CN111965970B - Control parameter self-tuning method, device and system - Google Patents
Control parameter self-tuning method, device and system Download PDFInfo
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Abstract
The invention discloses a method, a device and a system for controlling parameter self-tuning, and the scheme of the invention comprises the following steps: receiving a starting self-tuning instruction sent by a ground station; selecting a new control parameter according to the self-tuning starting instruction; configuring equipment to be set according to the new control parameters; after configuration is completed, indicating image acquisition equipment carried on equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification; and when a verification success command fed back by the ground station is received, self-setting is completed, so that the time for the unmanned aerial vehicle or the holder to wait for debugging of setting equipment can be saved and the working timeliness is improved based on the technical scheme.
Description
Technical Field
The invention relates to the technical field of control, in particular to a control parameter self-tuning method, a control parameter self-tuning device and a control parameter self-tuning system.
Background
Before the unmanned aerial vehicle leaves the factory and sells, in order to meet the factory standards, or before a user starts using the unmanned aerial vehicle, in order to make the shooting effect better, the unmanned aerial vehicle or the control parameters of the equipment such as a cradle head mounted on the unmanned aerial vehicle are usually adjusted and debugged.
At present, the control parameters of the unmanned aerial vehicle or the cradle head are adjusted manually, but the manual adjustment of the control parameters of the unmanned aerial vehicle or the cradle head is time-consuming and labor-consuming, and the working efficiency is not high.
Disclosure of Invention
One embodiment of the invention provides a control parameter self-tuning method, which saves manual fine tuning and debugging time and improves working efficiency by automatically tuning control parameters, and comprises the following steps:
receiving a starting self-tuning instruction sent by a ground station;
selecting a new control parameter according to the self-tuning starting command;
configuring equipment to be set according to the new control parameters;
after configuration is completed, indicating image acquisition equipment carried on equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification;
and when a verification success command fed back by the ground station is received, completing self-tuning.
Optionally, the selecting a new control parameter includes:
selecting a plurality of control parameters;
aiming at each selected control parameter, configuring equipment to be set according to the control parameter;
determining a performance index function value corresponding to the control parameter according to the configured actual attitude angle of the equipment to be set, wherein the performance index function value is used for indicating the stability of an angle error between the actual attitude angle and an expected attitude angle of the equipment to be set;
and selecting the control parameter corresponding to the minimum performance index function value as the new control parameter.
Optionally, the selected plurality of control parameters satisfy:
and sequencing the plurality of control parameters according to the numerical values, wherein the absolute values of the differences between any two adjacent sequenced control parameters are the same, and the absolute values of the differences are in positive correlation with the default control parameters of the equipment to be set and in negative correlation with the number of the plurality of selected control parameters.
Optionally, the selecting a control parameter corresponding to the minimum performance index function value as the new control parameter includes:
comparing the minimum performance index function value with a fixed threshold value, wherein the fixed threshold value is the performance index function value corresponding to the default control parameter of the equipment to be set;
and if the minimum performance index function value is smaller than the fixed threshold, selecting the control parameter corresponding to the minimum performance index function value as the new control parameter.
Optionally, after comparing the minimum performance indicator function value with a fixed threshold, the method further comprises:
and if the minimum performance index function value is larger than the fixed threshold value, terminating the self-setting.
Optionally, after the self-tuning is completed, the method further includes:
and storing the new control parameters, so that the equipment to be set configures itself according to the stored new control parameters after the equipment to be set is started next time.
Optionally, the method further comprises:
and when a verification unsuccessful command fed back by the ground station is received, returning to execute the step of selecting a new control parameter according to the self-setting command.
In another embodiment of the present invention, there is provided a control parameter self-tuning apparatus, including:
the first receiving module is used for receiving a self-tuning starting command sent by a ground station;
the setting module is used for selecting a new control parameter according to the self-setting starting instruction;
a configuration module for configuring the equipment to be set according to the new control parameters,
the verification module is used for indicating image acquisition equipment carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification after the configuration is finished;
and the second receiving module is also used for completing self-tuning after receiving a verification success command fed back by the ground station.
In another embodiment of the invention, a drone system includes: the system comprises an unmanned aerial vehicle, a ground station and a holder;
the unmanned aerial vehicle is in communication connection with the ground station and the holder respectively;
wherein: the cloud platform or the unmanned aerial vehicle is used for:
receiving a starting self-tuning instruction sent by a ground station;
selecting a new control parameter according to the self-tuning starting instruction;
configuring the equipment to be set according to the new control parameters, and after configuration is completed, indicating image acquisition equipment carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification; the equipment to be set comprises a holder and/or an unmanned aerial vehicle;
and when a verification success command fed back by the ground station is received, completing self-tuning.
In another embodiment of the invention, a non-transitory computer readable storage medium stores instructions that, when executed by a processor, cause the processor to perform the steps of the control parameter self-tuning method as described in the above embodiments.
In another embodiment of the present invention, an electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the program to implement the steps of the control parameter self-tuning method according to the above embodiment.
According to the scheme of the invention, the time for debugging the equipment to be tuned can be saved by the method for controlling the parameter self-tuning, wherein the equipment to be tuned can be an unmanned aerial vehicle or an image stabilizing part of the unmanned aerial vehicle, such as a holder carried on the unmanned aerial vehicle.
In addition, by the control parameter self-tuning method, before the unmanned aerial vehicle product leaves a factory or before a user uses the unmanned aerial vehicle product, the unmanned aerial vehicle can be rapidly and automatically tuned and debugged to judge the image stabilizing effect of the unmanned aerial vehicle, so that the time for manually refining, tuning and debugging is saved, and the working efficiency is improved.
Simultaneously, owing to can be before the unmanned aerial vehicle product dispatches from the factory, do further debugging setting to the unmanned aerial vehicle product fast, reduced because of the unmanned aerial vehicle body, cloud platform shock-absorbing structure to and the holistic not good problem of steady image effect of unmanned aerial vehicle product that the individual difference nature of parts such as cloud platform arouses, effectively reduce the product and return the factory cost, promote the product yields of dispatching from the factory.
Drawings
Fig. 1 is a schematic diagram of an application scenario of an unmanned aerial vehicle system to which a control parameter self-tuning method is applied in an embodiment of the present invention;
FIG. 2 is a flow chart of a method of controlling parameter self-tuning in accordance with an embodiment of the present invention;
FIG. 3 is a flow chart of a method of selecting a new control parameter in the method of FIG. 2;
FIG. 4 is a flowchart of a method for selecting a control parameter corresponding to a minimum performance indicator function value as a new control parameter in the method shown in FIG. 3;
FIG. 5 is a flow chart of a further extension of the method shown in FIG. 2;
FIG. 6 is a flow chart of a further extension of the method shown in FIG. 2;
FIG. 7 is a schematic structural diagram of an apparatus 700 for controlling parameter self-tuning according to an embodiment of the present invention;
fig. 8 is a block diagram of an electronic device 800 in some embodiments of the invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is further described in detail below with reference to the accompanying drawings and examples.
In an embodiment of the present invention, please refer to fig. 1, and fig. 1 is a schematic diagram of an application scenario of an unmanned aerial vehicle system applying a control parameter self-tuning method in an embodiment of the present invention. The unmanned aerial vehicle system 10 mainly includes an unmanned aerial vehicle 1, a ground station 2, and an image capturing apparatus 3. The ground station 2 and the unmanned aerial vehicle 1 can realize communication connection through a data transmission image transmission antenna to perform data transmission and image transmission.
In addition, unmanned aerial vehicle system 10 can also include cloud platform 4, and cloud platform 4 carries in unmanned aerial vehicle 1, can fix unmanned aerial vehicle's image acquisition equipment 3 and for image acquisition equipment 3 increases steadily to make image acquisition equipment 3 also can shoot stable smooth picture under the motion condition. Communication connection can also be realized between unmanned aerial vehicle 1 and cloud platform 4, carries out data transmission and image transmission.
The ground station 2 may be configured to send an instruction to the drone 1 and receive data or image information fed back by the drone 1, and specifically, the ground station 2 may be a remote controller or a handheld intelligent communication device installed with application software, such as a mobile device like a mobile phone or a PAD).
For example, the ground station 2 may send a start self-tuning command sent by the ground station 2 to the drone 1, the drone 1 then transmits the command to the pan/tilt head 4, and the drone 1 may receive information fed back by the pan/tilt head 4 and transmit the information to the ground station 2. The type of the pan/tilt head 4 may not be limited, for example, the pan/tilt head 3 may be a two-axis pan/tilt head, a three-axis pan/tilt head, or the like.
According to the embodiment of the invention, the control parameters of the unmanned aerial vehicle and/or the cloud deck can be automatically adjusted through the interaction among the unmanned aerial vehicle 1, the ground station 2 and the cloud deck 4, so that the phenomenon of the jitter of the aerial image of the unmanned aerial vehicle is improved.
The embodiment of the present invention may have various implementation manners, and some of the implementation manners are specifically described as follows:
in an embodiment of the present invention, the self-tuning process may be implemented on the pan/tilt head 4, and the device to be tuned may be the unmanned aerial vehicle 1 and/or the pan/tilt head 4, for example:
the ground station 2 is used for sending a self-tuning starting command to the unmanned aerial vehicle 1;
the unmanned aerial vehicle 1 is used for forwarding a received self-tuning starting instruction from the ground station 2 to the holder 4;
the cloud deck 4 is used for carrying out self-tuning on the control parameters of the unmanned aerial vehicle 1 and/or the cloud deck 4 according to the starting self-tuning instruction, and the self-tuning process comprises the following steps: selecting a new control parameter according to the starting self-tuning instruction; configuring the unmanned aerial vehicle 1 and/or the pan-tilt 4 according to the new control parameters; after the configuration is finished, instructing image acquisition equipment 3 carried on the unmanned aerial vehicle 1 and/or the pan-tilt 4 to acquire (continuous or discontinuous) image sequences, and transmitting the acquired image sequences to a ground station 2 through the unmanned aerial vehicle 1 for verification; and when a verification success command fed back by the ground station 2 and sent by the unmanned aerial vehicle 1 is received, self-tuning is completed.
In particular, with reference to fig. 1, the application of the control parameter self-tuning method in the drone system 10 will now be described in detail. This unmanned aerial vehicle system 10 includes unmanned aerial vehicle 1, ground satellite station 2, image acquisition equipment 3 and cloud platform 4, and unmanned aerial vehicle 1 can respectively with ground satellite station 2, cloud platform 4 communication connection.
Wherein, can realize communication connection between unmanned aerial vehicle 1, the ground satellite station 2, can carry out data transmission and image transmission.
The ground station 2 may be configured to send an instruction to the unmanned aerial vehicle 1 and receive data or image information fed back by the unmanned aerial vehicle 1, and specifically, the ground station 2 may be a remote controller or a handheld intelligent communication device.
Communication connection can be realized between cloud platform 4 and unmanned aerial vehicle 1, and cloud platform 4 can receive the instruction information of unmanned aerial vehicle 2 transmission, and wherein, cloud platform 4 carries in unmanned aerial vehicle 1, can fix unmanned aerial vehicle 1's image acquisition equipment 3 and for image acquisition equipment 3 increases steadily to make image acquisition equipment 3 also can shoot stable smooth picture under the motion condition.
The pan-tilt is a component for enhancing the shooting stability of image acquisition equipment such as a camera, a video camera and the like, and mainly plays a role in balance and stabilization, namely, no matter how the body of the image acquisition equipment 3 vibrates, most of vibration can be filtered out by the pan-tilt, and the relative position of the lens to the ground is kept still. The unmanned aerial vehicle cradle head image stabilization technology obtains pre-estimated angles of all current axes such as angles of a yaw axis, a pitch axis and a roll axis through cradle head attitude calculation, then outputs motor drive response through control algorithm processing, and accordingly completes stabilization of images shot by a cradle head on a camera or a video camera and the like, and stable images can be shot by the camera or the video camera fixed by the cradle head in a moving state. And setting appropriate cradle head control parameters according to the type of the cradle head, and playing a key role in improving the image stabilization precision of the cradle head.
Specifically, in the embodiment of the present invention, the pan/tilt head 4 may be used to execute the method for self-tuning the control parameter described in the embodiment of the present invention.
The tripod head 4 can be used for receiving a self-tuning starting command sent by the ground station, and under the normal working state of the unmanned aerial vehicle system, for example, the working state of the unmanned aerial vehicle 1 when taking off to the normal flying height and hovering, the ground station 2 when being normally started and controlled and the tripod head 2 when the unmanned aerial vehicle is mounted when being started and controlled, the control parameter self-tuning is carried out on the whole unmanned aerial vehicle mounted with the holder, the ground station 2 starts a control parameter self-tuning switch, the ground station 2 sends a command for starting the control parameter self-tuning to the unmanned aerial vehicle 1, and the unmanned aerial vehicle 1 transmits the command for starting the control parameter self-tuning to the holder 4.
According to the start self-tuning instruction, the pan/tilt 4 may select a type of a self-tuning control parameter, such as a position ring or an angular velocity ring of each axis of the pan/tilt 4, specifically, first, the selected multiple control parameters satisfy: and sequencing the plurality of control parameters according to the numerical values, wherein the absolute values of the differences between any two adjacent sequenced control parameters are the same, and the absolute values of the differences are in positive correlation with the default control parameters of the equipment to be set and in negative correlation with the number of the plurality of selected control parameters. It is understood that, in the present embodiment, the method for selecting the control parameter is not limited to the above-mentioned method, and a plurality of control parameters may be randomly selected according to the default control parameter.
The cradle head 4 configures the equipment to be set according to each selected control parameter;
and determining a performance index function value corresponding to the control parameter according to the configured actual attitude angle of the equipment to be set, wherein each control parameter can obtain the corresponding performance index function value, namely a plurality of performance index function values.
After the multiple performance index function values are obtained, the multiple performance index function values can be sequenced, and the control parameter corresponding to the minimum performance index function value is selected as a new control parameter of the equipment to be set. The smaller the function value of the performance index is, the better the function of the cradle head 4 waiting for the rapid and stable adjustment of the setting equipment is, and the more stable the image picture acquired by the image acquisition equipment 3 carried on the equipment to be set is.
And taking the control parameter corresponding to the minimum performance index function value as a new control parameter, configuring the equipment to be set according to the new control parameter, and after configuration is finished, indicating the image acquisition equipment 3 carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification.
The verification mode can be that the user verifies according to the real-time image stabilization picture effect, if the new control parameter is determined through the observation of the user, the delivery standard of the product can be achieved, the image stabilization effect is improved or the image stabilization effect meets the requirement of the user, an instruction for feeding back the verification success can be sent to the holder through the ground station, and the self-tuning is finished.
Further, after the new control parameter is successfully verified, the new control parameter can be stored, and the stored new control parameter can be used as a default control parameter of the cradle head 4, so that the cradle head 4 configures itself according to the stored new control parameter after being started next time, and a user can use the configuration conveniently. Specifically, the pan/tilt head 4 may store the new control parameter to a storage device of the pan/tilt head 4, such as a flash.
In addition, for the new control parameter obtained by the control parameter self-tuning method in the embodiment of the present invention, the user may select to save the new control parameter as the default control parameter of the pan/tilt head 4, or may abandon to save the new control parameter as the default control parameter of the pan/tilt head. In practical application, whether to store the new control parameter obtained after the self-tuning as the default control parameter of the pan/tilt head 4 is determined by the user applying the technology of the present solution, and details are not repeated here.
On the other hand, if the verification of the new control parameter is unsuccessful, that is, if the user determines that the stabilization effect does not meet the requirement by observing the picture displayed by the display terminal of the ground station, the verification unsuccessful command can be sent to the cradle head by operating a feedback key of the ground station and the like. And when the cradle head 4 receives the verification unsuccessful command fed back by the ground station, returning to the step of selecting a new control parameter according to the self-tuning command, continuously reselecting another new control parameter until the control parameter which can pass the verification is found, and finishing the self-tuning. The newly selected new control parameter may be a control parameter corresponding to a next smaller performance index function value in the sorting of the plurality of performance index function values.
Further, before the ground station verification is applied, the selected new control parameter may be automatically verified, specifically, the obtained minimum performance index function value is compared with a fixed threshold, the fixed threshold is the performance index function value corresponding to the default control parameter of the pan/tilt before self-tuning, if the minimum performance index function value is greater than or significantly exceeds the fixed threshold, it indicates that there may be quality problems such as a harsh environment for the whole unmanned aerial vehicle system to operate, or a large structural difference between the unmanned aerial vehicle, the pan/tilt and other devices, and the significance of adjusting the stability of the device by the self-tuning control parameter is small, the self-tuning is terminated. The products can be classified as defective products subsequently, and are maintained and the like.
Therefore, the cradle head 4 carries out self-tuning according to the control parameter self-tuning method, the control parameters of the unmanned aerial vehicle 1 and/or the cradle head 4 can be self-tuned, the tuning and debugging of the unmanned aerial vehicle, the cradle head or other equipment to be tuned can be rapidly and automatically completed, the time for manually refining the tuning and debugging is saved, and the working efficiency is improved.
In another embodiment, the self-tuning process may be implemented on the drone 1, and the device to be tuned may include the drone 1 and/or the pan-tilt 4, for example:
the ground station 2 is used for sending a self-tuning starting command to the unmanned aerial vehicle 1;
the unmanned aerial vehicle 1 is used for carrying out self-tuning on the control parameters of the unmanned aerial vehicle 1 and/or the holder 4 according to the starting self-tuning instruction, and the self-tuning process comprises the following steps: selecting a new control parameter according to the starting self-tuning instruction; configuring the unmanned aerial vehicle 1 and/or the pan-tilt 4 according to the new control parameters; after the configuration is completed, instructing an image acquisition device 3 carried on the unmanned aerial vehicle 1 and/or the pan-tilt 4 to acquire (continuous or discontinuous) image sequences, and transmitting the acquired image sequences to the ground station 2 for verification; and when a verification success command fed back by the ground station 2 is received, self-tuning is completed.
The specific self-tuning process of the cradle head can be referred to in the self-tuning process of the unmanned aerial vehicle 1, and is not described herein again. Based on the above scheme, the unmanned aerial vehicle 1 can be used for executing a method for self-tuning the control parameters in the above scheme, the unmanned aerial vehicle 1 executes the command for starting self-tuning sent by the ground station 2 to the unmanned aerial vehicle 1 through interaction between the unmanned aerial vehicle 1 and the ground station 2, and the unmanned aerial vehicle 1 can realize self-tuning of the control parameters of the unmanned aerial vehicle 1 and/or the cradle head 4 according to the method for self-tuning the control parameters in the above scheme, so that the tuning and debugging of the unmanned aerial vehicle cradle head or other devices to be tuned can be rapidly and automatically carried out, the time for manually refined tuning and debugging can be saved, and the working efficiency can be improved.
In addition, in the normal working state of the unmanned aerial vehicle system 10, after the ground station 2 starts the control parameter self-tuning switch, the unmanned aerial vehicle 1 may also execute a self-tuning instruction. It can be understood that, in the embodiment of the present invention, the parameter self-tuning control may be a pan-tilt, a drone, or other devices to be tuned.
Specifically, in yet another embodiment of the present invention, the self-tuning process may be implemented on a third-party device, the device to be tuned may be the unmanned aerial vehicle 1 and/or the pan/tilt head 4, the third-party device is in communication connection with the unmanned aerial vehicle 1 and the ground station 2, and a placement position of the third-party device is not limited. The implementation process can be as follows:
the ground station 2 is used for sending a starting self-tuning instruction to a third-party device;
the third party device is used for carrying out self-tuning on the control parameters of the unmanned aerial vehicle 1 and/or the holder 4 according to the starting self-tuning instruction, and the self-tuning process comprises the following steps: selecting a new control parameter according to the starting self-tuning instruction; configuring the unmanned aerial vehicle 1 and/or the pan-tilt 4 according to the new control parameters; after the configuration is completed, instructing the image acquisition equipment 3 carried on the unmanned aerial vehicle 1 and/or the pan-tilt 4 to acquire (continuous or discontinuous) image sequences and transmitting the acquired image sequences to the ground station 2 for verification; and when the third-party device receives the verification success command fed back by the ground station 2, the self-tuning is completed.
The third-party device 1 may refer to the above description of the self-tuning process of the pan/tilt head, and is not described herein again. Therefore, based on the scheme, the third-party device can realize the self-tuning of the control parameters of the unmanned aerial vehicle 1 and/or the pan-tilt 4, the unmanned aerial vehicle or the image stabilizing part of the unmanned aerial vehicle can be rapidly and automatically subjected to the tuning debugging of the tuning equipment, the time for manually refining the tuning debugging is saved, and the working efficiency is improved.
Fig. 2 is a flowchart of a method for controlling parameter self-tuning according to an embodiment of the present invention. As shown in fig. 2, in an embodiment of the present invention, a method for controlling parameter self-tuning includes the following steps:
step S201: and receiving a self-tuning starting instruction sent by the ground station.
The method comprises the steps that control parameters are automatically adjusted for the whole unmanned aerial vehicle mounted with a holder, a ground station starts a control parameter self-adjusting switch, a command for starting the control parameter self-adjustment is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle transmits the command for starting the control parameter self-adjustment to the holder; and after the cradle head receives a self-setting starting instruction sent by the ground station, starting self-setting control parameters, namely executing step 202.
The control parameter self-tuning is performed for the unmanned aerial vehicle, the ground station starts a control parameter self-tuning switch, a command for starting control parameter self-tuning is sent to the unmanned aerial vehicle, and the unmanned aerial vehicle starts self-tuning of the control parameter after receiving the command for starting self-tuning sent by the ground station, namely, step 202 is executed.
Step S202: and selecting a new control parameter according to the self-tuning starting command.
Step S203: and configuring the equipment to be set according to the new control parameters.
Specifically, the equipment to be set is configured according to the new control parameter, that is, the new control parameter replaces the default control parameter of the equipment to be set and serves as the current control parameter of the equipment to be set. The default control parameter of the device to be set may be a control parameter set when the product leaves a factory, or may be a control parameter stored in the device after the last self-setting.
Step S204: and after the configuration is finished, indicating the image acquisition equipment carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification.
The image acquisition equipment carried on the equipment to be set comprises image acquisition equipment such as a camera or a video camera. The ground station receives the acquired image sequence, and a user can verify the self-tuning effect of the equipment to be tuned after the new control parameter is configured by observing the shooting effect of the image sequence.
Step S205: and when a verification success command fed back by the ground station is received, self-tuning is completed.
Based on the method, in the embodiment of the invention, after receiving a start self-tuning instruction, the device to be tuned starts to automatically tune control parameters, after the control parameter self-tuning processing, a new control parameter is selected, the new control parameter is configured to the device to be tuned, after the configuration is completed, the image acquisition device carried on the device to be tuned is instructed to acquire an image sequence and transmit the acquired image sequence to the ground station for verification, and after a verification success instruction fed back by the ground station is received, the self-tuning is completed, wherein the device to be tuned can be an unmanned aerial vehicle or a cradle head mounted by the unmanned aerial vehicle.
Simultaneously, owing to can be before the unmanned aerial vehicle product dispatches from the factory, further debug the setting to the unmanned aerial vehicle product fast, reduced because of the unmanned aerial vehicle body, cloud platform shock-absorbing structure to and the holistic not good problem of steady image effect of unmanned aerial vehicle product that the individual difference nature of parts such as cloud platform arouses, effectively reduce the product and return the factory cost, promote the product yields of dispatching from the factory.
In an embodiment of the present invention, as shown in fig. 3, fig. 3 is a flowchart of a method for selecting a new control parameter in the method shown in fig. 2. Specifically, the selecting a new control parameter includes:
step S301: selecting a plurality of control parameters;
specifically, the selected control parameters may satisfy: and sequencing the plurality of control parameters according to the numerical values, wherein the absolute values of the differences between any two adjacent sequenced control parameters are the same, and the absolute values of the differences are in positive correlation with the default control parameters of the equipment to be set and in negative correlation with the number of the selected plurality of control parameters.
In the embodiment of the present invention, specifically, a method for selecting a plurality of control parameters to satisfy the relationship among the plurality of selected control parameters is feasible, for example, the plurality of control parameters may be calculated by the following formula:
in the above formula, i = [0, (N-1) ];
wherein kp 0 As a default control parameter, the default control parameter kp 0 The default control parameters can be factory default control parameters set during initialization of the unmanned aerial vehicle or the cradle head, or default control parameters stored after the unmanned aerial vehicle or the cradle head is electrified last time to execute self-tuning of the control parameters;
preselect [ k ] of setting coefficient interval of control parameter min ,k max ]The setting coefficient interval can be generally determined by performing indoor debugging on the unmanned aerial vehicle or the pan/tilt head and combining with engineering practical experience, for example, the setting coefficient interval can be [0.5,1.5 ]]；
N is the total number of iterations and i is the iteration count, e.g., in the setting coefficient interval of 0.5,1.5]Within the range, the total number of iterations is 20, and 20 control parameters kp can be obtained through calculation by the formula i 。
It can be understood that, in this embodiment, the method for selecting the control parameter is not limited to the above-mentioned method, and the user may specifically select the control parameter according to his own requirements during actual application, which is not described herein again.
Step S302: aiming at each selected control parameter, configuring equipment to be set according to the control parameter; and determining a performance index function value corresponding to the control parameter according to the configured actual attitude angle of the equipment to be set, wherein the performance index function value is used for indicating the stability of an angle error between the actual attitude angle and the expected attitude angle of the equipment to be set.
And aiming at each selected control parameter, after the equipment to be set is configured, a performance index function value corresponding to each control parameter can be obtained, wherein the performance index function value can be determined according to the actual attitude angle of the equipment to be set after the configuration is completed, and the performance index function value is used for indicating the stability of the angle error between the actual attitude angle and the expected attitude angle of the equipment to be set.
Specifically, the performance index function value is used to evaluate the performance of the control parameter, and a performance index function value obtained by multiplying time by an absolute value error Integral (ITAE) or a performance index function value obtained by averaging errors may be used as the performance index function value.
Taking the performance index function value of time multiplied by absolute value error integral as an example, the performance index function value calculation formula is: j = & 0 ∞ t | e (t) | dt, t is the time length for setting the control parameter, e (t) is an error value, the error value is corresponding to the angle difference between the predicted actual attitude angle and the expected attitude angle of the equipment to be set, and therefore the control parameter kp can be obtained i Performance index function value J of i . And traversing all the selected control parameters in sequence to obtain a plurality of performance index function values. For example, after sequentially traversing the 20 control parameters selected in step 301, 20 performance index function values may be obtained.
Step S303: and selecting the control parameter corresponding to the minimum performance index function value as the new control parameter.
Specifically, after the multiple performance index function values are obtained, the multiple performance index function values are sorted, and the control parameter corresponding to the smallest performance index function value is selected as a new control parameter of the device to be set. The smaller the performance index function value is, the better the function of the unmanned aerial vehicle or the pan-tilt for waiting for the rapid and stable adjustment of the setting equipment is, and the more stable the image picture acquired by the image acquisition equipment carried on the setting equipment is.
In an embodiment of the present invention, as shown in fig. 4, fig. 4 is a flowchart of a method for selecting a control parameter corresponding to a minimum performance index function value as the new control parameter in the method shown in fig. 3. Specifically, the method comprises the following steps:
step S401: and comparing the minimum performance index function value with a fixed threshold value, wherein the fixed threshold value is the performance index function value corresponding to the default control parameter of the equipment to be set.
Specifically, the fixed threshold may be a performance index function value corresponding to a default control parameter of the device to be set, and the fixed threshold may be adjusted correspondingly according to different delivery standards of the device to be set or different user usage standards. And comparing the minimum performance index function value with a fixed threshold value to preliminarily and automatically detect whether the selected control parameter meets a certain use standard, such as a factory standard of equipment to be set or a user use standard.
Step 402: and if the minimum performance index function value is smaller than the fixed threshold, selecting the control parameter corresponding to the minimum performance index function value as the new control parameter.
Step 403: and if the minimum performance index function value is larger than the fixed threshold value, terminating the self-setting.
Specifically, if the minimum performance index function value is greater than or significantly exceeds the fixed threshold, it indicates that there may be a problem of the quality of the equipment, such as a harsh environment in which the whole unmanned aerial vehicle system operates, or a large difference in the structure of the equipment, such as the unmanned aerial vehicle, the pan-tilt and the like, and the significance of the stability of the equipment adjusted by the self-tuning control parameter is small, and then the self-tuning is terminated. The products can be classified as defective products subsequently, and are maintained and the like.
In addition, if the minimum performance index function value is equal to the fixed threshold, the self-tuning may be terminated, or the control parameter corresponding to the minimum performance index function value may be selected as the new control parameter. Specifically, the user may set the actual requirement, which is not described herein.
As shown in fig. 5, fig. 5 is a flow chart of a further extension of the method shown in fig. 2. In the embodiment of the present invention, the method for self-tuning the control parameter may be further extended to:
step 501: and receiving a self-tuning starting instruction sent by the ground station.
Step 502: and selecting a new control parameter according to the self-tuning starting instruction.
Step 503: and configuring the equipment to be set according to the new control parameters.
Step 504: and after the configuration is finished, indicating the image acquisition equipment carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification.
The equipment to be set is configured according to the self-set new control parameter, that is, the new control parameter is configured as the current control parameter of the equipment to be set, then, the image acquisition equipment carried on the equipment to be set can be instructed to acquire an image sequence, the acquired image sequence is transmitted to the ground station, and the user can judge whether the stability augmentation effect meets the requirement by observing the image sequence presented by the ground station.
Taking an unmanned aerial vehicle mounted with a holder as an example, the device to be set can be the holder, the image acquisition device can be an image acquisition device optically zooming 30 times, the unmanned aerial vehicle mounted with the holder hovers at high altitude, the image content of a focus point in a focus point image in an image zooming and amplifying image of the image acquisition device is clear and visible, and the focus point image can be kept in a display image frame for a period of time, so that the effect of the stability-enhanced image meets the requirement, and new control parameters after self-setting can be determined to be effective.
Step 505: and when a verification success command fed back by the ground station is received, completing self-tuning.
Specifically, after the verification is successful, the ground station may send a verification success command to the device to be set in a feedback manner, and when the verification success command fed back by the ground station is received, the device to be set completes self-setting.
Step 506: and storing the new control parameters, so that the equipment to be set configures the equipment according to the stored new control parameters after the equipment to be set is started next time.
Further, after the new control parameter is successfully verified, the set new control parameter can be stored, so that the device to be set configures itself according to the stored new control parameter after the next start, and the user can use the device conveniently. And for the unmanned aerial vehicle product before leaving the factory, saving the set new control parameters, and taking the new control parameters as default control parameters for the unmanned aerial vehicle product leaving the factory.
Specifically, the new control parameter may be saved to a storage device of the pan/tilt head or the unmanned aerial vehicle waiting for setting the device, such as a flash.
As shown in fig. 6, fig. 6 is a flow chart of a further extension of the method shown in fig. 2. In the embodiment of the present invention, the method for self-tuning the control parameter may be further extended to:
step 601: and receiving a self-tuning starting instruction sent by the ground station.
Step 602: and selecting a new control parameter according to the self-tuning starting instruction.
Step 603: and configuring the equipment to be set according to the new control parameters.
Step 604: and after the configuration is finished, indicating the image acquisition equipment carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification.
The equipment to be set is configured according to the self-set new control parameter, that is, the new control parameter is configured as the current control parameter of the equipment to be set, then, the image acquisition equipment carried on the equipment to be set can be instructed to acquire an image sequence, the acquired image sequence is transmitted to the ground station, and the user can judge whether the stability augmentation effect meets the requirement by observing the image sequence presented by the ground station.
Taking an unmanned aerial vehicle mounted with a holder as an example, the device to be set can be the holder, the image acquisition device can be an image acquisition device optically zooming 30 times, the unmanned aerial vehicle mounted with the holder hovers at high altitude, the image content of a focus point in a focus point image in an image zooming and amplifying image of the image acquisition device is clear and visible, and the focus point image can be kept in a display image frame for a period of time, so that the effect of the stability-enhanced image meets the requirement, and new control parameters after self-setting can be determined to be effective.
And if the user observes the image sequence displayed by the display terminal of the ground station, determining that the stability-enhancing image effect does not meet the requirement. Step 606 is performed.
And if the user observes the image sequence displayed by the display terminal of the ground station, determining that the stability-increasing image effect meets the requirement. Step 605 is performed.
Step 605: and when a verification success command fed back by the ground station is received, completing self-tuning.
Step 606: and returning to the step 602 when receiving the verification unsuccessful command fed back by the ground station.
If the user determines that the effect of the stable image does not meet the requirement by observing the image sequence displayed by the display terminal of the ground station, the user can send an unsuccessful verification instruction to the device to be set by operating a feedback key and the like. When receiving the verification unsuccessful command fed back by the ground station, returning to execute step 602: and selecting a new control parameter according to the self-tuning instruction, continuously reselecting another new control parameter until a control parameter which can pass the verification is found, executing the step 605, and ending the self-tuning.
The newly selected new control parameter may be a control parameter corresponding to a next smaller performance index function value in the sorting of the plurality of performance index function values.
In addition, by applying the scheme of the embodiment of the invention, in the process that the pan/tilt or the unmanned aerial vehicle waits for the setting equipment to perform the self-setting of the control parameters, the control parameters can be automatically restored by the equipment to be set through interactive communication among the equipment in the unmanned aerial vehicle system and wait for the command of restarting the self-setting of the control parameters, when the problem that a user performs misoperation on the ground station equipment, such as touching a remote control lever, pressing a control key by mistake and the like, is caused, the self-setting of the control parameters is terminated. Therefore, the problem of misoperation of the user can be solved.
As shown in fig. 7, fig. 7 is a schematic structural diagram of an apparatus 700 for controlling parameter self-tuning according to an embodiment of the present invention.
The apparatus 700 comprises:
a first receiving module 701, configured to receive a start self-tuning instruction sent by a ground station;
a setting module 702, configured to select a new control parameter according to the start self-setting instruction;
a configuration module 703 for configuring the device to be set according to the new control parameter,
the verification module 704 is used for indicating the image acquisition equipment carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification after the configuration is completed;
the second receiving module 705 is further configured to complete self-tuning after receiving the verification success instruction fed back by the ground station.
In the embodiment of the invention, after receiving a start self-tuning instruction, the device to be tuned starts automatically tuning control parameters, after the control parameter self-tuning processing, a new control parameter is selected, the new control parameter is configured to the device to be tuned, after the configuration is finished, the image acquisition device carried on the device to be tuned is instructed to acquire an image sequence and transmit the acquired image sequence to the ground station for verification, and after a verification success instruction fed back by the ground station is received, the self-tuning is finished, wherein the device to be tuned can be an unmanned aerial vehicle or a cradle head carried by the unmanned aerial vehicle.
In an embodiment of the invention, a non-transitory computer readable storage medium may further be provided in the framework as shown in fig. 1 to 6, which may store instructions that, when executed by a processor, cause the processor to perform the steps of the control parameter self-tuning method as described in the previous embodiments.
Fig. 8 is a schematic structural diagram of an electronic device 800 according to some embodiments of the invention, as shown in fig. 8. In an embodiment of the present invention, an electronic device 800 includes a processor 801 and a memory 802; and one or more programs stored in the memory 802 and configured to be executed by the processor 801, the one or more programs including instructions for performing the above-described control parameter self-tuning method.
In the several embodiments provided in the present invention, it should be understood that the disclosed related apparatuses and methods may be implemented in other manners. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual precise or direct or communication connection may be an indirect or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit. The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention, which is essential or part of the technical solution contributing to the prior art, or all or part of the technical solution may be embodied in the form of a software product stored in a storage medium, and including several instructions for causing a computer processor (processor) to execute all or part of the steps of the method according to the embodiments of the present invention. The storage medium includes a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and various media capable of storing program codes.
The above description is only a preferred embodiment of the present application and should not be taken as limiting the present application, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present application should be included in the protection scope of the present application.
Claims (10)
1. A control parameter self-tuning method is characterized by comprising the following steps:
receiving a self-tuning starting instruction sent by a ground station;
selecting a new control parameter according to the self-tuning starting instruction;
configuring equipment to be set according to the new control parameters;
after configuration is completed, indicating image acquisition equipment carried on equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification;
when a verification success command fed back by the ground station is received, self-tuning is completed;
the selecting a new control parameter includes: selecting a plurality of control parameters; the selected control parameters meet the following requirements: sequencing the plurality of control parameters according to the numerical values, wherein the absolute values of the differences between any two adjacent sequenced control parameters are the same, and the absolute values of the differences are in positive correlation with the default control parameters of the equipment to be set and in negative correlation with the number of the selected plurality of control parameters;
the configuring of the equipment to be set according to the new control parameters comprises the following steps: and aiming at each selected control parameter, configuring the equipment to be set according to the control parameter.
2. The method of claim 1, wherein the configuring the device to be tuned according to the selected control parameter for each control parameter further comprises:
determining a performance index function value corresponding to the control parameter according to the configured actual attitude angle of the equipment to be set, wherein the performance index function value is used for indicating the stability of an angle error between the actual attitude angle and an expected attitude angle of the equipment to be set;
and selecting the control parameter corresponding to the minimum performance index function value as the new control parameter.
3. The method of claim 2, wherein selecting the control parameter corresponding to the smallest performance indicator function value as the new control parameter comprises:
comparing the minimum performance index function value with a fixed threshold value, wherein the fixed threshold value is the performance index function value corresponding to the default control parameter of the equipment to be set;
and if the minimum performance index function value is smaller than the fixed threshold, selecting the control parameter corresponding to the minimum performance index function value as the new control parameter.
4. The method of claim 3, wherein after comparing the minimum performance indicator function value to a fixed threshold, the method further comprises:
and if the minimum performance index function value is larger than the fixed threshold, terminating the self-setting.
5. The method of claim 1, wherein after completing the self-tuning, the method further comprises:
and storing the new control parameters, so that the equipment to be set configures itself according to the stored new control parameters after the equipment to be set is started next time.
6. The method of claim 1, further comprising:
and when a verification unsuccessful command fed back by the ground station is received, returning to execute the step of selecting a new control parameter according to the self-setting command.
7. A control parameter self-tuning apparatus, the apparatus comprising:
the first receiving module is used for receiving a self-tuning starting instruction sent by the ground station;
the setting module is used for selecting a new control parameter according to the self-setting starting instruction;
the configuration module is used for configuring the equipment to be set according to the new control parameters;
the verification module is used for indicating image acquisition equipment carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification after the configuration is finished;
the second receiving module is also used for completing self-tuning after receiving a verification success command fed back by the ground station;
the setting module selects a new control parameter, comprising: selecting a plurality of control parameters; the selected control parameters meet the following conditions: sequencing the plurality of control parameters according to the numerical values, wherein the absolute values of the differences between any two adjacent sequenced control parameters are the same, and the absolute values of the differences are in positive correlation with the default control parameters of the equipment to be set and in negative correlation with the number of the selected plurality of control parameters;
the configuration module configures the equipment to be set according to the new control parameter, and comprises the following steps: and aiming at each selected control parameter, configuring the equipment to be set according to the control parameter.
8. An unmanned aerial vehicle system, the system comprising: the system comprises an unmanned aerial vehicle, a ground station and a holder;
the unmanned aerial vehicle is in communication connection with the ground station and the holder respectively;
wherein: the cloud platform or unmanned aerial vehicle is used for:
receiving a starting self-tuning instruction sent by a ground station;
selecting a new control parameter according to the self-tuning starting instruction;
configuring the equipment to be set according to the new control parameters, and after configuration is finished, indicating image acquisition equipment carried on the equipment to be set to acquire an image sequence and transmitting the acquired image sequence to the ground station for verification; the equipment to be set comprises a holder and/or an unmanned aerial vehicle;
when a verification success command fed back by the ground station is received, self-tuning is completed;
the selecting a new control parameter includes: selecting a plurality of control parameters; the selected control parameters meet the following conditions: sequencing the plurality of control parameters according to the numerical values, wherein the absolute values of the differences between any two adjacent sequenced control parameters are the same, and the absolute values of the differences are in positive correlation with the default control parameters of the equipment to be set and in negative correlation with the number of the selected plurality of control parameters;
the configuring of the equipment to be set according to the new control parameters comprises the following steps: and aiming at each selected control parameter, configuring the equipment to be set according to the control parameter.
9. A non-transitory computer readable storage medium storing instructions that, when executed by a processor, cause the processor to perform the control parameter self-tuning method of any one of claims 1 to 6.
10. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, wherein the processor, when executing the program, implements the control parameter self-tuning method of any of claims 1-6.
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