WO2018176233A1

WO2018176233A1 - Cradle head-based mounting state control method, and aerial vehicle

Info

Publication number: WO2018176233A1
Application number: PCT/CN2017/078461
Authority: WO
Inventors: 王岩; 林光远
Original assignee: 深圳市大疆灵眸科技有限公司
Priority date: 2017-03-28
Filing date: 2017-03-28
Publication date: 2018-10-04
Also published as: CN108521805A

Abstract

A cradle head (20)-based mounting state control method for an aerial vehicle (100), and the aerial vehicle (100). The aerial vehicle (100) comprises a first accelerometer (10). The cradle head (20) comprising a second accelerometer (22). The control method comprises the steps of: (S2) obtaining a first gravitational acceleration of an aerial vehicle (100) by means of a first accelerometer (10); (S4) obtaining a second gravitational acceleration of a cradle head (20) by means of a second accelerometer (22); and (S6) determining the mounting state of the cradle head (20) according to the first gravitational acceleration and the second gravitational acceleration.

Description

PTZ-based installation state control method and aircraft

Technical field

The invention relates to a consumer electronic technology, in particular to a control method based on a pan/tilt installation state and an aircraft.

Background technique

In the related art, according to different requirements, the pan/tilt can be installed above or below the aircraft. For example, in order to obtain the view below the aircraft, the pan/tilt can be installed under the aircraft; in order to obtain the view above the aircraft, the pan/tilt can be installed in the Above the aircraft. Since different PTZ installation states will result in different PTZ operation logic, it is necessary to obtain the installation status of the PTZ to determine the specific PTZ operation logic. At present, the installation state of the gimbal and the operation logic of setting the gimbal are generally determined manually, but such operation mode takes time and human resources.

Summary of the invention

Embodiments of the present invention provide a control method and an aircraft based on an installation state of a gimbal.

The invention provides a control method based on an installation state of a gimbal for an aircraft, the aircraft comprising a first accelerometer, the gimbal comprising a second accelerometer, the control method comprising the following steps:

Acquiring a first gravitational acceleration of the aircraft by the first accelerometer;

Acquiring a second gravitational acceleration of the gimbal by the second accelerometer; and

The installation state of the pan/tilt is determined according to the first gravitational acceleration and the second gravitational acceleration.

The invention provides an aircraft comprising:

First accelerometer;

a cloud platform, the cloud platform including a second accelerometer;

a controller for:

The control method based on the installation state of the gimbal according to the embodiment of the present invention and the first gravitational acceleration and the second gravitational acceleration respectively acquired by the first accelerometer and the second accelerometer respectively determine the installation state of the gimbal, and correspondingly The ground automatically adjusts the operation logic and recording direction of the gimbal. This operation mode is simple and convenient and time-saving.

The additional aspects and advantages of the embodiments of the present invention will be set forth in part in the description which follows.

DRAWINGS

The above and/or additional aspects and advantages of the present invention will become apparent and readily understood from

1 is a schematic flow chart of a method for controlling a mounting state based on a gimbal according to an embodiment of the present invention;

2 is a schematic block diagram of an aircraft according to an embodiment of the present invention;

3 is another schematic flowchart of a method for controlling a mounting state based on a gimbal according to an embodiment of the present invention;

4 is a schematic diagram of another module of an aircraft according to an embodiment of the present invention;

FIG. 5 is still another schematic flowchart of a method for controlling a mounting state based on a gimbal according to an embodiment of the present invention; FIG.

6 is a schematic diagram of still another module of the aircraft according to an embodiment of the present invention;

7 is a schematic block diagram of a stabilizing device according to an embodiment of the present invention;

8 is a schematic structural view of a pan/tilt head according to an embodiment of the present invention;

FIG. 9 is still another schematic flowchart of a method for controlling a mounting state based on a gimbal according to an embodiment of the present invention; FIG.

FIG. 10 is still another schematic flowchart of a method for controlling a mounting state based on a gimbal according to an embodiment of the present invention; FIG.

11 is a schematic block diagram of still another module of the aircraft according to an embodiment of the present invention;

FIG. 12 is still another schematic flowchart of a method for controlling a mounting state based on a gimbal according to an embodiment of the present invention; FIG.

Fig. 13 is a schematic diagram showing the connection of a pan/tilt head and a remote controller according to an embodiment of the present invention.

The main component symbol drawing description:

Aircraft 100, first accelerometer 10, pan/tilt head 20, second accelerometer 22, susceptor 24, load fixing portion 26, stabilizing device 28, motor 282, angle sensor 284, controller 30, imaging device 40, remote control 600.

detailed description

The embodiments of the present invention are described in detail below, and the examples of the embodiments are illustrated in the drawings, wherein the same or similar reference numerals indicate the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the drawings are intended to be illustrative of the invention and are not to be construed as limiting.

In the description of the present invention, it is to be understood that the terms "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, features defining "first" or "second" may include one or more of the described features either explicitly or implicitly. In the description of the present invention, the meaning of "a plurality" is two or more unless specifically and specifically defined otherwise.

In the description of the present invention, it should be noted that the terms "installation", "connected", and "connected" are to be understood broadly, and may be fixed or detachable, for example, unless otherwise explicitly defined and defined. Connected, or integrally connected; may be mechanically connected, or may be electrically connected or may communicate with each other; may be directly connected or indirectly connected through an intermediate medium, may be internal communication of two elements or interaction of two elements relationship. For the common technology in the field The specific meaning of the above terms in the present invention can be understood on the basis of the specific circumstances.

The following disclosure provides many different embodiments or examples for implementing different structures of the present invention. In order to simplify the disclosure of the present invention, the components and arrangements of the specific examples are described below. Of course, they are merely examples and are not intended to limit the invention. In addition, the present invention may be repeated with reference to the numerals and/or reference numerals in the various examples, which are for the purpose of simplicity and clarity, and do not indicate the relationship between the various embodiments and/or arrangements discussed. Moreover, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art will recognize the use of other processes and/or the use of other materials.

Referring to FIG. 1 and FIG. 2 together, the control method based on the installation state of the pan/tilt head 20 of the embodiment of the present invention can be applied to the aircraft 100. The aircraft 100 includes a first accelerometer 10 and the platform 20 includes a second accelerometer 22. The control method includes the following steps:

S2: acquiring a first gravitational acceleration of the aircraft 100 by the first accelerometer 10;

S4: acquiring the second gravitational acceleration of the pan/tilt head 20 by the second accelerometer 22; and

S6: Determine the installation state of the platform 20 according to the first gravitational acceleration and the second gravitational acceleration.

Referring again to FIG. 2, an aircraft 100 in accordance with an embodiment of the present invention includes a first accelerometer 10, a pan/tilt head 20, and a controller 30. The platform 20 includes a second accelerometer 22. Controller 30 is used to:

Obtaining a first gravitational acceleration of the aircraft 100 by the first accelerometer 10;

Acquiring a second gravitational acceleration of the platform 20 by the second accelerometer 22; and

The installation state of the platform 20 is determined based on the first gravitational acceleration and the second gravitational acceleration.

That is, the control method of the embodiment of the present invention can be implemented by the aircraft 100 of the embodiment of the present invention, wherein steps S2, S4, and S6 can be implemented by the processor 30.

The control method based on the installation state of the pan/tilt head 20 of the embodiment of the present invention and the first gravitational acceleration and the second gravitational acceleration acquired by the first accelerometer 10 and the second accelerometer 22 respectively determine the installation of the gimbal 20 by the aircraft 100. The state and the operation logic and recording direction of the pan/tilt head 20 can be automatically adjusted accordingly, and the operation mode is simple and convenient and time-saving.

In certain embodiments, aircraft 100 includes an unmanned aerial vehicle.

In some embodiments, the platform 20 can be a support device for mounting, securing a load such as a camera or cell phone. The installation state of the pan/tilt head 20 includes being placed on the aircraft 100 and being placed on the aircraft 100.

As such, it is possible to determine whether the pan/tilt head 20 is being placed on the aircraft 100 or placed on the aircraft 100 by the control method of the embodiment of the present invention.

It can be understood that the installation state of the pan/tilt head 20 may refer to the installation location of the pan/tilt head 20. In some embodiments, in order to obtain more field of view and increase the operability of the aircraft 100, the aircraft 100 may include a plurality of mounting slots that may be used to mount the platform 20, such as above and below the aircraft 100. With mounting slots. Since the pan/tilt head 20 may be in different positions on the aircraft 100 and different positions may result in different pan/tilt 20 operation logic and recording directions, it is necessary to determine the position of the pan/tilt head 20 on the aircraft 100, by the control method of the embodiment of the present invention. The installation state of the pan/tilt head 20 is determined.

In some embodiments, when the platform 20 is installed below the aircraft 100, the platform 20 can be regarded as being placed on the aircraft 100. When the platform 20 is installed above the aircraft 100, the platform 20 can be regarded as being placed on the aircraft. 100 on.

In one embodiment, the controller 30 is operative to perform the control method of an embodiment of the present invention while the aircraft 100 is at a standstill.

As such, the first gravitational acceleration and the second gravitational acceleration can be acquired relatively quickly by the first accelerometer 10 and the second accelerometer 22.

It can be understood that when the aircraft 100 is in motion, the data detected by the first accelerometer 10 and the second accelerometer 22 may include other types of acceleration caused by the external force of the aircraft 100 in addition to the gravitational acceleration. Therefore, the data of the first accelerometer 10 and the second accelerometer 22 can be acquired when the aircraft 100 is in a stationary state. At this time, the data acquired by the first accelerometer 10 and the second accelerometer 22 is gravity acceleration, which can be more convenient and effective. The ground is converted into a first gravitational acceleration and a second gravitational acceleration.

It should be noted that the stationary state of the aircraft 100 may be obtained by artificial determination or by an inertial measurement unit such as a gyroscope, which is not limited in any way. In addition, the control method of the embodiment of the present invention can be executed once when the pan/tilt head 20 is installed, thereby avoiding unnecessary power consumption and running space consumption.

Referring to FIGS. 3 and 4 together, in one embodiment, the platform 20 includes a base 24 and a load securing portion 26. The load fixing portion 26 is provided with a second accelerometer 22. Step S4 includes the following steps:

S42: acquiring a third gravitational acceleration from the second accelerometer 22; and

S44: Acquire a second gravitational acceleration according to a third gravitational acceleration and an angular relationship between the pedestal 24 and the load fixing portion 26.

Referring again to FIG. 4, in one embodiment, the platform 20 includes a base 24 and a load securing portion 26. The load fixing portion 26 is provided with a second accelerometer 22. Controller 30 is used to:

Acquiring a third gravitational acceleration from the second accelerometer 22; and

The second gravitational acceleration is acquired according to the third gravitational acceleration and the angular relationship of the pedestal 24 and the load fixing portion 26.

That is, steps S42 and S44 can be implemented by the controller 30.

As such, the second gravitational acceleration of the platform 20 can be obtained by the third gravitational acceleration acquired by the second accelerometer 22 and the angular relationship of the pedestal 24 and the load-fixing portion 26.

Specifically, the platform 20 may include a plurality of components, such as a base 24 and a load fixing portion 26, and the platform 20 passes through the base The seat 24 is coupled to the aircraft 100, the load securing portion 26 is for securing a load, such as a camera or cell phone, and the second accelerometer 22 may be disposed on the base 24 or the load securing portion 26. The gravitational acceleration of the pedestal 24 can be regarded as the gravitational acceleration of the gimbal 20. When the second accelerometer 22 is disposed on the susceptor 24, the third gravitational acceleration acquired by the second accelerometer 22 can be regarded as the second gravitational acceleration of the pan/tilt head 20; and the second accelerometer 22 is disposed at the load fixing portion 26 In the upper case, since the load fixing portion 26 may be deflected or moved, the third gravitational acceleration acquired by the second accelerometer 22 may be different from the second gravitational acceleration of the gimbal 20, and passed through the base 24 and the load fixing portion 26 The angular relationship may convert the third gravitational acceleration acquired by the second accelerometer 22 into the gravitational acceleration of the pedestal 24, ie, the second gravitational acceleration of the gimbal 20.

Referring to FIGS. 5 and 6 together, in one embodiment, the platform 20 includes a stabilizing device 28 that is coupled to the load securing portion 26 by a stabilizing device 28. Step S44 includes the following steps:

S442: Obtain an angle relationship from the stabilizing device 28.

Referring again to FIG. 6, in one embodiment, the platform 20 includes a stabilizing device 28 that is coupled to the load securing portion 26 by a stabilizing device 28. The controller 30 is used to obtain an angular relationship from the stabilizing device 28.

That is, step S442 can be implemented by the controller 30.

As such, the angular relationship between the base 24 and the load securing portion 26 can be obtained by the stabilizing device 28.

In particular, the stabilizing device 28 is generally capable of stabilizing in three directions: roll, pitch, and yaw. The pan/tilt head 20 can be classified into a single-axis pan/tilt head, a two-axis pan/tilt head, and a three-axis pan/tilt head according to the number of directions in which the stabilizing device 28 can be stabilized. That is to say, the single-axis pan/tilt can stabilize one of the roll angle, the pitch angle and the yaw angle; the two-axis pan/tilt can perform two of the roll angle, the pitch angle and the yaw angle. Stabilization; the three-axis pan/tilt can stabilize the roll angle, pitch angle and yaw angle. The angular relationship between the pedestal 24 of the uniaxial head and the load fixing portion 26 can be determined by the direction in which the stabilizing device 28 is only stabilized; the pedestal 24 of the two-axis pan/tilt and the three-axis pan/tilt and the load fixing portion 26 The angular relationship between the two can be determined jointly by the multiple stabilization directions of the stabilization device 28.

Referring to FIG. 7, in one embodiment, the stabilizing device 28 is used to stabilize the pitch angle, the roll angle, and the yaw angle. The stabilizing device 28 includes three motors 282 and three corresponding angle sensors 284. Each angle sensor 284 is used to detect the angle of the corresponding motor 282. The angular relationship is determined by the angle of the three motors 282.

As such, the angular relationship between the base 24 and the load securing portion 26 can be determined by the angle of the three motors 282 of the three-axis pan/tilt.

It will be appreciated that the three-axis pan/tilt stabilization device 28 includes three motors 282 and three angle sensors 284, each for effecting stabilization in one direction. The coordinate system of the three directions in which the stabilizing device 28 is stabilized changes when the respective motor 282 rotates, and the amount of change is determined by the angle at which the motor 282 rotates, so that the angle of rotation of the motor 282 can be obtained by the angle sensor 284, and then according to the motor The angle of rotation of 282 determines the final coordinate system of the three directions of the stiffening device 28, respectively, so that the angular relationship between the base 24 and the load securing portion 26 can be determined.

Referring to Figure 8, in one embodiment, the pan/tilt head 20 is a three-axis pan/tilt head. The three motors 282 may be referred to as roll angle motors, pitch angle motors, and yaw angle motors depending on the direction of stabilization. The load fixing portion 26 may be disposed on the roll angle motor, the roll angle motor may be disposed on the pitch angle motor, the pitch angle motor may be disposed on the yaw angle motor, and the yaw angle motor may be disposed on the base 24. The angular relationship between the load fixing portion 26 and the pedestal 24 can be obtained by the angle of the tumbling angle motor, the angle of the pitch angle motor, and the angle of the yaw angle motor. Therefore, when the second accelerometer 22 is disposed on the load fixing portion 26, the second gravitational acceleration of the platform 20 can be obtained by: the third gravitational acceleration acquired by the second accelerometer 22 is first converted into a tumble angle motor. a fourth gravitational acceleration in the determined coordinate system; the fourth gravitational acceleration is converted into a fifth gravitational acceleration in a coordinate system determined by the pitch angle motor; and the fifth gravitational acceleration is finally converted into a coordinate system determined by the yaw angle motor The sixth gravitational acceleration. Since the yaw angle motor is disposed on the base 24, the sixth gravitational acceleration can be regarded as the gravitational acceleration of the susceptor 24, and can also be regarded as the second gravitational acceleration of the gimbal 20.

It should be noted that the positional relationship of the three motors of the stabilizing device 28 can be adjusted differently according to actual conditions. For example, the load fixing portion 26 can be set on the pitch angle motor, and the pitch angle motor can be set on the roll angle motor, the roll angle The motor can be placed on the yaw angle motor and the yaw angle motor can be placed on the base 24. There are no restrictions here.

In one embodiment, the stabilizing device 28 is used to stabilize the pitch angle, roll angle or yaw angle, and the stabilizing device 28 includes a motor 282 and a corresponding angle sensor 284. Angle sensor 284 is used to detect the angle of the corresponding motor 282. The angular relationship is determined by the angle of the motor 282.

As such, the angular relationship between the base 24 and the load securing portion 26 can be determined by the angle of the motor 282 of the uniaxial head.

It will be appreciated that the uniaxial pan/tilt stabilization device 28 includes a motor 282 and an angle sensor 284 for stabilizing one of a roll angle, a pitch angle, and a yaw angle. The coordinate system of the direction in which the stabilizing device 28 is stabilized changes when the motor 282 rotates, and the amount of change is determined by the angle at which the motor 282 is rotated. Therefore, the angle of rotation of the motor 282 can be obtained by the angle sensor 284, and then according to the angle of rotation of the motor 282. The final coordinate system of the stabilizing device 28 is determined so that the angular relationship between the pedestal 24 and the load securing portion 26 can be determined.

In one embodiment, the stabilizing device 28 is used to stabilize two of the pitch angle, the roll angle, and the yaw angle, and the stabilizing device 28 includes two motors 282 and two corresponding angle sensors 284. Each angle sensor 284 is used to detect the angle of the corresponding motor 282. The angular relationship is determined by the angle of the two motors 282.

As such, the angular relationship between the base 24 and the load securing portion 26 can be determined by the angle of the two motors 282 of the two-axis pan/tilt.

It can be understood that the two-axis pan/tilt stabilization device 28 includes two motors 282 and two angle sensors 284, each of which is used to achieve stabilization in one direction, that is, two motors 282 are used for tumbling Two of the angle, pitch angle and yaw angle are stabilized. The coordinate system of the two directions in which the stabilizing device 28 is stabilized is rotated when the respective motor 282 is rotated. The change will be determined by the angle at which the motor 282 is rotated. Therefore, the angle of rotation of the motor 282 can be obtained by the angle sensor 284, and the final coordinate system of the two directions of the stabilization device 28 can be determined according to the rotation angle of the motor 282, respectively. Thereby, the angular relationship between the susceptor 24 and the load fixing portion 26 can be determined.

Referring to FIG. 9, in an embodiment, step S6 includes the following steps:

S62: calculating a dot product of the first gravitational acceleration and the second gravitational acceleration; and

S64: The installation state is obtained according to whether the dot product is greater than zero. When the dot product is greater than zero, the platform 20 is placed on the aircraft 100; when the dot product is less than zero, the platform 20 is placed on the aircraft 100.

Referring again to FIG. 2, in one embodiment, the controller 30 is configured to:

Calculating a dot product of the first gravitational acceleration and the second gravitational acceleration; and

The installation state is obtained according to whether the dot product is greater than zero. When the dot product is greater than zero, the platform 20 is placed on the aircraft 100; when the dot product is less than zero, the platform 20 is placed on the aircraft 100.

That is, steps S62 and S64 can be implemented by the controller 30.

As such, the installation state of the platform 20 can be automatically and quickly obtained by the first gravitational acceleration of the aircraft 100 and the second gravitational acceleration of the platform 20.

It can be understood that since the base 24 of the pan/tilt head 20 is fixedly disposed on the aircraft 100, the relative positions of the pan/tilt head 20 and the aircraft 100 are generally unchanged. When the pan/tilt head 20 is placed on the aircraft 100, the gravitational acceleration directions of the pan/tilt head 20 and the aircraft 100 are substantially the same, that is, the directions of the first gravitational acceleration and the second gravitational acceleration are substantially the same; the pan/tilt head 20 is placed on the aircraft 100. At the time, the gravitational accelerations of the platform 20 and the aircraft 100 are substantially opposite, that is, the directions of the first gravitational acceleration and the second gravitational acceleration are substantially opposite. Therefore, the installation state of the pan/tilt head 20 can be obtained by calculating the dot product of the first gravitational acceleration and the second gravitational acceleration and according to the size of the dot product.

Referring to FIG. 10 and FIG. 11, together, in one embodiment, the imaging device 40 is mounted on the platform 20. The control method includes the following steps:

S7: The image captured by the imaging device 40 is rotated by a predetermined angle when the pan/tilt head 20 is placed on the aircraft 100, and the image is output.

Referring again to FIG. 11, in one embodiment, an imaging device 40 is mounted on the platform 20. The controller 30 is configured to output an image after the image captured by the imaging device 40 is rotated by a predetermined angle when the pan/tilt head 20 is placed on the aircraft 100.

That is to say, step S7 can be implemented by the controller 30.

In this way, an image in the correct direction can be obtained.

It can be understood that when the pan/tilt head 20 is placed on the aircraft 100, the image captured by the imaging device 40 may be opposite to the normal condition (usually when the pan/tilt head 20 is being placed on the aircraft 100), for example, the image is inverted. Therefore, in order to enable the image output from the imaging device 40 to be easily displayed, the image can be rotated by a predetermined angle to obtain an image in the correct direction.

In some embodiments, to obtain a normal image, the predetermined angle can be 180 degrees.

In some embodiments, in order to obtain different image effects, the predetermined angle may be any other degree, and no limitation is imposed herein.

Referring to Figures 12 and 13, together, in one embodiment, the platform 20 is in communication with a remote control 600. The control method includes the following steps:

S8: When the pan/tilt head 20 is placed on the aircraft 100, the control platform 20 is operated in the reverse direction of the direction indicated by the predetermined control direction from the remote controller 600.

Referring again to FIG. 13, in one embodiment, the pan/tilt head 20 is in communication with the remote control 600. The controller 30 is configured to control the pan/tilt head 20 to operate in the reverse direction of the direction indicated by the predetermined control direction from the remote controller 600 when the pan/tilt head 20 is placed on the aircraft 100.

That is to say, step S8 can be implemented by the controller 30.

In this way, the pan/tilt head 20 can be controlled to operate in the correct direction.

It can be understood that when the pan/tilt head 20 is placed on the aircraft 100, the direction of the predetermined control direction command of the remote controller 600 may be opposite to the operation direction of the actual pan/tilt head 20, so that the pan head 20 can be controlled in the correct direction. Operation, the pan/tilt head 20 can be controlled to operate in the reverse direction of the direction indicated by the predetermined control direction from the remote controller 600.

In some embodiments, taking the above-described three-axis pan/tilt as an example, the pan/tilt head 20 reversely causes the pitch direction command and the yaw direction command of the remote controller 600 to be opposite to the actual operation direction of the gimbal, that is, the predetermined control direction. The instructions include a pitch direction instruction and a yaw direction instruction. When the remote controller 600 is operated to input a pitch command, the controller 30 controls the reverse direction of the direction indicated by the pan/tilt 20 and the pitch command according to the pitch command.

In some embodiments, the platform 20 and the remote control 600 communicate wirelessly.

In the description of the present specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiment", "example", "specific example", or "some examples", etc. Particular features, structures, materials or features described in the embodiments or examples are included in at least one embodiment or example of the invention. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

Any process or method description in the flowcharts or otherwise described herein may be understood to represent a module, segment or portion of code that includes one or more executable instructions for performing the steps of a particular logical function or process. And the scope of the preferred embodiments of the invention includes additional implementations, which may be performed in a substantially simultaneous manner or in the reverse order, depending on the functions involved, in the order shown or discussed, which should It will be understood by those skilled in the art to which the embodiments of the present invention pertain.

The logic and/or steps represented in the flowchart or otherwise described herein, for example, may be considered as an ordered list of executable instructions for performing logical functions, and may be embodied in any computer readable medium, For instruction Executing systems, devices, or devices (such as computer-based systems, systems including processors, or other systems that can fetch instructions and execute instructions from an instruction execution system, apparatus, or device), or in conjunction with such instructions, execute a system, apparatus, or device. use. For the purposes of this specification, a "computer-readable medium" can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device. More specific examples (non-exhaustive list) of computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM). In addition, the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.

It should be understood that portions of the invention may be implemented in hardware, software, firmware or a combination thereof. In the above-described embodiments, multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.

Those skilled in the art can understand that all or part of the steps carried in carrying out the above implementation method can be completed by a program to instruct related hardware, and the program can be stored in a computer readable storage medium, and the program is executed. Including one or a combination of the steps of the method embodiments.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above integrated modules can be executed in the form of hardware or in the form of software functional modules. The integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.

The above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like. Although the embodiments of the present invention have been shown and described, it is understood that the above-described embodiments are illustrative and are not to be construed as limiting the scope of the invention. The embodiments are subject to variations, modifications, substitutions and variations.

Claims

A method for controlling an installation state based on a gimbal for an aircraft, characterized in that the aircraft comprises a first accelerometer, the pan/tilt comprises a second accelerometer, and the control method comprises the following steps:

Acquiring a first gravitational acceleration of the aircraft by the first accelerometer;

Acquiring a second gravitational acceleration of the gimbal by the second accelerometer; and

The installation state of the pan/tilt is determined according to the first gravitational acceleration and the second gravitational acceleration.
The control method according to claim 1, wherein said controlling method is performed while said aircraft is in a stationary state.
The control method according to claim 1, wherein the pan/tilt includes a base and a load fixing portion, the load fixing portion is provided with the second accelerometer, and the second accelerometer is acquired by the second accelerometer The step of the second gravitational acceleration of the gimbal includes the following steps:

Acquiring a third gravitational acceleration from the second accelerometer; and

And obtaining the second gravitational acceleration according to the third gravitational acceleration and an angular relationship between the pedestal and the load fixing portion.
The control method according to claim 3, wherein the pan/tilt includes a stabilizing device, and the base is connected to the load fixing portion by the stabilizing device, the third gravitational acceleration according to the And obtaining, by the angular relationship between the pedestal and the load fixing portion, the step of acquiring the second gravitational acceleration comprises the following steps:

The angular relationship is obtained from the stabilizing device.
The control method according to claim 4, wherein said stabilizing means is for stabilizing a pitch angle, a roll angle or a yaw angle, said stabilizing means comprising a motor and an angle sensor, said angle sensor An angle for detecting the motor, the angular relationship being determined by an angle of the motor.
The control method according to claim 4, wherein said stabilizing means is for stabilizing two of a pitch angle, a roll angle and a yaw angle, said stabilizing means comprising two motors and Two corresponding angle sensors, each of the angle sensors for detecting a corresponding angle of the motor, the angular relationship being jointly determined by the angles of the two motors.
The control method according to claim 4, wherein said stabilizing means is for stabilizing a pitch angle, a roll angle and a yaw angle, said stabilizing means comprising three motors and three corresponding angles a sensor, each of the angle sensors for detecting a corresponding angle of the motor, the angular relationship being jointly determined by an angle of the three motors.
The control method according to claim 1, wherein said installation state of said pan/tilt head comprises being placed on said aircraft or placed on said aircraft.
The control method according to claim 8, wherein the step of determining the installation state of the pan/tilt according to the first gravitational acceleration and the second gravitational acceleration comprises the following steps:

Calculating a dot product of the first gravitational acceleration and the second gravitational acceleration; and

Determining the installation state according to whether the dot product is greater than zero;

When the dot product is greater than zero, the pan/tilt is placed on the aircraft;

When the dot product is less than zero, the pan/tilt is placed on the aircraft.
The control method according to claim 8, wherein the imaging device is mounted on the pan/tilt, and the control method comprises the following steps:

The image is output after the image acquired by the imaging device is rotated by a predetermined angle when the pan/tilt is placed on the aircraft.
The control method according to claim 8, wherein said pan/tilt communicates with a remote controller, and said control method comprises the following steps:

The pan/tilt is controlled to operate in a reverse direction of the indicated direction in accordance with a predetermined control direction from the remote controller when the pan/tilt is placed on the aircraft.
An aircraft characterized by comprising:

First accelerometer;

a cloud platform, the cloud platform including a second accelerometer;

a controller for:

Acquiring a first gravitational acceleration of the aircraft by the first accelerometer;

Acquiring a second gravitational acceleration of the gimbal by the second accelerometer; and

The installation state of the pan/tilt is determined according to the first gravitational acceleration and the second gravitational acceleration.
The aircraft of claim 12 wherein said controller is operative to determine said installed condition when said aircraft is at a standstill.
The aircraft according to claim 12, wherein the pan/tilt includes a base and a load fixing portion, the load fixing portion is provided with the second accelerometer, and the controller is configured to:

Acquiring a third gravitational acceleration from the second accelerometer; and

And obtaining the second gravitational acceleration according to the third gravitational acceleration and an angular relationship between the pedestal and the load fixing portion.
The aircraft according to claim 14, wherein said pan/tilt head comprises a stabilizing device, said base being connected to said load fixing portion by said stabilizing device, said controller for:

The angular relationship is obtained from the stabilizing device.
The aircraft according to claim 15, wherein said stabilizing means is for stabilizing a pitch angle, a roll angle or a yaw angle, said stabilizing means comprising a motor and an angle sensor, said angle sensor The angle of the motor is detected, the angular relationship being determined by the angle of the motor.
The aircraft of claim 15 wherein said stabilizing means is for stabilizing two of a pitch angle, a roll angle and a yaw angle, said stabilizing means comprising two motors and two Corresponding angle sensors, each of the angle sensors for detecting a corresponding angle of the motor, the angle relationship being jointly determined by the angles of the two motors.
The aircraft of claim 15 wherein said stabilizing means is for stabilizing the pitch angle, the roll angle and the yaw angle, said stabilizing means comprising three motors and three corresponding angle sensors Each of the angle sensors is configured to detect a corresponding angle of the motor, and the angular relationship is determined by an angle of the three motors.
The aircraft of claim 12 wherein said installed state of said gimbal comprises being placed on said aircraft or placed on said aircraft.
The aircraft of claim 19 wherein said controller is for:

Calculating a dot product of the first gravitational acceleration and the second gravitational acceleration; and

Determining the installation state according to whether the dot product is greater than zero;

When the dot product is greater than zero, the pan/tilt is placed on the aircraft;

When the dot product is less than zero, the pan/tilt is placed on the aircraft.
The aircraft according to claim 19, wherein said pan/tilt head is mounted with an imaging device, said controller for:

The image is output after the image acquired by the imaging device is rotated by a predetermined angle when the pan/tilt is placed on the aircraft.
The aircraft of claim 19 wherein said pan/tilt is in communication with a remote control, said controller for:

The pan/tilt is controlled to operate in a reverse direction of the indicated direction in accordance with a predetermined control direction from the remote controller when the pan/tilt is placed on the aircraft.