WO2019119201A1 - Procédé de commande de cardan, véhicule aérien sans pilote, cardan et support d'informations - Google Patents

Procédé de commande de cardan, véhicule aérien sans pilote, cardan et support d'informations Download PDF

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Publication number
WO2019119201A1
WO2019119201A1 PCT/CN2017/116902 CN2017116902W WO2019119201A1 WO 2019119201 A1 WO2019119201 A1 WO 2019119201A1 CN 2017116902 W CN2017116902 W CN 2017116902W WO 2019119201 A1 WO2019119201 A1 WO 2019119201A1
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WIPO (PCT)
Prior art keywords
joint angle
pan
tilt
drone
gimbal
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PCT/CN2017/116902
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English (en)
Chinese (zh)
Inventor
刘帅
王映知
王文军
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深圳市大疆灵眸科技有限公司
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Application filed by 深圳市大疆灵眸科技有限公司 filed Critical 深圳市大疆灵眸科技有限公司
Priority to CN201780012720.1A priority Critical patent/CN108780328A/zh
Priority to PCT/CN2017/116902 priority patent/WO2019119201A1/fr
Publication of WO2019119201A1 publication Critical patent/WO2019119201A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft

Definitions

  • the present invention relates to the field of control technologies, and in particular, to a cloud platform control method, a drone, a cloud platform, and a storage medium.
  • drones mainly include pan/tilt and body. During the flight, the drone may have various faults or bombings due to the reasons of the drone itself or improper operation of the user.
  • the drone After various failures or bombings of the drone, it is necessary to perform corresponding after-sales treatment on the drone, usually copying the flight data of the drone to facilitate investigation of the cause of the malfunction or bombing of the drone.
  • the drone In the process of copying data, the drone may not be able to maintain balance due to the missing part of the body, which leads to the turbulence of the gimbal and even directly hit the mechanical limit, which reduces the service life of the gimbal. In severe cases, it may even burn out. Motor.
  • the embodiment of the invention provides a cloud platform control method, a drone, a cloud platform, a system and a storage medium, which can improve the security of the cloud platform.
  • an embodiment of the present invention provides a pan/tilt control method, which is applied to a drone, and the drone is provided with a pan/tilt.
  • the method includes:
  • the control command is used to indicate that the gimbal moves from a current joint angle to a target joint angle and is maintained under the target joint angle, and the joint angle refers to a joint of the pan-tilt axis relative to the pan-tilt The angle of the coordinate system.
  • the embodiment of the present invention further provides another pan/tilt control method, which is applied to a cloud platform, and the cloud platform is disposed on a drone, and the method includes:
  • the pan/tilt is controlled to move from the current joint angle to the target joint angle and is maintained at the target joint angle, which is the angle of the pan-tilt axis relative to the joint coordinate system of the pan-tilt.
  • an embodiment of the present invention provides a drone, including:
  • a power system disposed on the fuselage for providing flight power
  • processor disposed in the body, the processor, configured to perform the following steps:
  • the control command is used to indicate that the gimbal moves from a current joint angle to a target joint angle and is maintained under the target joint angle, and the joint angle refers to a joint of the pan-tilt axis relative to the pan-tilt The angle of the coordinate system.
  • an embodiment of the present invention provides a cloud platform, where the cloud platform is mounted on a drone, and includes:
  • processor configured to perform the following steps:
  • the pan/tilt is controlled to move from the current joint angle to the target joint angle and is maintained at the target joint angle, which is the angle of the pan-tilt axis relative to the joint coordinate system of the pan-tilt.
  • an embodiment of the present invention provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by a processor, implements the first aspect or the second aspect, PTZ control method.
  • the UAV detects a state in which the UAV is currently located, and if it detects that the UAV is in a preset state, sends a control instruction to the PTZ to indicate the PTZ
  • the current joint angle is moved to the target joint angle and remains under the target joint angle during subsequent copying of the data.
  • FIG. 1 is a schematic diagram of an interaction process of a PTZ control method according to an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a PTZ control method according to an embodiment of the present invention.
  • FIG. 3 is a schematic flowchart diagram of another PTZ control method according to an embodiment of the present invention.
  • FIG. 4 is a schematic flowchart diagram of still another method for controlling a PTZ according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart diagram of still another method for controlling a pan/tilt according to an embodiment of the present invention.
  • FIG. 6 is a schematic block diagram of a drone according to an embodiment of the present invention.
  • FIG. 7 is a schematic block diagram of a cloud platform according to an embodiment of the present invention.
  • the pan/tilt control method provided by the embodiment of the present invention can be applied to a cloud station after the UAV detects that the data in the storage device of the drone is copied after the UAV malfunctions or flies. control.
  • the pan/tilt control method can be applied to a drone, and can also be applied to other intelligent terminals such as an unmanned car; the storage device can be a black box of the drone; the data can include a flying height, a flight Any one or more of the flight data of direction, flight speed, and acceleration.
  • the PTZ control method provided by the embodiment of the present invention may be implemented according to the interaction between the UAV and the PTZ in the system, and the interaction method of the UAV and the PTZ is described below with reference to the accompanying drawings, and respectively The control methods applied to the drone and the pan/tilt are described in detail.
  • FIG. 1 is a schematic diagram of an interaction process of a PTZ control method according to an embodiment of the present invention. Specifically, the method implementation of the embodiment of the present invention includes the following steps.
  • S101 The drone detects whether data in the storage device of the drone is copied.
  • the drone can detect whether the data of the storage device of the drone is copied, wherein the data may include any one or more of a flight height, a flight direction, a flight speed, and an acceleration. Flight data, the storage device is explained as described above. For example, the drone can detect whether any one or more of the flight altitudes, flight directions, flight speeds, and accelerations stored in the black box of the drone are copied.
  • the UAV may determine that the UAV is currently in a preset state. For example, if the drone detects that the flight data stored in the black box of the drone is copied, the drone may determine that the state of the drone is currently in a preset state. It can be understood that determining whether the drone enters the preset state may also be an instruction of whether the drone receives the sensor calibration. For example, when it is detected that the unmanned aerial vehicle needs to enter the compass correction command, it is determined that the drone enters the preset state. Of course, the step of determining that the drone enters a preset state may also be triggered by other means, which are not enumerated here.
  • S103 The drone sends a control command to the pan/tilt of the drone.
  • the UAV may send a control instruction to the PTZ.
  • the control command is used to indicate that the gimbal moves from a current joint angle to a target joint angle and is maintained under the target joint angle, and the joint angle refers to a joint of the pan-tilt axis relative to the pan-tilt The angle of the coordinate system.
  • S104 The pan/tilt receives the control instruction of the drone.
  • the pan/tilt can receive the control command sent by the drone.
  • the control command is further configured to control the pan/tilt to enter a joint angle closed-loop operation mode from the attitude closed-loop operation mode, and the pan-tilt moves from the current joint angle to the target joint angle in the joint-angle closed-loop operation mode.
  • the pan/tilt is used to hang a load, and the pan/tilt includes at least one pan/tilt axis.
  • the pan-tilt axis moves to achieve a desired attitude in the geodetic coordinate system; in the joint-angle closed-loop mode of operation, the pan-tilt axis moves such that the pan-tilt axis is in the joint angular coordinate system Achieve the desired angle.
  • the closed-loop operation mode of the joint angle and the closed-loop operation mode of the attitude will not be described again.
  • the pan/tilt controls the pan/tilt to move from the current joint angle to the target joint angle and remains under the target joint angle.
  • the pan/tilt may control the pan/tilt to enter the joint angle closed-loop operation mode from the attitude closed-loop operation mode according to the received control instruction, and the pan-tilt is in the closed-loop operation mode of the joint angle from the current
  • the joint angle moves to the target joint angle.
  • the target joint angle is 0 degrees.
  • the current joint angle of the gimbal may be acquired, and the interpretation of the joint angle is as described above.
  • the pan/tilt may acquire a joint angle of 30° of the current gimbal axis of the gimbal relative to the joint coordinate system of the gimbal.
  • the pan/tilt may plan a motion curve of the pan/tilt according to a current joint angle and a target joint angle of the gimbal, and control the pan-tilt from the current joint according to the motion curve.
  • the angle moves to the target joint angle.
  • the motion curve may be a curve of any shape, which is not limited in the embodiment of the present invention, and only needs to satisfy the adjustment of the pan head from the position corresponding to the current joint angle to the position corresponding to the target joint angle. For example, if the current joint angle of the pan/tilt acquired by the pan/tilt is 3° and the target joint angle is 0°, the pan/tilt can be planned to move from the current joint angle of 3° to the target joint angle of 0°. Movement curve.
  • the pan/tilt may determine a motion parameter of the pan/tilt according to the current joint angle of the gimbal and the target joint angle in planning the motion curve of the pan/tilt, and According to the motion parameter of the pan/tilt, the motion curve of the pan/tilt is planned.
  • the motion parameter includes any one or more of a motion time, an angular velocity, and an angular acceleration
  • the pan/tilt may be according to any one of the pan/tilt motion time, an angular velocity, and an angular acceleration.
  • the motion parameter of the pan/tilt is set as follows: the time information for completing the pan-tilt movement is 10 s, the angular acceleration within the first 2.5 s is constant 1.6 m/s 2 , the middle 5 s is moving at a constant angular acceleration, and the latter is within 2.5 s.
  • the acceleration is -1.6m/s 2 .
  • the pan/tilt may plan a motion curve of the pan/tilt moving from a current joint angle of 30° to the target joint angle of 0° according to the set motion parameters of the pan/tilt.
  • the target joint angle may also be the current joint angle of the gimbal.
  • the target joint angle is the current joint angle of the gimbal
  • the gimbal enters the joint angle closed-loop operation mode, and when the drone is in the preset state, the gimbal maintains the current joint angle .
  • the pan/tilt receives the end command sent by the drone, and controls the pan/tilt to enter the attitude closed-loop operation mode from the joint angle closed-loop operation mode.
  • the pan/tilt may be controlled to enter the attitude closed-loop operation mode from the joint angle closed-loop operation mode.
  • the attitude angle of the pan/tilt in the attitude closed-loop operation mode is an attitude angle or a preset attitude angle before the pan-tilt enters the closed-loop operation mode of the joint angle.
  • the pan/tilt may control a position of the pan/tilt head from a position corresponding to the target joint angle to a position corresponding to the attitude angle or a preset attitude angle position in the attitude closed-loop operation mode. .
  • the pan/tilt is controlled to move from the current joint angle to a position where the joint angle is zero.
  • the T-shaped velocity planning can be performed according to the current joint angle of the gimbal, and the trapezoidal motion curve is automatically planned, so that the gimbal smoothly runs to a position where the joint angle is zero.
  • the attitude closed-loop operation mode is controlled by the attitude of the gimbal. During the movement of the movable object, the attitude of the gimbal is controlled, so that the gimbal moves in accordance with the movement of the movable object, so that the gimbal is relatively movable.
  • the automatic control process in which the moving object remains relatively stationary.
  • the pan/tilt may also control the pan/tilt to be powered on again.
  • the drone determines the current state of the drone by detecting whether the data in the storage device of the drone is copied, and if it is a preset state,
  • the pan/tilt head of the drone sends a control command, and after receiving the control command, the pan/tilt head can control the pan/tilt head to move from the current joint angle to the target joint angle, and keep in the process of subsequently copying the data.
  • the drone Under the target joint angle, the drone sends an end command to the pan/tilt if it detects that the preset state of the drone is over, and the pan/tilt controls according to the received end instruction.
  • the pan/tilt enters the attitude closed-loop operation mode from the joint angle closed-loop operation mode, thereby ending the control of the pan/tilt in the joint angle closed-loop operation mode. It can be seen that, in this manner, the embodiment of the present invention can realize the protection control of the pan/tilt and ensure the security of the pan/tilt.
  • FIG. 2 is a schematic flowchart of a PTZ control method according to an embodiment of the present invention.
  • the method may be performed by a UAV.
  • the method in the embodiment of the present invention includes the following steps.
  • the drone can detect whether the drone enters a preset state. In one embodiment, the drone can detect whether data in the storage device of the drone is copied. If the detection result is yes, it can be determined that the current state of the drone is pre- Set the status.
  • the data includes any one or more flight data of flight altitude, flight direction, flight speed, and acceleration.
  • determining whether the drone enters the preset state may also be an instruction of whether the drone receives the sensor calibration. For example, when it is detected that the unmanned aerial vehicle needs to enter the compass correction command, it is determined that the drone enters the preset state.
  • the step of determining that the drone enters a preset state may also be triggered by other means, which are not enumerated here.
  • the UAV may send a control instruction to the PTZ.
  • the control command is used to instruct a closed-loop operation mode from the attitude closed-loop operation mode, and the pan-tilt moves from the current joint angle to the target joint angle in the joint-angle closed-loop operation mode, and remains at the target Below the joint angle, wherein the joint angle refers to the angle of the gimbal axis relative to the joint coordinate system of the gimbal.
  • the target joint angle is 0 degrees. In another embodiment, the target joint angle may also be the current joint angle of the gimbal.
  • the target joint angle is the current joint angle of the gimbal
  • the gimbal enters the joint angle closed-loop operation mode, and when the drone is in the preset state, the gimbal maintains the current joint angle .
  • the current joint angle of the gimbal may be acquired, and the joint angle is explained as described above.
  • the joint angle of the current pan-tilt axis of the gimbal relative to the joint coordinate system of the gimbal may be acquired as 30°.
  • the UAV may further plan a motion curve of the PTZ according to the current joint angle of the PTZ and the target joint angle after sending a control instruction to the PTZ, and according to The motion curve controls movement of the pan/tilt from the current joint angle to the target joint angle.
  • the motion curve may be a trapezoidal motion curve or a motion curve of other shapes.
  • the embodiment of the present invention is not limited, and only needs to meet the smooth adjustment of the position of the gimbal from the current joint angle to The position corresponding to the target joint angle.
  • an end command may be sent to the pan/tilt to control the pan-tilt closed-loop operation mode from the joint angle. Entering the attitude closed-loop operation mode, and controlling the position of the pan-tilt from the target joint angle movement in the joint angle closed-loop operation mode to the attitude angle in the attitude closed-loop operation mode.
  • the attitude angle of the pan/tilt in the attitude closed-loop operation mode is an attitude angle or a preset attitude angle before the pan-tilt enters the closed-loop operation mode of the joint angle.
  • the drone when the drone detects that the preset state of the drone is over, the drone can also be controlled to be powered back on.
  • the UAV detects the current state of the UAV, and if it detects that the UAV enters the preset state, sends a control command to the PTZ to indicate the PTZ
  • the attitude closed loop mode of operation enters a joint angle closed loop mode of operation and moves from the current joint angle to the target joint angle in the joint angle closed loop mode of operation and remains at the target during subsequent copying of data
  • the position of the joint angle By controlling the movement of the gimbal from the current joint angle and maintaining the target joint angle, it is possible to effectively ensure that the gimbal does not reach the limit position, realize the protection control of the gimbal, and ensure the safety of the gimbal.
  • FIG. 3 is a schematic flowchart of another method for controlling a pan/tilt according to an embodiment of the present invention.
  • the method may be performed by a drone, wherein the difference between the embodiment of the present invention and the embodiment corresponding to FIG.
  • the UAV can plan the motion curve of the PTZ according to the acquired current joint angle of the PTZ and the target joint angle, and control the PTZ from the current joint according to the motion curve. The angle moves to the target joint angle.
  • the method of the embodiment of the present invention includes the following steps.
  • S301 Detect whether the drone enters a preset state.
  • the drone can detect whether the drone enters a preset state.
  • the preset state of the drone is determined by whether data in the storage device of the drone is copied, if the drone detects the storage device of the drone The data is copied, and it can be determined that the state in which the drone is currently located is a preset state.
  • the data includes any one or more flight data of flight altitude, flight direction, flight speed, and acceleration.
  • determining whether the drone enters the preset state may also be an instruction of whether the drone receives the sensor calibration. For example, when it is detected that the unmanned aerial vehicle needs to enter the compass correction command, it is determined that the drone enters the preset state.
  • the step of determining that the drone enters a preset state may also be triggered by other means, which are not enumerated here.
  • the UAV may send a control instruction to the PTZ.
  • the control instruction is used to instruct the pan/tilt to enter a joint angle closed-loop operation mode from the attitude closed-loop operation mode, and control the pan-tilt to move from the current joint angle to the target joint angle in the joint angle closed-loop operation mode, And remaining under the target joint angle, the joint angle is explained as described above.
  • the target joint angle is 0 degrees.
  • the UAV can acquire the current joint angle of the gimbal, and the interpretation of the joint angle is as described above.
  • the joint angle of the current pan/tilt axis of the gimbal relative to the joint coordinate system of the gimbal may be acquired, for example, the joint angle is 3°.
  • S304 Plan a motion curve of the pan/tilt according to the current joint angle of the gimbal and the target joint angle.
  • the UAV may be based on the current joint angle of the PTZ.
  • the target joint angle is planned for the movement curve of the gimbal.
  • the motion curve may be a trapezoidal motion curve or a motion curve of other shapes.
  • the embodiment of the present invention is not limited, and only needs to meet the smooth adjustment of the position of the gimbal from the current joint angle to The position corresponding to the target joint angle.
  • the drone may plan a motion curve of the pan/tilt by determining a motion parameter of the pan/tilt. Specifically, the drone may be based on a current joint angle and a location of the gimbal. Describe a target joint angle, determine a motion parameter of the pan/tilt, and plan a motion curve of the pan/tilt according to the motion parameter.
  • the motion parameter of the pan/tilt may include any one or more of a motion time, an angular velocity, and an angular acceleration
  • the drone may be according to the pan/tilt motion time, the angular velocity, and the angular acceleration. Plan any one or more of the motion curves of the gimbal. For example, if the drone acquires the current joint angle of the gimbal is 30° and the target joint angle is 0°, the drone controls the corresponding position of the gimbal from the current joint angle of 30°. The position corresponding to the target joint angle 0° needs to be rotated by 30°.
  • the motion parameter of the pan/tilt is set to: the time information for completing the pan/tilt movement is 10s, and the first 2.5s inner angle
  • the acceleration is constant at 1.6 m/s 2
  • the middle 5 s is moving at a constant angular acceleration
  • the angular acceleration in the latter 2.5 s is -1.6 m/s 2 .
  • the drone may plan a motion curve of the pan/tilt moving from a current joint angle of 30° to the target joint angle of 0° according to the set motion parameters of the pan/tilt.
  • the target joint angle may also be the current joint angle of the gimbal.
  • the target joint angle is the current joint angle of the gimbal
  • the gimbal enters the joint angle closed-loop operation mode, and when the drone is in the preset state, the gimbal maintains the current joint angle .
  • S305 Control, according to the motion curve, the pan/tilt moving from the current joint angle to the target joint angle.
  • the drone may control the pan/tilt to move from the current joint angle to the target joint angle according to the planned motion curve.
  • the motion curve planned by the drone is a trapezoidal motion curve
  • the drone may control the pan/tilt corresponding to the current joint angle of 3° according to the planned trapezoidal motion curve. The position is smoothly moved to a position corresponding to the target joint angle of 0°.
  • the drone may determine the pre-determination of the drone The state is ended, and an end command is sent to the pan/tilt to control the pan/tilt to enter the attitude closed-loop mode of operation from the joint angle closed-loop mode of operation.
  • the attitude angle of the pan/tilt in the attitude closed-loop operation mode is an attitude angle or a preset attitude angle before the pan-tilt enters the closed-loop operation mode of the joint angle.
  • the drone may control the position of the pan/tilt from the position corresponding to the target joint angle to the position corresponding to the attitude angle or the preset attitude angle in the attitude closed-loop operation mode. .
  • the drone or pan/tilt can also be controlled to be powered back on.
  • the UAV detects the current state of the UAV, and if it detects that the UAV enters the preset state, sends a control command to the PTZ to indicate the PTZ
  • the attitude closed loop mode of operation enters a joint angle closed loop mode of operation and moves from the current joint angle to the target joint angle in the joint angle closed loop mode of operation and remains at the target joint angle during subsequent copying of the data position.
  • FIG. 4 is a schematic flowchart diagram of still another method for controlling a PTZ according to an embodiment of the present invention, where the method may be performed by a PTZ. Specifically, the method of the embodiment of the present invention includes the following steps.
  • S401 Receive a control instruction when the drone is in a preset state.
  • the pan/tilt may receive a control instruction sent when the drone is in a preset state; or the pan/tilt may receive a control instruction input by the user.
  • the control command is configured to control the pan/tilt to enter a joint angle closed-loop operation mode from the attitude closed-loop operation mode, and the pan-tilt moves from the current joint angle to the target joint angle in the joint-angle closed-loop operation mode.
  • the pan/tilt may acquire the current joint angle of the gimbal through an angle sensor of the pan/tilt. For example, after receiving the control instruction, the pan/tilt may acquire, by the angle sensor, a joint angle of the current pan-tilt axis of the gimbal relative to the joint coordinate system of the pan-tilt head by 3°.
  • S402 Control the pan/tilt to move from the current joint angle to the target joint angle and keep under the target joint angle.
  • the pan/tilt may control the pan/tilt to enter a joint angle closed-loop operation mode from the attitude closed-loop operation mode according to the control instruction, and the pan-tilt is from the current joint in the joint-angle closed-loop operation mode.
  • the horn moves to the target joint angle, and during the subsequent copying of the data, the gimbal remains below the target joint angle.
  • the explanation of the joint angle is as described above. In one embodiment, the target joint angle is 0 degrees.
  • the target joint angle may also be the current joint angle of the gimbal.
  • the target joint angle is the current joint angle of the gimbal
  • the gimbal enters the joint angle closed-loop operation mode, and when the drone is in the preset state, the gimbal maintains the current joint angle .
  • the pan/tilt may receive an end command, and when the end command is received, control the pan-tilt from the joint angle closed-loop operation mode to the attitude closed-loop operation mode, and control the pan-tilt
  • the target joint angle is moved to an attitude angle or a preset attitude angle in the attitude closed loop operation mode, or the pan/tilt is controlled to be powered on again.
  • the end instruction may be sent by the drone; or the end instruction may be input by a user.
  • the end instruction is used to notify the cloud station that the preset state of the drone is over.
  • the pan/tilt may be controlled to enter the attitude closed-loop mode of operation from the joint angle closed-loop mode of operation.
  • the attitude angle of the pan/tilt in the attitude closed-loop operation mode is an attitude angle or a preset attitude angle before the pan-tilt enters the closed-loop operation mode of the joint angle.
  • the pan/tilt may control the position of the pan/tilt from the position corresponding to the target joint angle to the position corresponding to the attitude angle in the attitude closed-loop operation mode.
  • the cloud platform controls the pan-tilt to move from the current joint angle to the target joint angle by receiving a control command sent by the drone in a preset state, and remains in the process of subsequent data copying.
  • the position of the target joint angle By controlling the movement of the gimbal from the current joint angle to the target joint angle, it is possible to effectively ensure that the gimbal does not reach the limit position, realize the protection control of the gimbal, and ensure the safety of the gimbal.
  • FIG. 5 is a schematic flowchart diagram of still another method for controlling a PTZ according to an embodiment of the present invention, where the method may be performed by a PTZ.
  • the difference between the embodiment of the present invention and the corresponding embodiment of FIG. 4 is that the pan/tilt can plan the motion curve of the pan/tilt according to the acquired current joint angle of the gimbal and the target joint angle.
  • the method of the embodiment of the present invention includes the following steps.
  • S501 Receive a control command when the drone is in a preset state.
  • the pan/tilt may receive a control instruction sent by the drone to the pan/tilt after entering the preset state; or the pan/tilt may receive a control instruction input by the user.
  • the control command is configured to control the pan/tilt to enter a joint angle closed-loop operation mode from the attitude closed-loop operation mode, and the pan-tilt moves from the current joint angle to the target joint angle in the joint-angle closed-loop operation mode.
  • the pan/tilt receives the control instruction about moving from the attitude closed loop operation mode to the joint angle closed loop operation mode, and moving from the current joint angle to the target joint angle in the joint angle closed loop operation mode.
  • the current joint angle of the pan/tilt head may be acquired by an angle sensor of the pan/tilt head, wherein the angle sensor may be a Hall sensor or a magnetic encoder.
  • the pan/tilt may acquire, by the angle sensor, a joint angle of the current pan-tilt axis of the gimbal relative to the joint coordinate system of the pan-tilt head by 3°.
  • S503 Plan a motion curve of the pan/tilt according to the current joint angle of the gimbal and the target joint angle.
  • the pan/tilt may plan the motion curve of the pan/tilt according to the acquired current joint angle of the gimbal and the target joint angle.
  • the explanation of the motion curve is as described above, and details are not described herein again.
  • the pan/tilt may plan a motion curve of the pan/tilt head by determining a motion parameter of the pan/tilt head, and the pan-tilt may determine a motion curve of the pan-tilt Determining the current joint angle of the gimbal and the target joint angle, determining a motion parameter of the pan/tilt, and planning a motion curve of the pan/tilt according to the motion parameter of the pan/tilt.
  • the motion parameter may include any one or more of a motion time, an angular velocity, and an angular acceleration.
  • the pan/tilt may plan the motion curve of the pan/tilt according to any one or more of the motion time, the angular velocity, and the angular acceleration of the pan-tilt movement. For example, if the pan/tilt acquires the current joint angle of the pan/tilt head at 30° and the target joint angle is 0°, the pan/tilt head controls the pan/tilt head to move from a position corresponding to the current joint angle of 30°. The position corresponding to the target joint angle of 0° needs to be rotated at an angle of 30°.
  • the motion parameter of the pan/tilt is set as follows: the time information for completing the pan-tilt movement is 10 s, the angular acceleration within the first 2.5 s is constant 1.6 m/s 2 , the middle 5 s is moving at a constant angular acceleration, and the latter is within 2.5 s.
  • the acceleration is -1.6m/s 2 .
  • the pan/tilt may plan a motion curve of the pan/tilt from a current joint angle of 30° to a target joint angle of 0° according to the set motion parameters of the pan/tilt.
  • the target joint angle may also be the current joint angle of the gimbal.
  • the target joint angle is the current joint angle of the gimbal
  • the gimbal enters the joint angle closed-loop operation mode, and when the drone is in the preset state, the gimbal maintains the current joint angle .
  • S504 Control the pan/tilt to move from the current joint angle to the target joint angle and keep under the target joint angle.
  • the pan/tilt may control the pan/tilt to smoothly move from the position corresponding to the current joint angle to the target joint angle according to the planned motion curve of the pan/tilt head. position.
  • the pan/tilt may receive an end command, and when the end command is received, control the pan-tilt from the joint angle closed-loop operation mode to the attitude closed-loop operation mode, and control the pan-tilt
  • the target joint angle is moved to an attitude angle or a preset attitude angle in the attitude closed loop operation mode, or the pan/tilt is controlled to be powered on again.
  • the end instruction may be sent by the drone; or the end instruction may be input by a user. The explanation of the end instruction is as described above.
  • the pan/tilt may receive an end command sent by the drone, and when the end command is received, control the pan/tilt to enter a gesture closed-loop operation mode from the joint angle closed-loop operation mode, And controlling an attitude angle or a preset attitude angle of the pan/tilt moving from the target joint angle to the attitude closed-loop operation mode.
  • the attitude angle of the pan/tilt in the attitude closed-loop operation mode is an attitude angle or a preset attitude angle before the pan-tilt enters the closed-loop operation mode of the joint angle.
  • the pan/tilt obtains the current joint angle of the gimbal by the control instruction sent by the drone in a preset state, and the current joint angle and the target joint angle of the gimbal, and the cloud is planned.
  • the motion curve of the table thereby controlling the pan/tilt movement from the current joint angle to the target joint angle, and maintaining the position of the target joint angle during subsequent data copying. In this way, the protection and control of the gimbal is realized, and the security of the gimbal is guaranteed.
  • FIG. 6 is a schematic block diagram of a drone according to an embodiment of the present invention.
  • the drone in the embodiment of the present invention as shown in FIG. 6 may include: one or more processors 601; one or more input devices 602, one or more output devices 603, and memory 604.
  • the above processor 601, input device 602, output device 603, and memory 604 are connected by a bus 605.
  • the memory 604 is used to store a computer program, the computer program including program instructions, and the processor 601 is configured to execute program instructions stored in the memory 604.
  • the processor 601 is configured to invoke the program instruction to execute:
  • the control command is used to indicate that the gimbal moves from a current joint angle to a target joint angle and is maintained under the target joint angle, and the joint angle refers to a joint of the pan-tilt axis relative to the pan-tilt The angle of the coordinate system.
  • the target joint angle is 0 degrees or the current joint angle of the gimbal or other preset joint angle.
  • the preset state is whether data in the storage device of the drone is copied.
  • control instruction is further configured to instruct the pan/tilt to enter a joint angle closed-loop operation mode from the attitude closed-loop operation mode, and the pan-tilt moves from the current joint angle to the target joint angle in the joint-angle closed-loop operation mode.
  • the data includes any one or more of flight data of flight altitude, flight direction, flight speed, and acceleration.
  • processor 601 calls the program instructions stored in the memory 604 to also perform the following steps:
  • processor 601 calls a program instruction stored in the memory 604 for performing the following steps:
  • processor 601 calls a program instruction stored in the memory 604 for performing the following steps:
  • a motion curve of the pan/tilt is planned according to the motion parameter.
  • the motion parameter includes one or more of a motion time, an angular velocity, and an angular acceleration.
  • processor 601 calls a program instruction stored in the memory 604 for performing the following steps:
  • the UAV detects the current state of the UAV, and if it detects that the UAV enters the preset state, sends a control command to the PTZ to indicate the PTZ
  • the attitude closed loop mode of operation enters a joint angle closed loop mode of operation and moves from the current joint angle to the target joint angle in the joint angle closed loop mode of operation and remains at the target during subsequent copying of data
  • the position of the joint angle By controlling the movement of the gimbal from the current joint angle and maintaining the target joint angle, it is possible to effectively ensure that the gimbal does not reach the limit position, realize the protection control of the gimbal, and ensure the safety of the gimbal.
  • the processor 601 may be a central processing unit (CPU), and the processor may also be another general-purpose processor, a digital signal processor (DSP). , Application Specific Integrated Circuit (ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component, etc.
  • the general purpose processor may be a microprocessor or the processor or any conventional processor or the like.
  • Input device 602 can include a touchpad, microphone, etc.
  • output device 603 can include a display (LCD, etc.), a speaker, and the like.
  • the memory 604 can include read only memory and random access memory and provides instructions and data to the processor 601. A portion of the memory 604 may also include a non-volatile random access memory. For example, the memory 604 can also store information of the device type.
  • the processor 601, the input device 602, and the output device 603 described in the embodiments of the present invention may perform the PTZ control method described in the embodiment of FIG. 1, FIG. 2 or FIG. 3 provided by the embodiment of the present invention.
  • the implementation manner of the UAV described in the embodiment of the present invention may also be implemented, and details are not described herein again.
  • FIG. 7 is a schematic block diagram of a cloud platform according to an embodiment of the present invention.
  • the pan/tilt in the embodiment of the present invention as shown in FIG. 7 may include: one or more processors 701; one or more angle sensors 702.
  • the processor 701 and the angle sensor 702 are connected by a bus 703.
  • the processor 701 is configured to perform the following steps:
  • the pan/tilt is controlled to move from the current joint angle to the target joint angle and is maintained at the target joint angle, which is the angle of the pan-tilt axis relative to the joint coordinate system of the pan-tilt.
  • the target joint angle is 0 degrees or the current joint angle of the gimbal or other preset joint angle.
  • processor 701 is configured to perform the following steps:
  • control instruction is used to control the pan/tilt to enter a joint angle closed-loop operation mode from the attitude closed-loop operation mode, and the pan-tilt moves from the current joint angle to the target joint angle in the joint-angle closed-loop operation mode.
  • processor 701 is configured to perform the following steps:
  • the current joint angle of the gimbal is acquired by the angle sensor 702.
  • angle sensor 702 is a Hall sensor, or a magnetic encoder.
  • processor 701 is configured to perform the following steps:
  • processor 701 is configured to perform the following steps:
  • a motion curve of the pan/tilt is planned according to the motion parameter.
  • the motion parameter includes one or more of time information, angular velocity, and angular acceleration.
  • processor 701 is configured to perform the following steps:
  • the pan/tilt is controlled to enter the attitude closed loop operation mode from the joint angle closed loop operation mode or to control the pan/tilt to be powered on again.
  • the cloud platform controls the pan-tilt to move from the current joint angle to the target joint angle by receiving a control command sent by the drone in a preset state, and remains in the process of subsequent data copying.
  • the position of the target joint angle By controlling the movement of the gimbal from the current joint angle to the target joint angle, it is possible to effectively ensure that the gimbal does not reach the limit position, realize the protection control of the gimbal, and ensure the safety of the gimbal.
  • the processor 701 and the angle sensor 702 described in the embodiment of the present invention may implement the implementation manner of the PTZ control method described in the embodiment of FIG. 4 or FIG. 5 provided by the embodiment of the present invention, and may also execute the present embodiment.
  • the implementation of the gimbal described in the embodiments of the present invention is not described herein again.
  • An embodiment of the present invention further provides a drone, including: a fuselage; a power system disposed on the fuselage for providing flight power; a pan/tilt head mounted on the body; and a processor disposed at In the body, the processor is configured to detect whether the drone enters a preset state; if the drone is detected to enter a preset state, send a control instruction to the pan/tilt.
  • a drone including: a fuselage; a power system disposed on the fuselage for providing flight power; a pan/tilt head mounted on the body; and a processor disposed at In the body, the processor is configured to detect whether the drone enters a preset state; if the drone is detected to enter a preset state, send a control instruction to the pan/tilt.
  • the drone can be a four-rotor UAV, a six-rotor UAV, a multi-rotor UAV, and the like.
  • the power system may include a motor, an ESC, a propeller, etc., wherein the motor is responsible for driving the aircraft propeller, and the ESC is responsible for controlling the speed of the motor of the aircraft.
  • the embodiment of the present invention further provides a cloud platform, the cloud platform is mounted on the unmanned aerial vehicle, and includes: a pan/tilt axis; an angle sensor; a processor, and the processor is configured to: when the Receiving a control command; controlling the pan-tilt to move from a current joint angle to a target joint angle, and maintaining the target joint angle, the joint angle being a joint of the pan-tilt axis relative to the pan-tilt
  • the angle sensor may be a Hall sensor or a magnetic encoder.
  • the embodiment of the present invention further provides a computer readable storage medium, where the computer readable storage medium stores a computer program, and when the computer program is executed by the processor, the present invention implements FIG. 1, FIG. 2, FIG. 3, and FIG. 4 or the PTZ control method described in the embodiment corresponding to FIG. 5, the UAV described in the embodiment corresponding to FIG. 6 or the PTZ described in the embodiment corresponding to FIG. 7 may also be implemented. Narration.
  • the computer readable storage medium may be an internal storage unit of a drone or pan/tilt as described in any of the preceding embodiments, such as a hard disk or a memory.
  • the computer readable storage medium may also be an external storage device of the drone or pan/tilt, such as a plug-in hard disk equipped on the device, a smart memory card (SMC), and a secure digital (Secure) Digital, SD) cards, flash cards, etc.
  • the computer readable storage medium may also include both an internal storage unit of the drone or pan/tilt and an external storage device.
  • the computer readable storage medium is for storing the computer program and other programs and data required by the drone or pan/tilt.
  • the computer readable storage medium can also be used to temporarily store data that has been output or is about to be output.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

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

Abstract

Selon un mode de réalisation, la présente invention concerne un procédé de commande de cardan, un véhicule aérien sans pilote, un cardan et un support d'informations. Le procédé de commande de cardan est mis en œuvre dans un véhicule aérien sans pilote équipé d'un cardan. Le procédé consiste à : détecter si un véhicule aérien sans pilote entre dans un état prédéfini ; et s'il est détecté que le véhicule aérien sans pilote est entré dans l'état prédéfini, transmettre une instruction de commande à un cardan, l'instruction de commande étant utilisée pour ordonner au cardan de se déplacer jusqu'à un angle d'articulation cible, et d'y rester, à partir d'un angle d'articulation actuel. L'angle d'articulation est un angle d'un arbre de cardan par rapport au cardan dans un système de coordonnées d'articulation. Dans le mode de réalisation de la présente invention, la commande d'un cardan pour se déplacer d'un angle d'articulation actuel à un angle d'articulation cible garantit efficacement que le cardan n'atteint pas une position de limitation de position, ce qui permet de réaliser une protection et une commande du cardan, et d'assurer la sécurité du cardan.
PCT/CN2017/116902 2017-12-18 2017-12-18 Procédé de commande de cardan, véhicule aérien sans pilote, cardan et support d'informations WO2019119201A1 (fr)

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PCT/CN2017/116902 WO2019119201A1 (fr) 2017-12-18 2017-12-18 Procédé de commande de cardan, véhicule aérien sans pilote, cardan et support d'informations

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WO2021189215A1 (fr) * 2020-03-23 2021-09-30 深圳市大疆创新科技有限公司 Procédé et appareil de commande pour plate-forme mobile, plate-forme mobile et support de stockage
WO2021243719A1 (fr) * 2020-06-05 2021-12-09 深圳市大疆创新科技有限公司 Procédé permettant d'éliminer le bruit d'une tête à berceau portable, tête à berceau portable et support de stockage
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CN114503047A (zh) * 2020-12-25 2022-05-13 深圳市大疆创新科技有限公司 云台的控制方法和移动平台
CN113093814A (zh) * 2021-04-07 2021-07-09 浙江大华技术股份有限公司 控制云台运动的方法及装置
CN114489103B (zh) * 2022-01-21 2023-09-08 西南交通大学 一种耦合单轴云台的手机无人机及控制方法

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