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.
  • trajectory point is located on the turning trajectory, and the trajectory point of the movable platform at the next moment falls within the sensing range of the load, that is, the load can sense the trajectory point of the movable platform at the next moment in advance, thereby Obstacles on the turning trajectory are sensed in advance.
  • the attitude of the gimbal and/or the movable platform when the attitude of the gimbal and/or the movable platform is controlled, so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load, the attitude of the gimbal and/or the movable platform can be controlled,
  • the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform are at a preset angle.
  • the execution body of the control method for a mobile platform system in this embodiment of the present application is the mobile platform system, for example, the execution body may be The main controller of the movable platform, or other controllers provided on the movable platform, or a combination of the main controller of the movable platform and other controllers provided on the movable platform.
  • the control method of the movable platform system in the embodiment of the present application may include the following steps:
  • the body of the movable platform is the body of the unmanned aerial vehicle. Since the pan/tilt may rotate and/or translate, the embodiment shown in FIG. 7 is used when the unmanned aerial vehicle turns.
  • the sensing range of the load is deflected in the same direction as the body of the unmanned aerial vehicle, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the unmanned aerial vehicle,
  • the gimbal is ahead of the UAV by an angle, so that the load can sense obstacles on the turning trajectory in advance.
  • the load and the body when turning, the load and the body can be controlled to deflect the same angle in the same direction, but in order to make the load lead the body by an angle, an angle can be added to the deflection angle of the load and/or the deflection angle of the body can be subtracted by an angle. , so that the sensing range of the load and the body of the unmanned aerial vehicle are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the unmanned aerial vehicle.
  • the movement of the gimbal includes attitude switching and/or translation, wherein, when controlling the movement of the gimbal, the sensing range of the load and the body of the movable platform are deflected in the same direction, and the sensing range of the load is deflected.
  • the gimbal is controlled to perform attitude switching, so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than The deflection angle of the body of the movable platform; optionally, control the pan/tilt to translate, so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than that of the movable platform.
  • the deflection angle of the main body optional, control the attitude of the gimbal and control the gimbal to translate, so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than that of the movable platform.
  • the deflection angle of the body of the mobile platform is similar to the implementation principle of controlling the attitude of the PTZ in the embodiment shown in FIG. 5 , and will not be repeated here.
  • controlling the pan-tilt to perform translation may include: controlling the translation structure to translate along the preset plane, so as to control the pan-tilt to pan along the preset plane.
  • the movement of the movable platform includes attitude switching.
  • controlling the movable platform to enter the first mode/second mode described in the above embodiments also means controlling the movable platform system to enter the first mode/second mode.
  • the first mode/second mode is used to indicate the relative rotational relationship/relative positional relationship between the body of the movable platform and the gimbal, and there may be no mode setting, but only represents the switching of control logic.
  • the embodiment of the present application further provides a control device of the movable platform system.
  • the control device of the movable platform system may include a storage device and a processor, and the processor includes one or more processors.
  • the storage device is used for storing program instructions.
  • the storage device stores the executable instruction computer program of the control method of the mobile platform system
  • the storage device may include at least one type of storage medium, and the storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (eg , SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory ( PROM), magnetic memory, magnetic disk, optical disk, etc.
  • the control device of the mobile platform system may cooperate with a network storage device that performs the storage function of the memory through a network connection.
  • the memory may be an internal storage unit of the control device of the mobile platform system, such as a hard disk or a memory of the control device of the mobile platform system.
  • the memory can also be an external storage device of the control device of the mobile platform system, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the control device of the mobile platform system. ) card, Flash Card, etc.
  • the memory may also include both an internal storage unit of the control device of the movable platform system and an external storage device. Memory is used to store computer programs and other programs and data required by the device. The memory can also be used to temporarily store data that has been or will be output.
  • the one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to perform the following operations: When the movable platform turns, control the movable platform to enter the first mode; in the first mode, control the heading of the gimbal to deflect relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.
  • the processor of this embodiment can implement the control method of the unmanned aerial vehicle system according to the embodiment shown in FIG. 2 and FIG. 4 of the present application. Please refer to the control method of the unmanned aerial vehicle system of the above-mentioned embodiment for the movable platform system of this embodiment. The control device is explained.
  • one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to use In the implementation of the following operations: when the movable platform turns, control the movable platform to enter a first mode; in the first mode, control the attitude of the pan/tilt, so that the sensing direction of the load is relative to each other The moving direction of the movable platform is deflected, and the deflection direction and the turning direction of the movable platform form a preset angle.
  • the processor of this embodiment can implement the control method of the movable platform system according to the embodiment shown in FIG. 5 of the present application. For details, please refer to the control method of the movable platform system in the above embodiment for the control device of the movable platform system in this embodiment. Be explained.
  • one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to use In the implementation of the following operations: when the movable platform turns, control the movable platform to enter the first mode; in the first mode, control the posture of the pan/tilt, so that the movable platform next moment The track points fall within the sensing range of the load.
  • the processor of this embodiment can implement the control method of the movable platform system according to the embodiment shown in FIG. 6 of the present application. For details, please refer to the control method of the movable platform system of the above-mentioned embodiment for the control device of the movable platform system of this embodiment. Be explained.
  • the movable platform when the movable platform turns, the movable platform is controlled to enter a first mode; in the first mode, the movement of the pan/tilt head is controlled to make the sensing range of the load
  • the body of the movable platform is deflected in the same direction, and the deflection angle of the sensing range of the load is larger than the deflection angle of the body of the movable platform.
  • the processor of this embodiment can implement the control method of the movable platform system according to the embodiment shown in FIG. 7 of the present application.
  • the processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • ASIC Application Specific Integrated Circuit
  • FPGA field Field-Programmable Gate Array
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • an embodiment of the present application further provides a movable platform system
  • the movable platform system may include a movable platform, a pan-tilt, and the control device of the movable platform system of the foregoing embodiments.
  • the pan/tilt is mounted on the movable platform
  • the pan/tilt is used to mount the photographing device
  • the control device of the movable platform system is supported by the movable platform and/or the pan/tilt.
  • an unmanned aerial vehicle system is taken as an example for description. Please refer to FIG. 1 and FIG. 9 .
  • control device The gimbal 200 is mounted on the unmanned aerial vehicle 100 , the gimbal 200 is used for carrying the load 300 supporting obstacle avoidance, and the control device of the movable platform system is supported by the unmanned aerial vehicle 100 and/or the gimbal 200 .
  • the payload 300 may include a photographing device and/or an obstacle avoidance sensor, exemplarily, the payload 300 is a photographing device; exemplarily, the payload 300 is an obstacle avoidance sensor; exemplarily, the payload includes a photographing device and an obstacle avoidance sensor fault sensor.
  • the control device of the movable platform system may include or be a part of the unmanned aerial vehicle, or may be independent of the unmanned aerial vehicle.
  • the control device of the movable platform system includes the flight controller of the unmanned aerial vehicle, or the control device of the movable platform system includes other controllers provided in the unmanned aerial vehicle; exemplarily, the control device of the unmanned aerial vehicle is independent
  • the control device of the movable platform system communicates with the unmanned aerial vehicle and the gimbal respectively, thereby controlling the unmanned aerial vehicle and the gimbal.
  • the unmanned aerial vehicle 100 is an unmanned aerial vehicle
  • the gimbal 200 may be mounted above the front of the fuselage of the unmanned aerial vehicle, or mounted on the bottom of the fuselage or other positions of the fuselage.
  • the embodiments of the present application further provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the control method of the mobile platform system of the above-mentioned embodiments.
  • the steps of the control method of the movable platform control system in the above-mentioned embodiment include the steps of the control method of the unmanned aerial vehicle system as an example for description.
  • the computer-readable storage medium may be an internal storage unit of the UAV system described in any of the foregoing embodiments, such as a hard disk or a memory.
  • the computer-readable storage medium can also be an external storage device of the UAV system, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash memory card (Flash Card) equipped on the device. )Wait.
  • the computer-readable storage medium may also include both an internal storage unit of the UAV system and an external storage device.
  • the computer-readable storage medium is used to store the computer program and other programs and data required by the UAV system, and can also be used to temporarily store data that has been output or will be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

La présente invention concerne un système de plateforme mobile, ainsi qu'un dispositif et un procédé de commande associés. Le système de plateforme mobile comprend une plateforme mobile et un cardan posé sur celle-ci. Le cardan est utilisé pour porter un dispositif de photographie. Le procédé comprend les étapes suivantes : lorsqu'une plateforme mobile tourne, elle est commandée de manière à entrer dans un premier mode (S501) ; et dans le premier mode, la direction d'orientation du cardan est commandée de manière à dévier par rapport à la direction de déplacement de la plateforme mobile, un angle prédéfini étant formé entre la direction de déviation et la direction de rotation de la plateforme mobile (S502). Lors de la rotation, la plateforme mobile est commandée de manière à entrer dans le premier mode. Dans le premier mode, la direction d'orientation du cardan est commandée de manière à dévier par rapport à la direction de déplacement de la plateforme mobile et un angle prédéfini est formé entre la direction de déviation et la direction de rotation de la plateforme mobile, ledit angle revenant à faire avancer le cardan devant la plateforme mobile à un angle permettant d'exposer complètement la trajectoire de rotation à l'intérieur du champ de vision du dispositif de photographie, de telle sorte que le dispositif de photographie puisse capturer l'obstacle sur la trajectoire de rotation à l'avance, ce qui permet d'améliorer la sécurité de vol et l'expérience de vol.
PCT/CN2020/098581 2020-06-28 2020-06-28 Système de plateforme mobile, dispositif et procédé de commande associés Ceased WO2022000137A1 (fr)

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CN202080032562.8A CN113795806B (zh) 2020-06-28 2020-06-28 可移动平台系统及其控制方法和装置
CN202510119435.6A CN119937614A (zh) 2020-06-28 2020-06-28 可移动平台系统及其控制方法和装置
PCT/CN2020/098581 WO2022000137A1 (fr) 2020-06-28 2020-06-28 Système de plateforme mobile, dispositif et procédé de commande associés

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