CN115175854A - Cooperative control method and system for holder and aircraft - Google Patents
Cooperative control method and system for holder and aircraft Download PDFInfo
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- CN115175854A CN115175854A CN202080070618.9A CN202080070618A CN115175854A CN 115175854 A CN115175854 A CN 115175854A CN 202080070618 A CN202080070618 A CN 202080070618A CN 115175854 A CN115175854 A CN 115175854A
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENTS OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
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Abstract
A method and a system for cooperative control of a pan-tilt (330) and an aircraft (310), the pan-tilt (330) being mounted on the aircraft (310), the method comprising: acquiring an Euler angle of the aircraft (310) and a joint angle of the holder (330); when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft (310) reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft (310) to be not more than the first preset speed; when detecting that the angle corresponding to the first direction in the joint angles of the holder (330) reaches a second preset angle, controlling the holder (330) to rotate in the same direction as the aircraft (310) in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft (310). When the cradle head (330) needs to avoid mechanical limitation and avoid looking at the propeller, the increasing speed of the Euler angle of the aircraft (310) is limited, time is reserved for the cradle head (330) to avoid, the cradle head (330) can slowly avoid, and therefore the smoothness of a shot picture is guaranteed.
Description
Description
The application relates to the field of control of a holder and an aircraft, in particular to a cooperative control method and system of the holder and the aircraft.
The present aircraft usually have a head mounted thereon. The cradle head can increase the stability for imaging device, makes the imaging device who erects on the cradle head can shoot smooth and stable picture.
The joint angle of the pan/tilt head usually has a certain mechanical limit, and when the inclination angle of the aircraft is too large, the joint angle of the pan/tilt head may be too large and impact the mechanical limit of the pan/tilt head, or an imaging device mounted on the pan/tilt head shoots the fuselage or the blades of the aircraft, so that the shot image is not usable. In this case, if the pan-tilt is rapidly and reversely evaded, a sudden change of the picture shot by the imaging device may be caused; if the evading speed is too small, the problem of untimely evading is caused.
Disclosure of Invention
A series of concepts in a simplified form are introduced in the summary section, which is described in further detail in the detailed description section. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
The first aspect of the embodiments of the present invention provides a cooperative control method for a cradle head and an aircraft, where the cradle head is mounted on the aircraft, and the method includes:
acquiring an Euler angle of the aircraft and a joint angle of the holder;
when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft to be not more than a first preset speed;
when detecting that the angle corresponding to the first direction in the joint angles of the cloud deck reaches a second preset angle, controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
A second aspect of an embodiment of the present invention provides a cooperative control system of a cradle head and an aircraft, where the cooperative control system includes the cradle head, the aircraft, and a control device, where the cradle head is mounted on the aircraft, and the control device is configured to:
acquiring an Euler angle of the aircraft and a joint angle of the holder;
when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft to be not greater than the first preset speed;
when detecting that the angle corresponding to the first direction in the joint angles of the cloud deck reaches a second preset angle, controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
According to the cooperative control method and system of the cloud platform and the aircraft, when the cloud platform needs to avoid mechanical limit or paddle watching, the increasing speed of the Euler angle of the aircraft is limited, time is reserved for the cloud platform to avoid, the cloud platform can slowly avoid, and therefore the smoothness of a shot picture is guaranteed.
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the description below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
In the drawings:
fig. 1 shows a schematic flow chart of a method for cooperative control of a head and an aircraft according to an embodiment of the invention;
FIG. 2A is a schematic diagram illustrating an aircraft hovering and pan-tilt maintained horizontal according to an embodiment of the present invention;
FIG. 2B is a schematic diagram illustrating forward pitch and pan/tilt head maintenance of an aircraft according to an embodiment of the present invention;
fig. 3 shows a schematic block diagram of a cooperative control system of a pan-tilt and an aircraft according to an embodiment of the invention.
In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It should be understood that the described embodiments are only some of the embodiments of the present invention, and not all of the embodiments of the present invention, and it should be understood that the present invention is not limited by the exemplary embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described in the present application without inventive step, shall fall within the scope of protection of the present invention.
In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.
It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.
In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be set forth in the following description in order to explain the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.
The cooperative control method of the cradle head and the aircraft, the course measuring system, the unmanned aerial vehicle and the computer readable storage medium according to the present application are described in detail below with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.
First, referring to fig. 1, a method for cooperatively controlling a cradle head and an aircraft according to an embodiment of the present invention is described. Fig. 1 shows a flow chart of a cooperative control method 100 of a pan-tilt and an aircraft, wherein the pan-tilt is mounted on the aircraft, according to an embodiment of the present invention. As shown in fig. 1, the cooperative control method 100 of the pan-tilt and the aircraft includes the following steps:
in step S110, an euler angle of the aircraft and a joint angle of the pan/tilt head are acquired;
in step S120, when it is detected that an angle corresponding to a first direction in euler angles of the aircraft reaches a first preset angle, controlling an increasing speed of the euler angles of the aircraft to be not greater than a first preset speed;
in step S130, when it is detected that an angle corresponding to the first direction in the joint angles of the pan/tilt reaches a second preset angle, controlling the pan/tilt to rotate in the same direction as the aircraft in the first direction according to a first preset avoidance parameter, where the first preset avoidance parameter is related to an increase speed of an euler angle of the aircraft.
According to the cooperative control method 100 of the cloud deck and the aircraft, when the cloud deck needs to avoid mechanical limit, the increasing speed of the Euler angle of the aircraft is limited, time is reserved for the cloud deck avoiding, meanwhile, the cloud deck avoiding is controlled according to the first preset avoiding parameter related to the increasing speed of the Euler angle of the aircraft, the cloud deck can be enabled to slowly avoid, therefore, the smoothness of a shot picture is guaranteed, and meanwhile the problem of untimely avoiding can be avoided.
The execution main body of the cooperative control method 100 of the cradle head and the aircraft according to the embodiment of the present invention may be a control device. The control device can be specifically an unmanned aerial vehicle flight controller, and can also be other general or special processors. In step S110, the control device obtains the euler angle of the aircraft and the joint angle of the pan/tilt head in real time, where the obtained euler angle of the aircraft and the joint angle of the pan/tilt head at least include an angle corresponding to the first direction in the euler angles of the aircraft and an angle corresponding to the first direction in the joint angles of the pan/tilt head.
Wherein the aircraft may be a drone. The aircraft may include one or more power units for powering the aircraft for flight in the air. The one or more power units are capable of moving the aircraft in one or more degrees of freedom. The aircraft may be a rotorcraft, which may include multiple rotors to act as a power unit for flight. The rotors can rotate at the same speed, and the same lifting force or propelling force is given to the aircraft; the plurality of rotors can also rotate at a variety of different speeds to provide different lift or propulsion forces to the aircraft, and can also rotate the aircraft to change the euler angle of the aircraft.
The euler angle of the aircraft may be used to characterize the attitude angle of the aircraft. The euler angles of the aircraft are determined from the relationship between the body coordinate system and the geographic coordinate system, and are used to characterize the yaw angle of the aircraft in the yaw direction, the pitch angle in the pitch direction, and the roll angle in the roll direction, and the first direction in the following may be any one of the yaw direction, the pitch direction, and the roll direction. The euler angle of the aircraft can be measured by the airframe sensors, which include a gyroscope, an accelerometer, a compass, etc., which are in communication connection with the control device, so as to send the measured parameters to the control device.
The aerial vehicle is provided with a cloud platform, the cloud platform is a device for stabilizing loads erected on the cloud platform, wherein the loads of the cloud platform can be an imaging device, and meanwhile, the cloud platform can also adjust the operation direction of the loads, for example, the cloud platform can adjust the shooting direction of the imaging device. The holder in the embodiment of the present invention may be a two-axis holder or a multi-axis holder, and the following description mainly takes a three-axis holder as an example.
Illustratively, the three-axis pan-tilt specifically comprises a pan-tilt base, a pitch axis motor, a roll axis motor, a yaw axis motor, a pitch axis arm, a roll axis arm, and an imaging device fixing mechanism, wherein the pan-tilt base can be connected with an aircraft and supports other components, and the imaging device fixing mechanism can be arranged on the roll axis arm and used for fixing an imaging device. The pitch shaft motor is used for driving the pitch shaft arm to rotate in the pitch direction, so that the pitch angle of the holder is changed; the transverse roller motor is used for driving the transverse roller shaft arm to rotate in the transverse rolling direction, so that the transverse rolling angle of the holder is changed; and the yaw axis motor is used for driving the yaw axis arm to rotate in the yaw direction, so that the yaw angle of the holder is changed. When the holder rotates, the imaging device rotates along with the rotation of the holder, so that the shooting direction of the imaging device is changed.
Referring to fig. 2A and 2B, fig. 2A shows a state where the aerial vehicle 210 is hovering and the pan/tilt head 220 is horizontal, where the joint angle of the pan/tilt head 220 is 0 °; fig. 2B shows a state where the aircraft 210 tilts forward and the pan/tilt head 220 is horizontal, where the attitude angle of the aircraft 210 changes, and if the attitude angle of the pan/tilt head 220 is kept horizontal, the pan/tilt head joint of the pan/tilt head 220 needs to be adjusted, and the joint angle changes. Illustratively, the attitude angle of the pan/tilt head may be acquired by an inertial measurement unit provided on the pan/tilt head; the joint angles corresponding to the rotating shafts of the holder can be acquired through angle sensors arranged in the yaw shaft motor, the roll shaft motor and the pitch shaft motor. The joint angle of the pan/tilt head acquired in step S110 includes at least a joint angle of the pan/tilt head in one of the pitch, roll, and yaw directions, which is a first direction, and for example, if the euler angle of the aircraft acquired in step S110 includes an angle corresponding to the pitch direction, the acquired joint angle of the pan/tilt head includes at least a joint angle of the pan/tilt head in the pitch direction.
The cradle head is provided with corresponding mechanical limit in one or more directions of yaw direction, pitching direction and rolling direction, so that the cradle head can not realize unlimited rotation in the directions. Furthermore, when the joint angle of the pan/tilt head reaches a certain angle, there will be a situation where the imaging device on the pan/tilt head looks at the paddles, for example, assuming that the limits of the joint angle of the pan/tilt head in the pitch direction are +45 ° and-130 °, but when the joint angle of the pan/tilt head reaches +32 °, the imaging device mounted on the pan/tilt head will likely photograph the blades on the left and right sides of the aircraft. Therefore, when the Euler angle of the aircraft reaches a certain angle, the Euler angle of the holder is not kept unchanged, but the holder and the aircraft need to be controlled to rotate in the same direction, so that mechanical limitation is avoided, and oar watching is avoided.
In the embodiment of the invention, the cloud deck and the aircraft need to be cooperatively controlled during avoidance. Specifically, in step S120, when it is detected that an angle corresponding to the first direction among euler angles of the aircraft reaches a first preset angle, the increasing speed of the euler angles of the aircraft is controlled not to be greater than the first preset speed. When the pan-tilt is a three-axis pan-tilt, the first direction may be any one of a pitch direction, a roll direction, and a yaw direction. By limiting the increasing speed of the Euler angle of the aircraft in the first direction, more time can be reserved for avoiding the cradle head, the cradle head can be enabled to avoid slowly, the sudden change of the picture shot by the imaging device with the fixed cradle head is avoided, and meanwhile, the problem that the cradle head cannot avoid timely due to the fact that the Euler angle of the aircraft changes too fast can be avoided.
Meanwhile, in step S130, when it is detected that an angle corresponding to the first direction in the joint angles of the cradle head reaches a second preset angle, the cradle head is controlled to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, so as to avoid mechanical limitation and avoid looking at the propeller. The first preset avoiding parameter is related to the increasing speed of the euler angle of the aircraft, for example, the first preset avoiding parameter and the increasing speed of the euler angle of the aircraft can be configured, so that the cradle head can slowly avoid, and meanwhile, the problem that the cradle head cannot collide with a limit or look at a paddle in time when avoiding is not timely does not occur. Illustratively, in the process of controlling the holder to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, the increasing speed of the angle corresponding to the first direction in the joint angle of the holder is not less than the increasing speed of the angle corresponding to the first direction in the euler angle of the aircraft, so as to avoid the problem of untimely avoidance.
In one embodiment, the avoidance mode of the cooperative control holder and the aircraft is referred to as a first avoidance mode, that is, when it is detected that an angle corresponding to a first direction in euler angles of the aircraft reaches a first preset angle, the increasing speed of the euler angles of the aircraft is controlled not to be greater than the first preset speed; when detecting that the angle corresponding to the first direction in the joint angles of the cradle head reaches a second preset angle, controlling the cradle head to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter related to the increasing speed of the Euler angle of the aircraft so as to avoid mechanical limitation and avoid looking at the propeller. Optionally, when the state of the imaging device carried by the aircraft, the cradle head and the cradle head is detected to meet the preset condition, the above first avoidance mode is entered, and the cradle head is controlled to slowly avoid while the Euler angle increasing speed of the aircraft is limited. On the contrary, if it is detected that the states of the aircraft, the cradle head and the imaging device carried by the cradle head do not satisfy the preset condition, the second avoidance mode can be entered, the increasing speed of the euler angle of the aircraft is not limited in the second avoidance mode, the avoidance speed of the cradle head is relatively high, and the specific details of the second avoidance mode will be described later.
Illustratively, the states of the aircraft, the pan/tilt head, and the imaging device of the pan/tilt head satisfy preset conditions, including: the aircraft is in a non-braking state, the imaging device of the holder is in an imaging state, and the target Euler angle of the holder is within a first preset range.
Specifically, firstly, the increasing speed of the euler angle of the aircraft needs to be limited in the first avoidance mode, and therefore one of the conditions that the aircraft needs to meet when entering the first avoidance mode is that the aircraft is in a non-braking state; when the aircraft is in a braking state, considering flight safety, the aircraft needs to be braked and stopped as soon as possible, and the increasing speed of the Euler angle of the aircraft is not limited, so that the aircraft does not enter the first avoidance mode. The braking state of the aircraft comprises a rod-releasing brake, a remote control key-triggered brake or an aircraft automatic-triggered emergency brake and the like.
Secondly, the main purpose of adopting the first avoidance mode is to avoid sudden change of the image collected by the imaging device of the holder, so that the state of the imaging device of the holder can be detected in real time, and the imaging device of the holder enters the first avoidance mode when being in the imaging state, otherwise, the imaging device of the holder does not enter the first avoidance mode when not being in the imaging state.
Thirdly, the euler angle of the aircraft can only be changed within a certain range, and when the euler angle of the holder is within a certain range, the possibility of hitting a limit or looking at a paddle does not exist, so that the aircraft can not enter an avoidance mode. Specifically, the maximum euler angle and the minimum euler angle of the aircraft and the forward and reverse mechanical limits of the cradle head in the first direction can be comprehensively considered to determine the angle range with the possibility of collision limit; on the basis, the maneuverability of the aircraft can be further considered, and a first preset range which avoids excessive loss of the maneuverability of the aircraft is finally determined. For general aircrafts and pan/tilt heads, it is appropriate to set the upper avoidance limit range to 5 ° to-8 °, and the lower avoidance limit range to-70 ° to-90 °.
After entering the first avoidance mode, when the euler angle of the aircraft in the first direction reaches a first preset angle, the increasing speed of the euler angle of the aircraft is limited, namely the increasing speed of the euler angle of the aircraft is limited. Wherein the first preset angle is, for example, -25 °, the increasing speed of the euler angle of the aircraft can be limited to be not more than-1 °/s, the aim is to slow down the increasing speed of the euler angle of the aircraft, prolong the time of the aircraft reaching the maximum euler angle (for example, -35 °), and reserve sufficient time for the tripod head to actively evade downwards. The first preset angle may include two, for example, a positive first preset angle and a negative first preset angle, and the first preset angle may be reached when the aircraft leans forwards or backwards.
For example, taking the first direction as the pitch direction as an example, if the first avoidance mode is not entered, the control process of the aircraft pitch angle (pitch) is as follows:
when fc _ PITCH _ cmd > -PITCH _ THRD,
Fc_pitch_cmd＝fc_pitch_cmd_last+pitch_cmd_spd*tick；
wherein Fc _ PITCH _ cmd is an attitude command of an aircraft PITCH angle, PITCH _ THRD is a first preset angle in a PITCH direction, for example, -25 °, fc _ PITCH _ cmd _ last is an attitude command of the aircraft PITCH angle in a previous operation cycle, PITCH _ cmd _ spd is a PITCH angle increase speed before limiting the PITCH angle increase speed, which is much greater than the first preset speed, for example, 200 °/s, and tick is an operation cycle. The above expression indicates that the rate of increase in the pitch angle of the aircraft is not limited when the attitude command for the pitch angle of the aircraft does not reach the first preset angle.
In contrast, in the first avoidance mode, the control process of the aircraft pitch angle is as follows:
when fc _ PITCH _ cmd < -PITCH _ THRD and fc _ PITCH _ cmd _ target < -PITCH _ THRD,
Fc_pitch_cmd＝fc_pitch_cmd_last+pitch_cmd_spd_smooth*tick；
where Fc _ pitch _ cmd _ target is the final target value for the pitch angle of the aircraft, for example-35 ° when the aircraft is flying ahead at S-range full stick maximum speed. Pitch _ cmd _ spd _ smooth is the rate of increase of the Pitch angle of the aircraft after being limited, which is not greater than the first preset rate, and may be, for example, 1 °/s. The above expression indicates that when both the attitude command of the pitch angle of the aircraft and the final target value of the pitch angle of the aircraft are greater than the first preset angle, the increase speed of the pitch angle of the aircraft is limited to be not greater than the first preset speed, and the pitch angle of the aircraft is controlled to increase slowly at the limited speed, so that the time taken for the aircraft to reach the target euler angle is prolonged. The first preset speed can be set change rate of an Euler angle of the corresponding unmanned aerial vehicle when the speed of the unmanned aerial vehicle is controlled by normally beating the rod without avoiding collision limitation or looking at the propeller.
As described above, since the increasing speed of the euler angle of the aircraft is limited when the pan-tilt is required to avoid mechanical limitation and to avoid looking at the propeller, the time taken for the aircraft to reach the target euler angle is prolonged, and thus the pan-tilt can be controlled to avoid slowly so as to avoid sudden change of the picture shot by the imaging device. Three exemplary first avoidance modes which can be adopted by the tripod head are shown below, but the tripod head can also adopt other feasible first avoidance modes for slow avoidance.
The first avoidance mode of the holder can be called a fixed target Euler angle avoidance mode. Under the fixed target euler's angle rule mode of avoiding, foretell according to the first preset parameter of avoiding control cloud platform and aircraft syntropy rotate in the first direction, include: controlling the holder to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter so that the Euler angle of the holder reaches a preset target Euler angle, wherein the target Euler angles comprise two target Euler angles which are respectively close to an avoidance upper limit range and an avoidance lower limit range; the target euler angle may also be one. Specifically, in the first avoidance mode, the joint angle of the pan/tilt head in the first direction is detected in real time, and if the joint angle of the pan/tilt head in the first direction reaches a second preset angle, for example, greater than 30 °, or less than-128 °, the euler angle of the pan/tilt head in the first direction is controlled to reach a fixed target euler angle. Because the Euler angle of the aircraft has a certain range when the aircraft flies in a normal flying attitude, if the holder moves to the fixed target Euler angle, the problem of looking at the oar or colliding with the limit when the aircraft flies in the normal attitude can not be caused.
Exemplarily, in the fixed target euler angle rule avoiding mode, controlling the cradle head to rotate in the same direction as the aircraft in the first direction according to a first preset avoiding parameter, so that the euler angle of the cradle head reaches a preset target euler angle, including: determining an angle difference between a current Euler angle and a target Euler angle of the holder; determining the maximum evading speed according to the angle difference and preset evading operation time; planning an avoidance accelerating section and an avoidance decelerating section according to the maximum avoidance speed, preset avoidance accelerating time and preset avoidance decelerating time; and adjusting the Euler angle of the holder according to the planned avoiding acceleration section and the planned avoiding deceleration section to enable the Euler angle of the holder to reach a preset target Euler angle when the avoiding speed of the holder is decelerated to zero. The target Euler angle, the preset avoidance operation time and other parameters are reasonable parameters determined according to the increasing speed of the Euler angle of the aircraft. Of course, the method of bringing the euler angle of the pan/tilt head to the preset target euler angle is not limited thereto as long as the euler angle of the pan/tilt head can be brought to the target euler angle within the avoidance time reserved for the aircraft.
Taking the first direction as the pitch direction and the euler angle of the pan/tilt head in the first direction as the pitch angle as an example, when the joint angle of the pan/tilt head reaches a second preset angle, first obtaining a target euler angle of the pan/tilt head, for example,
when the joint angle joint _ angle of the tripod head is greater than 30 degrees, the target Euler angle gb _ target _ avoid _ pitch of the tripod head is = -8 degrees;
when the joint angle joint _ angle of the tripod head is < -128 degrees, the target Euler angle gb _ target _ avoid _ pitch of the tripod head is = 85 degrees;
acquiring preset evasion running time, such as avoid _ time =5s;
acquiring preset avoidance acceleration time, such as the avoid _ time _ acc =1s;
acquiring preset evading deceleration time, such as avoid _ time _ dec =4s;
illustratively, a preset constant-speed running time avoid _ time _ avg may also be set between the preset avoidance acceleration time and the preset avoidance deceleration time, but the preset constant-speed running time is only optional, and the constant-speed running time may be 0, that is, the avoid _ time _ avg =0s;
the total evasion time is the sum of preset evasion acceleration time, preset evasion deceleration time and preset constant-speed running time, namely:
avoid_time＝avoid_time_acc+avoid_time_dec+avoid_time_avg。
calculating an angle difference between the current Euler angle of the tripod head at the moment causing avoidance and the target Euler angle:
Error＝gb_target_cur–gb_target_avoid_pitch；
calculating the maximum movement speed according to the angle difference and the total avoidance time:
Pitch_spd_max＝Error/avoid_time*2；
calculating the acceleration of an acceleration section according to the maximum movement speed and preset evasion acceleration time:
Avoid_acc＝pitch_spd_max/avoid_time_acc；
calculating the acceleration of the deceleration section according to the maximum movement speed and the preset evasion deceleration time:
Avoid_dec＝pitch_spd_max/avoid_time_dec；
calculating the distance of a deceleration section at the maximum evasive speed:
Avoid_dec_distance＝1/2*avoid_dec*avoid_time_dec^2。
after the trigger avoidance, the real-time updating process of the target Euler angle of the holder is as follows:
calculating the error between the current pitch and the target pitch of the pan-tilt in real time:
Error_current＝gb_target_cur–gb_target_avoid_pitch；
calculating the current deceleration distance in real time:
Avoid_dec_distance_cur＝1/2*pitch_avoid_spd_cur^2/avoid_dec^2；
if the pitch _ Avoid _ spd _ cur is less than the pitch _ spd _ max and the current error is greater than the current deceleration distance, in the evaded acceleration segment, accelerating according to the acceleration Avoid _ acc as follows:
Pitch_avoid_spd_cur＝pitch_avoid_spd_cur_last+avoid_acc*tick；
Gb_target_cur＝gb_target_cur_last+pitch_avoid_spd_cur*tick；
if the current evasion speed pitch _ avoid _ spd _ cur = pitch _ spd _ max, then in the evaded uniform speed segment, keeping the uniform speed running:
Gb_target_cur＝gb_target_cur_last+pitch_avoid_spd_cur*tick；
if the current Error is smaller than or equal to the current deceleration distance or the deceleration distance at the maximum evasive speed, namely, avoid _ dec _ distance _ current > = Error _ current or Avoid _ dec _ distance > = Error _ current, in the deceleration section of evasion, deceleration is carried out according to the deceleration section:
pitch_avoid_spd_cur＝pitch_avodi_spd_cur_last–avoid_dec*tick；
gb_target_cur＝gb_target_cur_last+pitch_avoid_spd_cur*tick；
when the current avoiding speed is decelerated to 0, the avoiding is considered to be finished, namely, pitch _ avoid _ spd _ cur =0; gb _ target _ cur = Gb _ target _ cur _ last = Gb _ target _ avoid _ pitch;
at this time, the current euler angle of the pan/tilt head has reached the preset target euler angle.
The second avoidance mode of the pan/tilt head may be referred to as a fixed stroke avoidance mode. Under the fixed stroke mode of evading, foretell according to first preset parameter of evading control cloud platform and aircraft syntropy rotate in the first direction, include: and controlling the holder to rotate for a preset stroke according to the first preset avoidance parameter so as to avoid limitation. Specifically, the joint angle of the cradle head is detected in real time, and when the joint angle of the cradle head reaches a second preset angle, the cradle head is controlled to rotate for a preset stroke, namely, the euler angle of the cradle head in the first direction is controlled to change a fixed angle, for example, 8 °. In this mode, the rotational stroke of the cradle head is consistent each time the cradle head is triggered to avoid, so that the running speed and running time of the cradle head are also basically consistent.
Exemplarily, under the fixed stroke avoidance mode, the holder is controlled to rotate the preset stroke according to the first preset avoidance parameter, and the method comprises the following steps: determining the maximum avoidance speed according to the preset travel and the preset avoidance operation time; planning an avoidance accelerating section and an avoidance decelerating section according to the maximum avoidance speed, the preset avoidance accelerating time and the preset avoidance decelerating time; and adjusting the Euler angle of the cradle head according to the planned avoiding acceleration section and the planned avoiding deceleration section, so that the cradle head runs a preset stroke when the avoiding speed is decelerated to zero. The parameters such as the preset travel and the preset evasion running time are reasonable parameters determined according to the increasing speed of the Euler angle of the aircraft. Of course, the method of rotating the cradle head by the preset stroke is not limited thereto, as long as the cradle head can be rotated by the preset stroke within the avoidance time reserved for the aircraft.
Taking the first direction as a pitching direction and the euler angle of the holder in the first direction as a pitch angle as an example, when the joint angle of the holder in the first direction reaches a second preset angle, firstly obtaining a preset stroke of the holder, for example, the angle _ distance _ total =8 °;
acquiring a preset avoidance running time avoid _ time, acquiring a preset avoidance acceleration time avoid _ time _ acc and acquiring a preset avoidance deceleration time avoid _ time _ dec; optionally, the constant-speed running time avoid _ time _ avg may also be acquired;
calculating the maximum movement speed according to the preset travel and the preset evasion operation time:
Pitch_spd_max＝avoid_distance_total/avoid_time*2；
calculating acceleration of an acceleration section according to the maximum movement speed and preset evasion acceleration time:
Avoid_acc＝pitch_spd_max/avoid_time_acc；
calculating the acceleration of the deceleration section according to the maximum movement speed and the preset evading deceleration time:
Avoid_dec＝pitch_spd_max/avoid_time_dec；
calculating the distance of the deceleration section at the maximum evasion speed:
Avoid_dec_distance＝1/2*avoid_dec*avoid_time_dec^2；
after the avoidance is triggered, the real-time updating process of the holder target pitch is as follows:
calculating the error between the current pitch and the target pitch of the tripod head in real time:
Error_current＝gb_target_cur–gb_target_avoid_pitch；
if the current evasive speed pitch _ avoid _ spd _ cur is smaller than the maximum moving speed pitch _ spd _ max, namely, the pitch _ avoid _ spd _ cur < pitch _ spd _ max, in the evasive acceleration segment, accelerating according to the acceleration avoid _ acc of the acceleration segment:
Pitch_avoid_spd_cur＝pitch_avoid_spd_cur_last+avoid_acc*tick；
Gb_target_cur＝gb_target_cur_last+pitch_avoid_spd_cur*tick；
if the pitch _ avoid _ spd _ cur = pitch _ spd _ max, then at the constant speed section of evasion, the constant speed operation is kept:
Gb_target_cur＝gb_target_cur_last+pitch_avoid_spd_cur*tick；
if the current Error is smaller than or equal to the speed limit distance under the maximum evading speed, namely, avoid _ dec _ distanc > = Error _ current, in an evaded deceleration section, deceleration is carried out according to deceleration section acceleration Avoid _ dec:
pitch_avoid_spd_cur＝pitch_avodi_spd_cur_last–avoid_dec*tick；
gb_target_cur＝gb_target_cur_last+pitch_avoid_spd_cur*tick；
when the current evasion speed Pitch _ avoid _ spd _ cur of the tripod head decelerates to 0, the evasion is finished, at the moment, the tripod head runs a preset stroke, namely, the Pitch angle of the tripod head changes a preset angle to the opposite direction of the limit when compared with the process of triggering the evasion.
The third avoidance mode of the holder can be called as a fixed target joint angle gauge avoidance mode. Under fixed target joint angle rule mode of keeping away, foretell according to first predetermine parameter control cloud platform of keeping away and aircraft syntropy rotation on the first direction, include: and controlling the cradle head to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, so that the joint angle of the cradle head reaches a target joint angle, wherein the target joint angle is determined based on a preset allowance and a second preset angle. Specifically, under the avoidance mode, the current joint angle of the cradle head is detected in real time, and if the current joint angle is larger than a second preset angle, the cradle head and the aircraft are controlled to rotate in the same direction until the current joint angle is smaller than the second preset angle, and a certain preset allowance is reserved. Under this mode of evading, can real-time detection cloud platform's joint angle, whenever the joint angle reaches the second and predetermines the angle, control cloud platform and aircraft syntropy promptly and rotate, make the joint angle of cloud platform reach target joint angle, the stroke of operation at every turn is shorter.
Exemplarily, in the fixed target joint angle avoiding mode, controlling the cradle head to rotate in the same direction as the aircraft in the first direction according to a first preset avoiding parameter, so that the joint angle of the cradle head reaches a preset target joint angle, including: acquiring a current angle difference that a current joint angle of the holder exceeds a second preset angle in real time; determining an avoidance speed according to the current angle difference and a preset allowance; and controlling the cradle head to rotate in the same direction as the aircraft in the first direction according to the avoiding speed, so that the joint angle of the cradle head reaches the target joint angle when the avoiding speed is reduced to zero. Of course, the method of bringing the joint angle of the pan/tilt head to the preset target joint angle is not limited to this as long as the joint angle of the pan/tilt head can be brought to the target joint angle within the avoidance time reserved for the aircraft.
Continuing to take the first direction as the pitch direction and the euler angle of the pan/tilt head in the first direction as the pitch angle, when the Joint angle of the pan/tilt head reaches a second preset angle, i.e. Joint _ angle > Joint _ angle _ limit _ up (e.g. 30 deg) or Joint _ angle < Joint _ angle _ limit _ down (e.g. -128 deg),
calculating an angle value that the joint angle of the holder exceeds a second preset angle:
Avoid_over_angle＝joint_angle–joint_angle_limit_up；
(or Avoid _ over _ angle = join _ angle-join _ angle _ limit _ down);
obtaining a preset allowance:
Avoid_angle＝3～5deg；
obtaining a preset speed coefficient:
Avoid_spd_coef＝2～5；
the angle that the cloud platform needs to avoid is the sum of the angle value that the joint angle of cloud platform surpassed the second and predetermine the angle and predetermine the surplus, and the angle and the velocity coefficient that need avoid according to the cloud platform calculate the speed of avoiding:
Avoid_spd＝avoid_spd_coef*(avoid_over_angle+avoid_angle)；
and updating the target pitch angle of the holder in real time according to the avoiding speed:
Gb_target_cur＝gb_target_cur_last+avoid_spd*tick；
when the avoidance speed avoid _ spd =0 is detected, the avoidance is ended, and the joint angle of the pan/tilt has reached the target joint angle at this time.
As described above, when it is detected that the states of the aircraft and the pan/tilt head do not satisfy the preset condition for entering the first avoidance mode, the second avoidance mode may be entered. Specifically, when any one of the conditions that the aircraft is in a non-braking state, the imaging device of the cradle head is in an imaging state, and the target euler angle of the cradle head is within a first preset range is not satisfied, the aircraft enters a second avoidance mode. For example, if the aircraft is in a braking state, the aircraft is stopped as soon as possible in view of flight safety, and thus the first avoidance mode that requires limiting the euler angle of the aircraft is not entered.
Wherein the second avoidance mode includes: when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle and the angle corresponding to the first direction in the joint angles of the cradle head reaches a second preset angle, controlling the cradle head to rotate in the same direction with the aircraft in the first direction according to a second preset avoidance parameter so as to avoid mechanical limitation, wherein in a second preset avoidance mode, the time length of avoiding the mechanical limitation of the cradle head is shorter than the time length of avoiding the mechanical limitation of the cradle head in the first preset avoidance mode. That is to say, the second avoidance mode does not additionally limit the increasing speed of the euler angle of the aircraft, and the aircraft can reach the target euler angle in an express way, so that the holder needs to be rapidly avoided in a short time.
The second avoidance mode may also be implemented such that the euler angle of the pan/tilt reaches a fixed target euler angle when the avoidance is triggered, and the pan/tilt travels a fixed stroke or the joint angle of the pan/tilt reaches a target joint angle, and the avoidance speed is faster than that in the first avoidance mode, for example, when the joint angle of the pan/tilt reaches the target joint angle, a preset speed coefficient may be set to be larger, so that the pan/tilt can quickly avoid the limit. Under the condition, the sudden change of the picture shot by the imaging device can be caused, but the picture can quickly avoid the limit, so that the tripod head can not collide with the mechanical limit or the shooting device can not see the paddle; meanwhile, the quick brake of the aircraft is not influenced.
The exemplary step flows included in the cooperative control method of the pan/tilt head and the aircraft according to the embodiment of the present invention are exemplarily described above. According to the cooperative control method of the cloud platform and the aircraft, when the cloud platform needs to avoid mechanical limitation and avoid watching the propeller, the increasing speed of the Euler angle of the aircraft is limited, time is reserved for the cloud platform to avoid, meanwhile, the cloud platform is controlled to avoid according to the first preset avoiding parameter related to the increasing speed of the Euler angle of the aircraft, so that the cloud platform can slowly avoid, and therefore the smoothness of a shot picture is guaranteed.
In another aspect of the embodiment of the present invention, a cooperative control system of a cradle head and an aircraft is provided, and fig. 3 is a schematic block diagram of a cooperative control system 300 of a cradle head and an aircraft according to an embodiment of the present invention. As shown in fig. 3, the cooperative control system 300 of the pan/tilt and aircraft includes an aircraft 310, a control device 320 and a pan/tilt 330, the pan/tilt 330 is mounted on the aircraft 310, and the pan/tilt 330 and the aircraft 310 are in communication connection with the control device 320, so that only the main functions of the cooperative control system 300 of the pan/tilt and aircraft will be described below, and some details that have been described above will be omitted.
Wherein the aircraft 310 may be a drone, such as a multi-rotor drone. The cradle head 330 mounted on the aircraft 310 may be a two-axis cradle head or a three-axis cradle head, and the control device 320 may be a flight controller of the aircraft 310, or may be other general or special processors.
Specifically, the control device 320 is configured to: acquiring an Euler angle of the aircraft 310 and a joint angle of the holder 330; when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft 310 reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft 310 not to be greater than the first preset speed; when detecting that the angle corresponding to the first direction in the joint angles of the pan/tilt head 330 reaches a second preset angle, controlling the pan/tilt head 330 to rotate in the same direction as the aircraft 310 in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the euler angle of the aircraft 310.
The control device 320 is further configured to: entering a first avoidance mode when detecting that the states of the aircraft 310, the cradle head 330 and the imaging device carried by the cradle head 330 meet preset conditions; wherein the first avoidance mode includes: when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft 310 reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft 310 not to be greater than the first preset speed; when detecting that the angle corresponding to the first direction in the joint angles of the pan/tilt head 330 reaches a second preset angle, controlling the pan/tilt head 330 to rotate in the same direction as the aircraft 310 in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the euler angle of the aircraft 310.
Illustratively, the states of the aircraft 310, the pan/tilt head 330, and the imaging device of the pan/tilt head 330 satisfy preset conditions, including: the aircraft 310 is in a non-braking state, the imaging device of the pan/tilt head 330 is in an imaging state, and the target euler angle of the pan/tilt head 330 is within a first preset range.
Illustratively, the first preset range includes an upper avoidance limit range and a lower avoidance limit range. The upper and lower avoidance limits may be determined according to the maximum and minimum euler angles of the aircraft 310, the mechanical limits of the pan-tilt 330, and the maneuvering characteristics of the aircraft 310. For example, the upper avoidance limit range may be from 5 ° to-8 °, and the lower avoidance limit range may be from-70 ° to-90 °.
Illustratively, in the process of controlling the cradle head 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter, the increasing speed of the angle corresponding to the first direction in the joint angles of the cradle head 330 is not less than the increasing speed of the angle corresponding to the first direction in the euler angles of the aircraft 310.
Illustratively, controlling the cradle head 330 to rotate in the same direction as the aircraft 310 in a first direction according to a first preset avoidance parameter includes: and controlling the holder 330 to rotate in the same direction as the aircraft 310 according to the first preset avoidance parameter, so that the Euler angle of the holder 330 reaches a preset target Euler angle.
Specifically, the method for controlling the cradle head 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter so as to enable the euler angle of the cradle head 330 to reach the preset target euler angle may include the following steps: determining an angle difference between a current euler angle and a target euler angle of the pan/tilt head 330; determining the maximum avoidance speed according to the angle difference and preset avoidance running time; planning an avoidance accelerating section and an avoidance decelerating section according to the maximum avoidance speed, the preset avoidance accelerating time and the preset avoidance decelerating time; and adjusting the euler angle of the holder 330 according to the planned avoidance acceleration section and the planned avoidance deceleration section, so that the euler angle of the holder 330 reaches a preset target euler angle when the avoidance speed of the holder 330 is decelerated to zero.
Illustratively, controlling the cradle head 330 to rotate in the same direction as the aircraft 310 in the first direction according to a first preset avoidance parameter includes: and controlling the holder 330 to rotate for a preset stroke according to the first preset avoidance parameter. Specifically, the step of controlling the rotational movement of the holder 330 by a preset stroke according to a first preset evasion parameter may include the following steps: determining a maximum avoidance speed according to a preset travel and preset avoidance running time; planning an avoidance accelerating section and an avoidance decelerating section according to the maximum avoidance speed, the preset avoidance accelerating time and the preset avoidance decelerating time; and adjusting the Euler angle of the holder 330 according to the planned avoidance acceleration section and the planned avoidance deceleration section, so that the holder 330 runs a preset stroke when the avoidance speed is decelerated to zero.
Illustratively, controlling the cradle head 330 to rotate in the same direction as the aircraft 310 in a first direction according to a first preset avoidance parameter includes: and controlling the holder 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter, so that the joint angle of the holder 330 reaches a target joint angle, wherein the target joint angle is determined based on a preset allowance and a second preset angle. Specifically, controlling the cloud deck 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter so that the joint angle of the cloud deck 330 reaches the target joint angle may include the following steps: acquiring a current angle difference of the current joint angle of the holder 330 exceeding a second preset angle in real time; determining an avoidance speed according to the current angle difference and a preset allowance; and controlling the holder 330 to rotate in the same direction as the aircraft 310 in the first direction according to the avoiding speed, so that the joint angle of the holder 330 reaches the target joint angle when the avoiding speed is decelerated to zero.
In one embodiment, the control device 320 is further configured to: entering a second avoidance mode when detecting that the states of the aircraft 310 and the holder 330 do not meet the preset conditions; wherein the second avoidance mode includes: when detecting that the angle corresponding to the first direction in the euler angles of the aircraft 310 reaches a first preset angle and the angle corresponding to the first direction in the joint angles of the cradle head 330 reaches a second preset angle, controlling the cradle head 330 to rotate in the same direction as the aircraft 310 in the first direction according to a second preset avoidance parameter so as to avoid mechanical limitation, wherein in a second preset avoidance mode, the time length for the cradle head 330 to avoid the mechanical limitation is shorter than the time length for the cradle head 330 to avoid the mechanical limitation in the first preset avoidance mode.
The main functions of the components of the cooperative control system 300 are described above, and further details may refer to the above description related to the cooperative control method 100 for a cradle head and an aircraft, which are not described herein again.
In addition, the embodiment of the invention also provides a computer storage medium, and the computer storage medium is stored with the computer program. The steps of the aforementioned method 100 of cooperative control of a head and an aircraft may be implemented when said computer program is executed by a processor.
For example, the computer storage medium is a computer-readable storage medium. The computer storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.
In summary, according to the cooperative control method and system of the cradle head and the aircraft provided by the embodiment of the invention, when the cradle head needs to avoid mechanical limitation and avoid looking at the propeller, the increasing speed of the euler angle of the aircraft is limited, and time is reserved for the cradle head to avoid, so that the cradle head can slowly avoid, and the fluency of a shot picture is ensured.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
It can be clearly understood by those skilled in the art that, for convenience and simplicity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
In the several embodiments provided in the present application, it should be understood that the disclosed system, apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the division of the units is only one logical division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling 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 functions may be stored in a computer-readable storage medium if they are implemented in the form of software functional units and sold or used as separate products. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily think of the changes or substitutions within the technical scope of the present invention, and shall cover the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.
Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.
In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.
Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the disclosure and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: rather, the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.
It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.
Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.
The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.
It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means can be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.
The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (28)
- A method for cooperative control of a pan/tilt head and an aircraft on which the pan/tilt head is mounted, the method comprising:acquiring an Euler angle of the aircraft and a joint angle of the holder;when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft to be not more than a first preset speed;when detecting that the angle corresponding to the first direction in the joint angles of the cloud deck reaches a second preset angle, controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
- The cooperative control method according to claim 1, characterized by further comprising:entering a first avoidance mode when detecting that the states of the aircraft, the cradle head and an imaging device carried by the cradle head meet preset conditions;wherein, the first avoidance mode comprises: when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft to be not more than a first preset speed; when detecting that the angle corresponding to the first direction in the joint angles of the cloud deck reaches a second preset angle, controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
- The cooperative control method according to claim 2, wherein the states of the aircraft, the pan/tilt head, and the imaging device of the pan/tilt head satisfy a preset condition, including:the aircraft is in a non-braking state, the imaging device of the holder is in an imaging state, and the target Euler angle of the holder is within a first preset range.
- The cooperative control method according to claim 3, characterized in that the first preset range includes an upper avoidance limit range and a lower avoidance limit range.
- The cooperative control method according to claim 4, characterized in that the avoidance upper-limit range and the avoidance lower-limit range are determined according to a maximum euler angle and a minimum euler angle of the aircraft, a mechanical limit of the pan/tilt, and a maneuvering performance of the aircraft.
- The cooperative control method according to claim 5, characterized in that the upper avoidance limit range is 5 ° to-8 °, and the lower avoidance limit range is-70 ° to-90 °.
- The cooperative control method according to claim 1, wherein, in the process of controlling the pan/tilt head to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, an increase speed of an angle corresponding to the first direction in joint angles of the pan/tilt head is not less than an increase speed of an angle corresponding to the first direction in euler angles of the aircraft.
- The cooperative control method according to claim 1, wherein the controlling the pan-tilt head to rotate in the first direction in the same direction as the aircraft according to a first preset avoidance parameter comprises:and controlling the holder to rotate in the first direction in the same direction as the aircraft according to a first preset avoidance parameter so as to enable the Euler angle of the holder to reach a preset target Euler angle.
- The cooperative control method according to claim 8, wherein the controlling the pan/tilt head to rotate in the first direction in the same direction as the aircraft according to a first preset avoidance parameter so that the euler angle of the pan/tilt head reaches a preset target euler angle comprises:determining an angle difference between a current Euler angle of the holder and the target Euler angle;determining the maximum avoidance speed according to the angle difference and preset avoidance running time;planning an avoidance accelerating section and an avoidance decelerating section according to the maximum avoidance speed, preset avoidance accelerating time and preset avoidance decelerating time;and adjusting the Euler angle of the holder according to the planned avoiding acceleration section and the planned avoiding deceleration section, so that the Euler angle of the holder reaches the preset target Euler angle when the avoiding speed of the holder is decelerated to zero.
- The cooperative control method according to claim 1, wherein the controlling the pan-tilt head to rotate in the first direction in the same direction as the aircraft according to a first preset avoidance parameter comprises:and controlling the holder to rotate for a preset stroke according to a first preset avoidance parameter.
- The cooperative control method according to claim 10, wherein the controlling the pan/tilt head to rotate by a preset stroke according to a first preset avoidance parameter comprises:determining a maximum avoidance speed according to the preset travel and preset avoidance running time;planning an avoidance accelerating section and an avoidance decelerating section according to the maximum avoidance speed, preset avoidance accelerating time and preset avoidance decelerating time;and adjusting the Euler angle of the cradle head according to the planned avoidance acceleration section and the planned avoidance deceleration section, so that the cradle head runs the preset stroke when the avoidance speed is decelerated to zero.
- The cooperative control method according to claim 1, wherein said controlling the pan/tilt head to rotate in the same direction as the aircraft in the first direction according to a first preset avoidance parameter comprises:and controlling the cradle head to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter, so that the joint angle of the cradle head reaches a target joint angle, wherein the target joint angle is determined based on a preset allowance and the second preset angle.
- The cooperative control method according to claim 12, wherein the controlling the pan/tilt head to rotate in the same direction as the aircraft in the first direction according to a first preset avoidance parameter so that the joint angle of the pan/tilt head reaches a target joint angle comprises:acquiring a current angle difference that a current joint angle of the holder exceeds the second preset angle in real time;determining an avoidance speed according to the current angle difference and the preset allowance;and controlling the cradle head to rotate in the same direction as the aircraft in the first direction according to the avoiding speed, so that the joint angle of the cradle head reaches the target joint angle when the avoiding speed is reduced to zero.
- The cooperative control method according to claim 2, characterized by further comprising:entering a second avoidance mode when the conditions of the aircraft and the cradle head are detected not to meet the preset conditions;wherein the second avoidance mode comprises: when detecting that the angle corresponding to the first direction in Euler angles of the aircraft reaches a first preset angle and the angle corresponding to the first direction in joint angles of the cloud deck reaches a second preset angle, controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a second preset avoidance parameter, wherein in the second preset avoidance mode, the time length of avoiding mechanical limitation of the cloud deck is shorter than that of avoiding mechanical limitation of the cloud deck in the first preset avoidance mode.
- A cooperative control system of a cradle head and an aircraft is characterized by comprising the cradle head, the aircraft and a control device, wherein the cradle head is mounted on the aircraft, and the control device is used for:acquiring an Euler angle of the aircraft and a joint angle of the holder;when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft to be not greater than the first preset speed;when detecting that the angle corresponding to the first direction in the joint angles of the cloud deck reaches a second preset angle, controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
- The cooperative control system as recited in claim 15, wherein said control means is further configured to:entering a first avoidance mode when detecting that the states of the aircraft, the holder and an imaging device carried by the holder meet preset conditions;wherein, the first avoidance mode comprises: when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft to be not more than a first preset speed; when detecting that the angle corresponding to the first direction in the joint angles of the cloud deck reaches a second preset angle, controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter, wherein the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
- The coordinated control system according to claim 16, wherein the states of the aircraft, the pan-tilt head and the imaging device of the pan-tilt head satisfy preset conditions including:the aircraft is in a non-braking state, the imaging device of the holder is in an imaging state, and the target Euler angle of the holder is within a first preset range.
- The cooperative control system according to claim 17, wherein the first preset range includes an upper avoidance limit range and a lower avoidance limit range.
- The cooperative control system according to claim 18, wherein the avoidance upper limit range and the avoidance lower limit range are determined according to a maximum euler angle and a minimum euler angle of the aircraft, a mechanical limit of the pan/tilt head, and a maneuvering performance of the aircraft.
- The cooperative control system according to claim 19, characterized in that the upper avoidance limit range is 5 ° to-8 °, and the lower avoidance limit range is-70 ° to-90 °.
- The cooperative control system according to claim 15, wherein, in the process of controlling the pan/tilt head to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, an increase rate of an angle corresponding to the first direction in joint angles of the pan/tilt head is not less than an increase rate of an angle corresponding to the first direction in euler angles of the aircraft.
- The coordinated control system according to claim 15, wherein said controlling said pan-tilt head to rotate in said first direction in the same direction as said aircraft according to a first preset avoidance parameter comprises:and controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter so as to enable the Euler angle of the cloud deck to reach a preset target Euler angle.
- The coordinated control system according to claim 22, wherein said controlling said pan/tilt head to rotate in the same direction as said aircraft in said first direction according to a first preset avoidance parameter so as to make the euler angle of said pan/tilt head reach a preset target euler angle comprises:determining an angle difference between a current Euler angle of the holder and the target Euler angle;determining the maximum avoidance speed according to the angle difference and preset avoidance running time;planning an avoidance accelerating section and an avoidance decelerating section according to the maximum avoidance speed, preset avoidance accelerating time and preset avoidance decelerating time;and adjusting the Euler angle of the holder according to the planned avoiding acceleration section and the planned avoiding deceleration section, so that the Euler angle of the holder reaches the preset target Euler angle when the avoiding speed of the holder is decelerated to zero.
- The cooperative control system as set forth in claim 15, wherein said controlling said pan and tilt head to rotate in the same direction as said aircraft in accordance with a first preset avoidance parameter comprises:and controlling the holder to rotate for a preset stroke according to a first preset avoidance parameter.
- The cooperative control system as claimed in claim 24, wherein the controlling the pan-tilt to rotate by a preset stroke according to a first preset evasion parameter comprises:determining the maximum avoidance speed according to the preset travel and the preset avoidance running time;planning an avoidance accelerating section and an avoidance decelerating section according to the maximum avoidance speed, preset avoidance accelerating time and preset avoidance decelerating time;and adjusting the Euler angle of the cradle head according to the planned avoidance acceleration section and the planned avoidance deceleration section, so that the cradle head runs the preset stroke when the avoidance speed is decelerated to zero.
- The coordinated control system according to claim 15, wherein said controlling said pan-tilt head to rotate in said first direction in the same direction as said aircraft according to a first preset avoidance parameter comprises:and controlling the cradle head to rotate in the same direction as the aircraft according to a first preset avoidance parameter, so that the joint angle of the cradle head reaches a target joint angle, wherein the target joint angle is determined based on a preset allowance and the second preset angle.
- The cooperative control system as set forth in claim 26, wherein said controlling said pan/tilt head to rotate in the same direction as said aircraft in said first direction according to a first preset avoidance parameter to achieve a target joint angle for said pan/tilt head comprises:acquiring a current angle difference of the current joint angle of the holder exceeding the second preset angle in real time;determining an avoidance speed according to the current angle difference and the preset allowance;and controlling the cradle head to rotate in the same direction as the aircraft in the first direction according to the avoiding speed, so that the joint angle of the cradle head reaches the target joint angle when the avoiding speed is reduced to zero.
- The cooperative control system as recited in claim 16, wherein said control means is further configured to:when the condition that the states of the aircraft and the holder do not meet the preset condition is detected, entering a second avoidance mode;wherein the second avoidance mode includes: when detecting that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle and the angle corresponding to the first direction in the joint angles of the cloud deck reaches a second preset angle, controlling the cloud deck to rotate in the same direction with the aircraft in the first direction according to a second preset avoidance parameter, wherein in the second preset avoidance mode, the time length of avoiding mechanical limitation of the cloud deck is shorter than the time length of avoiding mechanical limitation of the cloud deck in the first preset avoidance mode.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/131204 WO2022109801A1 (en) | 2020-11-24 | 2020-11-24 | Cooperative control method and system for cradle head and aircraft |
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| CN115175854A true CN115175854A (en) | 2022-10-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202080070618.9A Pending CN115175854A (en) | 2020-11-24 | 2020-11-24 | Cooperative control method and system for holder and aircraft |
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| CN (1) | CN115175854A (en) |
| WO (1) | WO2022109801A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3125946B2 (en) * | 1991-11-22 | 2001-01-22 | 株式会社安川電機 | Robot control method |
| CN108521777B (en) * | 2017-11-22 | 2022-06-03 | 深圳市大疆创新科技有限公司 | Control method of cradle head, cradle head and unmanned aerial vehicle |
| WO2019127344A1 (en) * | 2017-12-29 | 2019-07-04 | 深圳市大疆创新科技有限公司 | Pan-tilt head reset control method and device, pan-tilt head, and unmanned aerial vehicle |
| WO2020042064A1 (en) * | 2018-08-30 | 2020-03-05 | 深圳市大疆创新科技有限公司 | Cradle head control method and device, cradle head system and unmanned aerial vehicle |
| CN110649365A (en) * | 2019-10-29 | 2020-01-03 | 北京联恒众达科技中心(有限合伙) | 360 degrees stop gear of cloud platform single circle |
| CN111447362B (en) * | 2020-04-02 | 2021-04-27 | 浙江大华技术股份有限公司 | Pan-tilt motor limiting method and device, pan-tilt camera and storage medium |
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2020
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