WO2019127094A1

WO2019127094A1 - Unmanned aerial vehicle and unmanned aerial vehicle control method and apparatus

Info

Publication number: WO2019127094A1
Application number: PCT/CN2017/118973
Authority: WO
Inventors: 谢文麟; 陈子寒; 赵岩崇
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2017-12-27
Filing date: 2017-12-27
Publication date: 2019-07-04
Also published as: CN108780324A; CN108780324B

Abstract

Provided are an unmanned aerial vehicle and an unmanned aerial vehicle control method and apparatus. The method comprises: acquiring a real-time gesture of a yaw axis of a pan-tilt; and according to the real-time gesture of the yaw axis, controlling the rotation of a tripod to follow a rotation direction of the pan-tilt. In the present invention, by controlling a tripod so that same rotates with a yaw axis of a pan-tilt, the blocking by the tripod of a lens of a camera mounted on the pan-tilt is reduced as much as possible, thereby reducing distribution areas of a tripod in a photographed picture, facilitating the conducting of aerial photography and the protection of the camera by a user, and thus achieving good balance between photographing a picture and protecting of the camera.

Description

Drone, drone control method and device

Technical field

The invention relates to the field of UAV control, and in particular to a UAV, a UAV control method and device.

Background technique

Most of the existing drone tripods are fixed to the fuselage (the tripod is not rotatable relative to the fuselage) or simply controlled by a simple steering gear for a single angle. A drone with a fixed tripod is likely to cause the tripod to appear in the middle of the picture taken during the rotating shooting of the camera while the drone is flying, causing the shooting picture to be unusable. The drone that uses the steering gear to retract the tripod can prevent the tripod from appearing in the shooting picture when the camera mounted on the camera needs to capture images, but usually because of the rudder. The reliability of the machine is low. During the flight of the drone, especially in the case of large wind resistance, there will be overheating or unreliability, which will result in the tripod not being able to be smoothly retracted. In severe cases, the drone cannot land safely, causing the camera to first Ground, causing damage to the camera, therefore, the drone that uses the servo to retract the tripod still cannot balance the picture between the camera and the camera.

Summary of the invention

The invention provides a drone and a drone control method and device.

According to a first aspect of the present invention, a drone control method is provided, the method comprising:

Obtain the real-time attitude of the yaw axis of the gimbal;

According to the real-time posture of the yaw axis, the rotation of the stand is controlled to follow the rotation direction of the pan.

According to a second aspect of the present invention, a drone control apparatus includes a tripod, a motor, and a processor, wherein the processor is coupled to the stand by the motor to drive the stand to rotate; The processor is for,

Obtain the real-time attitude of the yaw axis of the gimbal;

According to a third aspect of the present invention, a drone includes a body, a stand connected to the body, and a head mounted on the body, and further includes a processor and a motor, wherein The processor is coupled to the stand by the motor to drive the stand to rotate, and the processor is communicatively coupled to the pan/tilt; the processor is configured to:

Obtain the real-time attitude of the yaw axis of the gimbal;

According to a fourth aspect of the invention, there is provided a computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by the processor as follows:

Obtain the real-time attitude of the yaw axis of the gimbal;

It can be seen from the technical solutions provided by the embodiments of the present invention that the present invention follows the yaw axis rotation of the gimbal through the control stand, thereby minimizing the occlusion of the lens of the camera mounted on the gimbal by the tripod, and reducing the foot in the shooting picture. The distribution area of the rack allows users to take aerial photography and protect the camera, thus balancing the picture and protecting the camera.

DRAWINGS

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is obvious that the drawings in the following description are only some embodiments of the present invention. Other drawings may also be obtained from those of ordinary skill in the art in view of the drawings.

1 is a schematic structural view of a drone according to an embodiment of the present invention;

2 is a block diagram showing the structure of a drone according to an embodiment of the present invention;

3 is a flow chart of a method for controlling a drone according to an embodiment of the present invention;

4 is a flow chart of a drone control method in another embodiment of the present invention;

Figure 5 is a flow chart showing a method of controlling a drone according to still another embodiment of the present invention;

Figure 6 is a block diagram showing the structure of a drone according to another embodiment of the present invention;

Figure 7 is a block diagram showing the structure of a drone in still another embodiment of the present invention.

Detailed ways

The technical solutions in the embodiments of the present invention are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, but not all embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative efforts are within the scope of the present invention.

The drone and the drone control method and apparatus of the present invention will be described in detail below with reference to the accompanying drawings. The features of the embodiments and embodiments described below may be combined with each other without conflict.

FIG. 1 is a schematic diagram of a drone according to an embodiment of the present invention. The drone may include a fuselage 110 and a flight controller 120 disposed within the fuselage 110. Further, the drone may include a stand 130 connected to the body 110, and when the drone is dropped, the landing surface is supported by the stand 130 to ensure safe landing of the drone. Referring to FIG. 2, the drone may further include a motor 140 for driving the stand 130 to rotate. The motor 140 is electrically connected to the flight controller 120, and the flight controller 120 and the motor 140 cooperate to drive the tripod 130 to rotate. Optionally, the stand 130 includes a plurality of support bars, for example, three, four, five, and the like. The tripod 130 includes three support bars as an example for further explanation. In some embodiments, the motor 140 is one for controlling the rotation of the three support rods. For example, the three support rods can be controlled to rotate synchronously by one motor 140, or any one of the supports can be controlled by a motor 140. The rod rotates. In some embodiments, the motor 140 is three for controlling the rotation of the corresponding support rod. Additionally, the motor 140 can be a servo motor.

The drone may include a carrier mounted on the body 110 and a load mounted on the carrier. In this embodiment, the support rods are distributed around the carrier and the load. Optionally, the carrier is a pan/tilt head 200, for example, a two-axis pan/tilt head 200 or a three-axis pan/tilt head 200. The load may be an image capture device or an image capture device (such as a camera 300, a camcorder, an infrared camera device, an ultraviolet camera device, or the like), an audio capture device (eg, a parabolic reflector microphone), an infrared camera device, etc. The load can provide static sensing data (such as pictures) or dynamic sensing data (such as video). The load is carried on the carrier to control the rotation of the load by the carrier. In the following embodiments, the camera 300 in which the carrier is a three-axis pan/tilt 200 and the load is mounted on the pan/tilt head 200 will be further described as an example.

The three-axis pan/tilt head 200 includes a yaw axis, a roll axis, a pitch axis, and a yaw axis motor for controlling the rotation of the yaw axis, and a roll axis motor for controlling the rotation of the roll axis, for controlling a pitch axis motor that rotates on a pitch axis, the yaw axis motor, the roll axis motor, and the pitch axis motor are electrically connected to the flight controller 120, respectively, to control the yaw by the flight controller 120 The rotation of the shaft motor, the roll axis motor, and the pitch axis motor controls the attitude of the three-axis pan/tilt head 200.

In this embodiment, the pan/tilt head 200 is communicably connected to the flight controller 120, for example, based on a CAN bus (Controller Area Network) or other manner. The rotation of the pan/tilt head 200 can be controlled by the flight controller 120, thereby controlling the rotation of the camera 300 mounted on the pan/tilt head 200. Moreover, in some embodiments, the camera 300 is communicatively coupled to the flight controller 120, for example, the camera 300 is in direct communication connection with the flight controller 120, or the camera 300 passes the cloud The station 200 is communicatively coupled to the flight controller 120. The operation of the camera 300 can be controlled by the flight controller 120, a photographing screen can be acquired from the camera 300, and the like.

Further, the drone may include a power mechanism 150. Wherein, the power mechanism 150 may include one or more rotating bodies, propellers, blades, motors, electronic governors, and the like. For example, the rotating body of the power mechanism 150 may be a self-tightening rotating body, a rotating body assembly, or other rotating body power unit. The drone can have one or more power mechanisms 150. All of the power mechanisms 150 can be of the same type. Alternatively, the one or more power mechanisms 150 can be of different types. The power mechanism 150 can be mounted to the drone by suitable means, such as by a support member (such as a drive shaft). The power mechanism 150 can be mounted at any suitable location on the drone, such as the top end, the lower end, the front end, the rear end, the sides, or any combination thereof. The flight of the drone is controlled by controlling one or more power mechanisms 150.

1 and 2, the drone can be communicatively coupled to an external device 400, such as terminal 410, remote 420. In some embodiments, terminal 410 can provide control data to one or more of the drone, carrier, and load, and receive information from one or more of the drone, carrier, and load (eg, Position and/or motion information of the drone, carrier or load, load sensed data, such as image data captured by camera 300). Further, the flight of the drone can be controlled by the remote controller 420.

In some embodiments, the drone can communicate with other remote devices than the terminal 410, and the terminal 410 can also communicate with other remote devices other than the drone. For example, the drone and/or terminal 410 can communicate with a carrier or load of another drone or another drone. The additional remote device can be a second terminal 410 or other computing device (such as a computer, desktop, tablet, smartphone, or other mobile device) when needed. The remote device can transmit data to the drone, receive data from the drone, transmit data to the terminal 410, and/or receive data from the terminal 410. Alternatively, the remote device can be connected to the Internet or other telecommunications network to upload data received from the drone and/or terminal 410 to a website or server.

In some embodiments, the movement of the drone, the movement of the carrier, and the movement of the load relative to a fixed reference (such as an external environment), and/or movements between each other, can be controlled by the terminal 410. The terminal 410 can be a remote control terminal 410 located remotely from the drone, carrier, and/or load. Terminal 410 can be located or affixed to a support platform. Optionally, the terminal 410 can be handheld or wearable. For example, the terminal 410 can include a smartphone, tablet, desktop, computer, glasses, gloves, helmet, microphone, or any combination thereof. The terminal 410 can include a user interface such as a keyboard, mouse, joystick, touch screen, or display. Any suitable user input can interact with terminal 410, such as manual input commands, sound control, gesture control, or position control (eg, by movement, position, or tilt of terminal 410).

Embodiment 1

Embodiment 1 of the present invention provides a drone control method. FIG. 3 is a flowchart of a method for controlling a drone according to an embodiment of the present invention. The execution body of the method may be a processor on the drone, for example, a flight controller 120, a pan/tilt processor, a camera processor or other controller. Preferably, the execution body of the method is a flight controller. 120.

As shown in FIG. 3, the drone control method may include the following steps:

Step S301: Acquire a real-time posture of the yaw axis of the pan/tilt head 200;

After step S301 is performed, it can be determined whether the yaw axis of the pan/tilt head 200 is rotated, thereby determining whether it is necessary to control the rotation of the stand 130. Specifically, when the yaw axis of the pan/tilt head 200 is rotated, step S302 is performed. When the yaw axis of the pan/tilt head 200 is not rotated, there is no need to control the rotation of the stand 130, so that the relative positional relationship between the pan/tilt head 200 and the stand 130 remains unchanged, thereby ensuring that the camera 300 is in a better shooting state (camera 300 The shooting angle is not blocked by the stand 130 or less blocked by the stand 130).

In this embodiment, before performing step S301, the method may further include: controlling the tripod 130 to be in a zero position, and controlling the pan/tilt head 200 to rotate after the tripod 130 is in the zero position. When the stand 130 is in the zero position, the stand 130 does not block the camera 300 lens or the stand 130 has less occlusion of the camera 300 lens. After the tripod 130 is at the zero position, the rotation of the pan/tilt head 200 is controlled, thereby controlling the rotation of the tripod 130 according to the rotation of the pan-tilt 200, unifying the standard of the control of the stand 130, and ensuring the accuracy of the control of the stand 130. The possibility that the stand 130 will interfere with the camera 300 is reduced.

Optionally, the step of controlling the tripod 130 to be in the zero position is performed immediately after determining that the drone is powered on. Of course, in some embodiments, the step of controlling the stand 130 to be in the zero position can be performed during the flight of the drone.

Further, the manner in which the control stand 130 is in the zero position may include various types. For example, in one embodiment, the step of controlling the stand 130 to be in the zero position may include: acquiring the zero position information of the stand 130 And controlling the tripod 130 to be in a zero position according to the zero bit information. In this embodiment, the zero position information includes the position of the stand 130 relative to the pan/tilt 200 and/or the camera 300. Optionally, when the stand 130 is in the zero position, two support bars located on both sides of the camera 300 are symmetrically located on both sides of the camera 300 along the central axis of the camera 300. When the stand 130 includes three support bars, further, when the stand 130 is in the zero position, the stand 130 is centered with the yaw axis, specifically, by being controlled to be mounted on the platform 200 A support rod at the rear end of the camera 300 faces the yaw axis such that the stand 130 is centered with the yaw axis, and at this time, the support rod is aligned with the yaw axis.

The zero position information of the tripod 130 may be pre-stored by the flight controller 120 or may be acquired from the terminal 410. When the zero position information of the tripod 130 is pre-stored by the flight controller 120, the flight controller 120 can directly read the zero position information of the tripod 130 stored therein before controlling the tripod 130 to be in the zero position. . For example, when determining that the drone is powered on, the flight controller 120 reads the zero position information of the tripod 130 stored therein, and controls the tripod 130 to be zero according to the zero position information of the tripod 130. Bit.

When the zero position information of the tripod 130 is acquired from the terminal 410, the step of acquiring the zero position information of the tripod 130 may include: first, receiving a zero return instruction sent by the terminal 410 controlling the drone, wherein the The zeroing command carries the zero position information of the tripod 130. Then, the zero position information of the tripod 130 is parsed from the return-to-zero command. In this manner, the tripod 130 can be controlled to return to zero during the flight of the drone, and the way to control the tripod 130 to zero is controlled. More flexible. In this embodiment, the manner of parsing the return-to-zero instruction may be any existing type of parsing.

In another embodiment, the step of controlling the tripod 130 to be in a zero position may include: controlling the rotation of the tripod 130, and determining the tripod 130 and the yaw axis based on the first sensing unit 500 When centering, it is determined that the stand 130 is in the zero position. In this embodiment, the first sensing unit 500 determines that a support rod located at the rear end of the camera 300 mounted on the platform 200 is facing the yaw axis, and the tripod 130 and the offset can be determined. When the aero axis is centered. Optionally, when the tripod 130 is aligned with the yaw axis, the first sensing unit 500 outputs a high level, and in other cases, the first sensing unit 500 outputs a low power. Ping, whether the tripod 130 and the yaw axis are centered by the output signal of the first sensing unit 500, thereby determining whether the tripod 130 is in the zero position. In this way, the tripod 130 can be controlled to return to zero during the flight of the drone, and the way to control the tripod 130 to zero is more flexible.

Further, before the tripod 130 is controlled to be in the zero position, the method further includes: calibrating the zero position of the tripod 130. In this embodiment, the step of calibrating the zero position of the tripod 130 may include: determining that the tripod 130 does not exist in the photographing picture of the camera 300, or determining that the tripod 130 is in the camera The current position information of the tripod 130 is acquired when the specified area is outside the designated area of the shooting screen of 300, and the current position information of the stand 130 is marked as the zero position information corresponding to the zero position of the stand 130. Based on the image processing algorithm, it may be determined that the tripod 130 does not exist in the captured image of the camera 300, or based on an image processing algorithm, determining that the tripod 130 is outside a designated area in the captured image of the camera 300. . The image processing algorithm may select any image recognition algorithm in the prior art. The tripod 130 is outside the designated area in the photographing screen of the camera 300, and the tripod 130 may be located outside the middle area of the photographing screen, that is, the tripod 130 is located at the edge of the photographing screen, and does not affect the overall effect of the photographing screen. . Of course, the location and size of the specified area can also be selected according to the specific needs of the user.

The calibration method of the tripod 130 zero position may include various types. For example, in an embodiment, the drone is in a stationary state, and the user manually controls the rotation of the tripod 130 such that the tripod 130 is at the zero position, and then the terminal 410 is manually controlled. The zero position information of the stand 130 is recorded. In this embodiment, two support bars located on both sides of the camera 300 are manually located on both sides of the camera 300 symmetrically along the central axis of the camera 300 by the user, and are controlled to be located on the platform 200. A support rod at the rear end of the loaded camera 300 faces the yaw axis such that the stand 130 is at the zero position. When the tripod 130 is in the zero position, it can be ensured that the camera 300 lens is not blocked by the tripod 130 or the camera 300 lens is blocked by the tripod 130, but the tripod 130 has less influence on the shooting picture of the camera 300, both of which are considered The stand 130 has no effect on the photographing screen of the camera 300.

In another embodiment, before determining that the tripod 130 does not exist in the photographing screen of the camera 300, or before determining that the tripod 130 is outside the designated area in the photographing screen of the camera 300, The method may include: receiving a position adjustment instruction sent by the remote controller 420, adjusting a position of the tripod 130 according to the position adjustment instruction, so that the photographing screen of the camera 300 does not have the tripod 130, or The tripod 130 is outside the designated area in the photographing screen of the camera 300. This step is performed during the flight of the drone. When the zero calibration of the stand 130 is completed, the zero position information of the stand 130 can be recorded by the terminal 410. Specifically, the step of adjusting the position of the tripod 130 according to the position adjustment instruction may include: controlling two support rods located on both sides of the camera 300 mounted by the pan/tilt 200 along the camera 300 Axisymmetrically located on both sides of the camera 300, the two support bars on both sides of the camera 300 mounted on the pan/tilt 200 do not greatly affect the photographing of the camera 300, thereby providing better results. Aerial photography effect. When the stand 130 includes three support bars, the step of adjusting the position of the stand 130 according to the position adjustment command may further include: controlling a support bar located at the rear end of the camera 300 mounted on the platform 200 The yaw axis further aligns the stand 130 with the yaw axis, reducing the effect of the stand 130 on the camera 300.

In addition, in this embodiment, after the current location information of the tripod 130 is marked as the zero information corresponding to the zero position of the tripod 130, the method may further include: sending the zero information to the control. The terminal 410 of the drone, so that the zero position information of the tripod 130 is recorded by the terminal 410, the user can control the rotation of the stand 130 to the zero position through the terminal 410, and the flexibility of the stand 130 is highly controlled.

Step S302: Control the rotation of the stand 130 to follow the rotation direction of the pan/tilt 200 according to the real-time posture of the yaw axis.

In the embodiment of the present invention, the yaw axis of the pan-tilt 200 is rotated by the control stand 130, thereby minimizing the occlusion of the lens of the camera 300 mounted on the pan-tilt 200 by the stand 130, and reducing the tripod 130 in the shooting picture. The distribution area facilitates the user's aerial photography and protects the camera 300, thereby balancing the shooting picture with the protection camera 300.

The implementation manner of step S302 can include the following two methods:

The first

Referring to Fig. 4, first, when the attitude of the yaw axis changes, the direction of rotation of the yaw axis is obtained. Next, the rotation of the stand 130 is controlled according to the rotation direction. According to the rotation direction of the yaw axis, the tripod 130 is directly controlled to rotate in the same direction as the rotation direction of the yaw axis, thereby reducing the influence of the tripod 130 on the camera 300, and the real-time performance of the implementation is good. In this embodiment, the rotation direction of the yaw axis can be directly obtained by the rotation direction of the yaw axis motor of the pan/tilt 200, or the yaw axis can be obtained by real-time monitoring by the IMU inertial measurement unit installed on the pan/tilt 200. The direction of rotation. The rotation direction of the yaw axis motor of the pan-tilt 200 can be determined according to the driving signal sent by the flight controller 120 to the yaw axis motor of the pan-tilt 200. The IMU inertial measurement unit monitors the rotation angle of the yaw axis of the PTZ 200 in real time. According to the rotation angle of the yaw axis of the PTZ 200 monitored by the IMU inertial measurement unit, the rotation direction of the yaw axis of the PTZ 200 can be determined.

In this embodiment, the step of controlling the rotation of the tripod 130 according to the rotation direction may include: controlling two support rods located on two sides of the camera 300 mounted on the pan/tilt 200 along the camera 300. The central axis is symmetrically located on both sides of the camera 300, reducing the influence of the two support bars located on both sides of the camera 300 on the camera 300, ensuring the quality of the captured picture and improving the aerial photography effect.

Further, the method further includes: acquiring a relative positional relationship between the stand 130 and the yaw axis detected by the first sensing unit 500, while controlling the rotation of the stand 130 according to the rotating direction. And stopping the rotation of the stand 130 when the stand 130 is centered with the yaw axis. In this embodiment, the first sensing unit 500 is configured to detect a relative positional relationship between the stand 130 and the yaw axis. The first sensing unit 500 can be a position sensor or an angle sensor. Preferably, the first sensing unit 500 is a Hall sensor. The Hall sensor may include a Hall switch and a magnet for mating with the Hall switch. The Hall switch can be fixed to the body 110, and the magnet can be disposed on the stand 130.

When the tripod 130 includes three support rods, the manner of achieving the alignment of the tripod 130 with the yaw axis includes: controlling a support rod located at the rear end of the camera 300 mounted on the platform 200 and the yaw axis The position remains the same, for example, controlling a support rod located at the rear end of the camera 300 mounted on the platform 200 is always facing the yaw axis.

Second

Referring to FIG. 5, first, when the attitude of the yaw axis changes, the angle of rotation of the yaw axis is obtained. Next, the rotation of the stand 130 is controlled according to the rotation angle of the yaw axis. Compared with the first mode, the accuracy of controlling the tripod 130 in this manner is higher. In this embodiment, the step of controlling the rotation of the stand 130 according to the rotation angle of the yaw axis may include: determining a target rotation angle of the stand 130 according to the rotation angle of the yaw axis; The target rotation angle controls the rotation of the stand 130, so that the control stand 130 rotates following the pan/tilt head 200. The rotation angle of the yaw axis can be calculated by the joint angle of the yaw axis motor of the pan/tilt 200, or the rotation angle of the yaw axis can be directly obtained by the IMU inertial measurement unit installed on the platform 200. The joint angle of the yaw axis motor of the pan-tilt 200 can be calculated according to the driving signal sent by the flight controller 120 to the yaw axis motor of the pan-tilt 200. The IMU inertial measurement unit is used to monitor the rotation angle of the yaw axis of the pan/tilt 200 in real time. The direction of rotation of the yaw axis can also be determined by the joint angle of the yaw axis motor of the pan/tilt 200. In the same coordinate system, when the joint angle of the yaw axis motor of the pan-tilt 200 is positive, the direction of rotation of the yaw axis is defined to rotate clockwise; when the joint angle of the yaw axis motor of the pan-tilt 200 is negative, Define the direction of rotation of the yaw axis to rotate counterclockwise.

According to the rotation angle of the yaw axis, the manner of controlling the rotation of the tripod 130 may include the following two types:

(1) determining a target rotation angle of the tripod 130 according to a rotation angle of the yaw axis; and controlling rotation of the tripod 130 according to the target rotation angle. In this embodiment, the target rotation angle of the tripod 130 is equal to the rotation angle of the yaw axis, thereby controlling the tripod 130 to rotate synchronously following the pan/tilt head 200, ensuring the relative position of the tripod 130 and the pan/tilt head 200. The position remains unchanged, thereby reducing the impact of the stand 130 on the camera 300 after the attitude change of the pan/tilt 200.

(2) calculating an angle difference (BA) between the shooting angle A of the camera 300 and the angle B between the two support bars on both sides of the camera 300 mounted on the pan/tilt 200; according to the yaw axis The rotation angle and the angle difference (BA) determine a target rotation angle of the stand 130; and control the rotation of the stand 130 according to the target rotation angle. Wherein, two support rods are symmetrically located on both sides of the camera 300 along the central axis of the camera 300. Of course, the two support rods may be asymmetrically located on both sides of the camera 300. When the two support rods are symmetrically located on both sides of the camera 300 along the central axis of the camera 300, the target rotation angle is the difference between the rotation angle of the yaw axis and the angle difference (BA) The tripod 130 is rotated substantially in accordance with the yaw axis of the pan-tilt 200, and does not need to synchronously follow the pan-tilt 200 rotation (the target rotation angle of the tripod 130 is equal to the rotation angle of the yaw axis of the pan-tilt 200).

The two sides of the camera 300 are symmetrically positioned along the central axis of the camera 300 as an example for further description. In general, the shooting angle A of the camera 300 is 120 degrees, and the angle of the camera 300 of the super wide-angle, fisheye lens may be greater than 180 degrees. Further, the angle B between the two support rods on both sides of the camera 300 mounted on the pan/tilt head 200 may vary according to the length. Generally, the angle B is greater than 120 degrees, and the lens is encountered. The longer the lens barrel, the more than 180 degrees will appear.

In order to prevent the two support bars on both sides of the camera 300 mounted on the pan-tilt 200 from capturing the lens of the camera 300 on the camera 300, two of the two sides of the camera 300 mounted on the pan-tilt 200 are required. The angle B between the support rods is set to be slightly larger than the shooting angle A of the camera 300. For example, when the shooting angle A is 120 degrees, the angle B may be 130 degrees, so that the camera mounted on the platform 200 is mounted. There is an angle of 5 degrees between each of the two support rods on both sides of the 300 and the critical line of the camera 300 on the corresponding side, which can be controlled when the yaw axis of the pan/tilt 200 is rotated by 10 degrees. Each of the two support rods located on both sides of the camera 300 mounted on the pan/tilt 200 is rotated by 5 degrees in the same direction as the direction of rotation of the yaw axis, so that the platform 200 is mounted on the platform 200. Each of the two support bars on both sides of the camera 300 rotates substantially following the yaw axis without controlling the two support bars on both sides of the camera 300 mounted on the pan/tilt 200 to follow the yaw of the pan-tilt 200 The shaft rotates synchronously, and within a permissible range, the camera 30 mounted on the pan/tilt head 200 is controlled. After the two support rods on both sides of 0 follow the yaw axis of the pan/tilt 200, the angle B is still greater than the shooting angle A of the camera 300.

In addition, in this embodiment, the step of controlling the rotation of the stand 130 according to the target rotation angle may include: generating a driving signal of the motor 140 for controlling the rotation of the stand 130 according to the target rotation angle. Sending the drive signal to the motor 140 to control the rotation of the stand 130 by controlling the rotation of the motor 140 such that the stand 130 rotates following the yaw axis of the pan-tilt 200.

After the driving signal is sent to the motor 140, the method may further include: obtaining an actual rotation angle of the tripod 130 based on the second sensing unit 600; adjusting the driving according to the actual rotation angle The signal, through the closed loop, achieves precise control of the motor 140 to precisely control the rotation of the stand 130. The second sensing unit 600 is a position sensor or an angle sensor. Preferably, the second sensing unit 600 is a position sensor, and the position sensor is a Hall sensor. Here, the Hall sensor may include a Hall switch and a magnet for mating with the Hall switch. The Hall switch can be fixed to the body 110, and the magnet can be disposed on the stand 130. Optionally, the first sensing unit 500 and the second sensing unit 600 are the same module. Of course, the first sensing unit 500 and the second sensing unit 600 can also be different modules.

Further, before the driving signal is adjusted according to the actual rotation angle, the method may further include: determining that a difference between the actual rotation angle and the target rotation angle is less than a preset threshold, and ensuring that the motor 140 operates normally. , thereby precisely controlling the rotation of the stand 130. During the operation of the motor 140, blocking or the like may occur, resulting in a large rotation error of the motor 140. At this time, the motor 140 is in an abnormal working state, and the error of the actual rotation angle is large. If the driving signal is continuously adjusted according to the actual angle, A precise control of the motor 140 is achieved.

In addition, in this embodiment, the step of controlling the rotation of the tripod 130 according to the target rotation angle may further include: controlling the location by using a linear interpolation algorithm and/or an S-type interpolation algorithm according to the target rotation angle. The tripod 130 is rotated so that the stand 130 can smoothly follow the yaw axis of the pan-tilt 200. Among them, the linear interpolation algorithm and the S-type interpolation algorithm are existing conventional algorithms.

Embodiment 2

1 to 2, a second embodiment of the present invention provides a drone control apparatus, which may include a tripod 130, a motor 140, and a processor (eg, a single or multi-core processor). The processor is connected to the stand 130 by the motor 140 to drive the stand 130 to rotate.

The processor may be a central processing unit (CPU). The processor may further include a hardware chip. The hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof. The PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.

Optionally, the processor may be a flight controller 120, a pan/tilt processor, a camera processor or other controller provided in the drone.

Further, the processor may include one or more, working individually or collectively.

In this embodiment, the processor is configured to acquire a real-time posture of the yaw axis of the pan-tilt 200; and according to the real-time posture of the yaw axis, control the rotation of the stand 130 to follow the rotation direction of the pan-tilt 200 . The yaw axis of the pan-tilt head 200 is rotated by the control stand 130, thereby minimizing the occlusion of the lens of the camera 300 mounted on the pan-tilt head 200 by the stand 130, reducing the distribution area of the stand 130 in the shooting picture, and facilitating the aerial photography of the user. The camera 300 is protected to balance the shooting picture with the protection camera 300.

In an embodiment, the processor is configured to obtain a rotation direction of the yaw axis when a posture of the yaw axis changes; and control rotation of the gantry 130 according to the rotation direction.

In an embodiment, the processor is configured to control two support rods located on two sides of the camera 300 mounted on the platform 200 along the central axis of the camera 300 and located at two of the cameras 300. side.

In an embodiment, referring to FIG. 6, the UAV control device may further include a first sensing unit 500 for detecting a relative positional relationship between the stand 130 and the yaw axis, A sensing unit 500 is electrically coupled to the processor. The processor is configured to acquire the relative positional relationship between the stand 130 and the yaw axis detected by the first sensing unit 500 while controlling the rotation of the stand 130 according to the rotation direction; When the stand 130 is centered with the yaw axis, the rotation of the stand 130 is stopped.

In an embodiment, the stand 130 includes three support bars. The processor is configured to control a support rod located at a rear end of the camera 300 mounted on the platform 200 to be consistent with a position of the yaw axis.

In an embodiment, the first sensing unit 500 is a position sensor or an angle sensor.

In an embodiment, the first sensing unit 500 is a Hall sensor.

In an embodiment, the processor is configured to directly obtain the rotation direction of the yaw axis by the rotation direction of the yaw axis motor of the pan/tilt 200; or, the real-time monitoring by the IMU inertial measurement unit installed on the pan/tilt 200 The direction of rotation of the yaw axis is obtained.

In an embodiment, the processor is configured to obtain a rotation angle of the yaw axis when a posture of the yaw axis changes; and control the tripod according to a rotation angle of the yaw axis The rotation of 130.

In an embodiment, the processor is configured to determine a target rotation angle of the tripod 130 according to a rotation angle of the yaw axis; and control rotation of the tripod 130 according to the target rotation angle.

In an embodiment, the processor is configured to calculate an angle difference between a shooting angle of the camera 300 and an angle between two support bars on both sides of the camera 300 mounted on the platform 200; Determining a rotation angle of the yaw axis and the angle difference, determining a target rotation angle of the tripod 130; controlling rotation of the gantry 130 according to the target rotation angle.

In an embodiment, the processor is configured to generate a driving signal for controlling the rotation of the tripod 130 according to the target rotation angle; and send the driving signal to the motor 140.

In an embodiment, the motor 140 is a servo motor.

In an embodiment, referring to FIG. 7, the drone control device may further include a second sensing unit 600 for detecting an actual rotation angle of the stand 130, the second sensing unit 600 and the The processor is electrically connected. After transmitting the driving signal to the motor 140, the processor is further configured to obtain an actual rotation angle of the tripod 130 based on the second sensing unit 600; adjust the driving according to the actual rotation angle. signal.

In an embodiment, the processor is further configured to determine that a difference between the actual rotation angle and the target rotation angle is less than a preset threshold before adjusting the driving signal according to the actual rotation angle.

In an embodiment, the second sensing unit 600 is a position sensor or an angle sensor.

In an embodiment, the second sensing unit 600 is a position sensor, and the position sensor is a Hall sensor.

In an embodiment, the processor is configured to control the rotation of the stand 130 by using a linear interpolation algorithm and/or an S-type interpolation algorithm according to the target rotation angle.

In an embodiment, the processor is configured to calculate a rotation angle of the yaw axis by a joint angle of a yaw axis motor of the pan/tilt 200; or directly through an IMU inertial measurement unit installed on the pan/tilt 200 Obtaining a rotation angle of the yaw axis.

In an embodiment, the processor is further configured to control the stand 130 to be in a zero position before acquiring the real-time posture of the yaw axis of the pan/tilt 200; and the stand 130 is at the zero position After that, the control pan/tilt 200 is rotated.

In an embodiment, the processor is configured to acquire zero bit information of the tripod 130; and according to the zero bit information, the tripod 130 is controlled to be in a zero position.

In an embodiment, the processor is a flight controller 120 of the drone, and the zero position information of the tripod 130 is pre-stored by the flight controller 120.

In an embodiment, the processor is configured to receive a return-to-zero command sent by the terminal 410 that controls the drone, wherein the return-to-zero command carries zero-bit information of the tripod 130; The zero position information of the tripod 130 is parsed in the command.

In an embodiment, the processor is configured to control the rotation of the stand 130. When the first sensing unit 500 determines that the stand 130 is centered with the yaw axis, the foot is determined. The frame 130 is at the zero position.

In an embodiment, the step of the processor controlling the tripod 130 to be in the zero position is performed immediately after the processor determines that the drone is powered on.

In an embodiment, before the processor controls the tripod 130 to be in a zero position, the processor further includes: calibrating a zero position of the tripod 130.

In an embodiment, the processor is configured to: when it is determined that the camera 130 of the camera 300 does not have the tripod 130, or to determine that the tripod 130 is in a shooting screen of the camera 300, The current position information of the tripod 130 is obtained when the area is outside the area; the current position information of the stand 130 is marked as the zero position information corresponding to the zero position of the stand 130.

In an embodiment, the processor determines that the tripod 130 does not exist in the photographing screen of the camera 300, or determines that the tripod 130 is outside the designated area in the photographing screen of the camera 300. And receiving a position adjustment instruction sent by the remote controller 420; adjusting the position of the tripod 130 according to the position adjustment instruction, so that the camera frame of the camera 300 does not have the tripod 130, or The tripod 130 is outside the designated area in the photographing screen of the camera 300.

In an embodiment, the stand 130 includes three support bars. The processor is further configured to control a support rod located at a rear end of the camera 300 mounted on the platform 200 to face the yaw axis.

In an embodiment, the processor is configured to determine, according to an image processing algorithm, that the tripod 130 does not exist in a captured image of the camera 300; or, based on an image processing algorithm, determine the tripod 130 It is outside the designated area in the shooting screen of the camera 300.

In an embodiment, the processor is further configured to send the zero information to the control after marking the current location information of the tripod 130 as the zero information corresponding to the zero position of the tripod 130. Terminal 410 of the human machine.

It should be noted that the specific implementation of the processor in the embodiment of the present invention may be referred to the description of the corresponding content in the foregoing Embodiment 1, and details are not described herein.

Embodiment 3

1 and 2, a third embodiment of the present invention provides a drone, and the drone may include a body 110, a stand 130 connected to the body 110, and a mount on the body. PTZ 200 on 110, a processor (eg, a single or multi-core processor), and a motor 140. The processor is connected to the tripod 130 by the motor 140 to drive the tripod 130 to rotate, and the processor is communicatively coupled to the platform 200.

In this embodiment, the processor is configured to acquire a real-time posture of the yaw axis of the pan-tilt 200; and according to the real-time posture of the yaw axis, control the rotation of the stand 130 to follow the rotation direction of the pan-tilt 200 . The yaw axis of the pan-tilt head 200 is rotated by the control stand 130, thereby minimizing the occlusion of the lens of the camera 300 mounted on the pan-tilt head 200 by the stand 130, reducing the distribution area of the stand 130 in the shooting picture, and facilitating the aerial photography of the user. The camera 300 is protected to balance the shooting picture with the protection camera 300. The yaw axis of the pan-tilt head 200 is rotated by the control stand 130, thereby minimizing the occlusion of the lens of the camera 300 mounted on the pan-tilt head 200 by the stand 130, reducing the distribution area of the stand 130 in the shooting picture, and facilitating the aerial photography of the user. The camera 300 is protected to balance the shooting picture with the protection camera 300.

In an embodiment, the processor is configured to obtain a rotation direction of the yaw axis when the posture of the yaw axis changes; and control the rotation of the gantry 130 according to the rotation direction.

In an embodiment, referring to FIG. 6, the drone may further include a first sensing unit 500 for detecting a relative positional relationship between the stand 130 and the yaw axis, the first pass The sensing unit 500 is electrically coupled to the processor. The processor is configured to acquire the relative positional relationship between the stand 130 and the yaw axis detected by the first sensing unit 500 while controlling the rotation of the stand 130 according to the rotation direction; When the stand 130 is centered with the yaw axis, the rotation of the stand 130 is stopped.

In an embodiment, the first sensing unit 500 is a Hall sensor.

In an embodiment, the motor 140 is a servo motor.

In an embodiment, referring to FIG. 7, the drone may further include a second sensing unit 600 for detecting an actual rotation angle of the stand 130, the second sensing unit 600 and the processing. Electrical connection. After transmitting the driving signal to the motor 140, the processor is further configured to obtain an actual rotation angle of the tripod 130 based on the second sensing unit 600; adjust the driving according to the actual rotation angle. signal.

In an embodiment, the processor is configured to determine that the tripod 130 does not exist in the photographing screen of the camera 300, or to determine that the tripod 130 is in a photographing screen of the camera 300. The current position information of the tripod 130 is obtained when the area is outside the area; the current position information of the stand 130 is marked as the zero position information corresponding to the zero position of the stand 130.

Embodiment 4

A fourth embodiment of the present invention provides a computer readable storage medium having a computer program stored thereon, the program being executed by the processor to perform the steps of the drone control method according to the first embodiment.

For the device embodiment, since it basically corresponds to the method embodiment, reference may be made to the partial description of the method embodiment. The device embodiments described above are merely illustrative, wherein the units described as separate components may or may not be physically separate, and the components displayed as units may or may not be physical units, ie may be located A place, or it can be distributed to multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the embodiment. Those of ordinary skill in the art can understand and implement without any creative effort.

The description of the "specific examples", or "some examples" and the like are intended to be included in the particular features, structures, materials or features described in connection with the embodiments or examples. In the present specification, the schematic representation of the above terms does not necessarily mean the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in a suitable manner in any one or more embodiments or examples.

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

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

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

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

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

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

Claims

A drone control method, characterized in that the method comprises:

Obtain the real-time attitude of the yaw axis of the gimbal;

According to the real-time posture of the yaw axis, the rotation of the stand is controlled to follow the rotation direction of the pan.
The method according to claim 1, wherein the controlling the rotation of the stand according to the real-time posture of the yaw axis comprises:

Obtaining a rotation direction of the yaw axis when a posture of the yaw axis is changed;

The rotation of the stand is controlled according to the direction of rotation.
The method according to claim 2, wherein said controlling the rotation of said stand according to said direction of rotation comprises:

Two support bars that control the two sides of the camera mounted on the gimbal are symmetrically located on both sides of the camera along the central axis of the camera.
The method according to claim 2, wherein the controlling the rotation of the stand according to the direction of rotation comprises:

Obtaining a relative positional relationship between the tripod and the yaw axis detected by the first sensing unit;

When the tripod is centered with the yaw axis, the rotation of the stand is stopped.
The method of claim 4 wherein said stand comprises three support bars;

The centering of the tripod with the yaw axis means that a support rod located at the rear end of the camera mounted on the gimbal is in line with the position of the yaw axis.
The method of claim 4 wherein said first sensing unit is a position sensor or an angle sensor.
The method of claim 6 wherein said first sensing unit is a Hall sensor.
The method according to claim 2, wherein said obtaining a direction of rotation of said yaw axis comprises:

Obtaining the direction of rotation of the yaw axis directly by the direction of rotation of the yaw axis motor of the gimbal; or

The direction of rotation of the yaw axis is obtained by real-time monitoring by an IMU inertial measurement unit installed on the gimbal.
The method according to claim 1, wherein the controlling the rotation of the stand according to the real-time posture of the yaw axis comprises:

Obtaining a rotation angle of the yaw axis when a posture of the yaw axis is changed;

The rotation of the stand is controlled according to the rotation angle of the yaw axis.
The method according to claim 9, wherein the controlling the rotation of the stand according to the rotation angle of the yaw axis comprises:

Determining a target rotation angle of the tripod according to a rotation angle of the yaw axis;

The rotation of the stand is controlled according to the target rotation angle.
The method according to claim 9, wherein the controlling the rotation of the stand according to the rotation angle of the yaw axis comprises:

Calculating an angle difference between a shooting angle of the camera and an angle between two support bars located on both sides of the camera mounted on the pan/tilt;

Determining a target rotation angle of the tripod according to a rotation angle of the yaw axis and the angle difference;

The rotation of the stand is controlled according to the target rotation angle.
The method according to any one of claims 10 to 11, wherein the controlling the rotation of the stand according to the target rotation angle comprises:

Generating a driving signal of a motor for controlling rotation of the stand according to the target rotation angle;

Sending the drive signal to the motor.
The method of claim 12 wherein said motor is a servo motor.
The method according to claim 12, wherein after the transmitting the driving signal to the motor, the method further comprises:

Obtaining an actual rotation angle of the tripod based on the second sensing unit;

The drive signal is adjusted according to the actual rotation angle.
The method according to claim 14, wherein the adjusting the driving signal according to the actual rotation angle further comprises:

It is determined that the difference between the actual rotation angle and the target rotation angle is less than a preset threshold.
The method of claim 14 wherein said second sensing unit is a position sensor or an angle sensor.
The method of claim 16 wherein said second sensing unit is a Hall sensor.
The method according to any one of claims 10 to 11, wherein the controlling the rotation of the stand according to the target rotation angle comprises:

According to the target rotation angle, the tripod rotation is controlled by a linear interpolation algorithm and/or an S-type interpolation algorithm.
The method according to claim 9, wherein said obtaining a rotation angle of said yaw axis comprises:

Calculating the rotation angle of the yaw axis by the joint angle of the yaw axis motor of the gimbal;

or,

The rotation angle of the yaw axis is directly obtained by the IMU inertial measurement unit installed on the gimbal.
The method according to claim 1, wherein before the acquiring the real-time posture of the yaw axis of the gimbal, the method further comprises:

Controlling the tripod to be in a zero position;

After the tripod is in the zero position, the pan/tilt is controlled to rotate.
The method according to claim 20, wherein said controlling said tripod to be in a zero position comprises:

Obtaining zero position information of the tripod;

The tripod is controlled to be in a zero position according to the zero position information.
The method of claim 21 wherein said step of controlling said tripod to be in a zero position is performed by a flight controller, said zero position information of said tripod being pre-stored by said flight controller.
The method according to claim 21, wherein the acquiring the zero position information of the tripod comprises:

Receiving a return-to-zero command sent by a terminal controlling the drone, wherein the return-to-zero command carries zero-bit information of the tripod;

The zero position information of the tripod is parsed from the return-to-zero command.
The method according to claim 20, wherein said controlling said tripod to be in a zero position comprises:

Controlling the rotation of the stand;

When it is determined that the stand is aligned with the yaw axis based on the first sensing unit, it is determined that the stand is in a zero position.
The method of claim 20 wherein said step of controlling said tripod to be in a zero position is performed immediately after determining that said drone is powered up.
The method of claim 20, wherein the controlling the tripod before the zero position further comprises:

Calibrate the zero position of the tripod.
The method of claim 26 wherein said calibrating the zero position of said stand comprises:

Obtaining the current position of the tripod when it is determined that the tripod of the camera mounted by the pan-tilt does not have the tripod, or if the tripod is determined to be outside a designated area in the photographing screen of the camera information;

The current position information of the tripod is marked as the zero position information corresponding to the zero position of the tripod.
The method according to claim 27, wherein said determining that the photographing screen of the camera does not have the tripod, or determining that the tripod is outside a designated area in a photographing screen of the camera ,include:

Receiving a position adjustment command sent by the remote controller;

According to the position adjustment command, the position of the stand is adjusted such that the stand of the camera does not have the stand, or the stand is outside a designated area in the photographing screen of the camera.
The method of claim 28, wherein the adjusting the position of the stand according to the position adjustment command comprises:

Two support bars that control the two sides of the camera mounted on the gimbal are symmetrically located on both sides of the camera along the central axis of the camera.
The method of claim 29 wherein said stand comprises three support bars;

The adjusting the position of the tripod according to the position adjustment instruction further includes:

A support rod located at the rear end of the camera mounted on the gimbal is controlled to face the yaw axis.
The method according to claim 27, wherein the determining that the camera's shooting picture does not have the tripod, or determining that the tripod is outside a designated area in the camera's shooting picture, include:

Based on the image processing algorithm, it is determined that the tripod does not exist in the photographing screen of the camera; or, based on an image processing algorithm, it is determined that the tripod is outside a designated area in the photographing screen of the camera.
The method according to claim 27, wherein after the current location information of the tripod is marked as the zero information corresponding to the zero position of the tripod, the method further includes:

The zero information is sent to the terminal that controls the drone.
A UAV control device includes a tripod and a motor, and further includes a processor, wherein the processor is coupled to the stand by the motor to drive the stand to rotate;

The processor is for,

Obtain the real-time attitude of the yaw axis of the gimbal;

According to the real-time posture of the yaw axis, the rotation of the stand is controlled to follow the rotation direction of the pan.
The apparatus according to claim 33, wherein said processor is for

Obtaining a rotation direction of the yaw axis when a posture of the yaw axis is changed;

The rotation of the stand is controlled according to the direction of rotation.
The apparatus according to claim 34, wherein said processor is for

Two support bars that control the two sides of the camera mounted on the gimbal are symmetrically located on both sides of the camera along the central axis of the camera.
The device according to claim 34, further comprising a first sensing unit for detecting a relative positional relationship between the tripod and the yaw axis, the first sensing unit and the Processor electrical connection;

The processor controls the rotation of the stand according to the rotation direction, and is also used for:

Obtaining a relative positional relationship between the tripod and the yaw axis detected by the first sensing unit;

When the tripod is centered with the yaw axis, the rotation of the stand is stopped.
The device according to claim 36, wherein said stand comprises three support bars;

The processor is for,

A support rod located at the rear end of the camera mounted on the gimbal is controlled to be in line with the position of the yaw axis.
The device of claim 36 wherein said first sensing unit is a position sensor or an angle sensor.
38. Apparatus according to claim 38 wherein said first sensing unit is a Hall sensor.
The apparatus according to claim 34, wherein said processor is for

Obtaining the direction of rotation of the yaw axis directly by the direction of rotation of the yaw axis motor of the gimbal; or

The direction of rotation of the yaw axis is obtained by real-time monitoring by an IMU inertial measurement unit installed on the gimbal.
The apparatus according to claim 34, wherein said processor is for

Obtaining a rotation angle of the yaw axis when a posture of the yaw axis is changed;

The rotation of the stand is controlled according to the rotation angle of the yaw axis.
The apparatus according to claim 41, wherein said processor is for

Determining a target rotation angle of the tripod according to a rotation angle of the yaw axis;

The rotation of the stand is controlled according to the target rotation angle.
The apparatus according to claim 41, wherein said processor is for

Calculating an angle difference between an angle of incidence of the camera and an angle between two support rods on both sides of the camera mounted on the gimbal;

Determining a target rotation angle of the tripod according to a rotation angle of the yaw axis and the angle difference;

The rotation of the stand is controlled according to the target rotation angle.
Apparatus according to any one of claims 42 to 43 wherein said processor is for

Generating a driving signal of a motor for controlling rotation of the stand according to the target rotation angle;

Sending the drive signal to the motor.
The device of claim 44 wherein said motor is a servo motor.
The device according to claim 44, further comprising a second sensing unit for detecting an actual rotation angle of the stand, the second sensing unit being electrically connected to the processor;

After transmitting the driving signal to the motor, the processor is further configured to:

Obtaining an actual rotation angle of the tripod based on the second sensing unit;

The drive signal is adjusted according to the actual rotation angle.
The device according to claim 46, wherein the processor is further configured to: before adjusting the driving signal according to the actual rotation angle:

It is determined that the difference between the actual rotation angle and the target rotation angle is less than a preset threshold.
The device according to claim 46, wherein said second sensing unit is a position sensor or an angle sensor.
48. Apparatus according to claim 48 wherein said second sensing unit is a position sensor and said position sensor is a Hall sensor.
Apparatus according to any one of claims 42 to 43 wherein said processor is for

According to the target rotation angle, the tripod rotation is controlled by a linear interpolation algorithm and/or an S-type interpolation algorithm.
The apparatus according to claim 41, wherein said processor is for

Calculating the rotation angle of the yaw axis by the joint angle of the yaw axis motor of the gimbal;

or,

The rotation angle of the yaw axis is directly obtained by the IMU inertial measurement unit installed on the gimbal.
The device according to claim 33, wherein the processor is further configured to: before acquiring the real-time posture of the yaw axis of the gimbal:

Controlling the tripod to be in a zero position;

After the tripod is in the zero position, the pan/tilt is controlled to rotate.
The apparatus according to claim 52, wherein said processor is for

Obtaining zero position information of the tripod;

The tripod is controlled to be in a zero position according to the zero position information.
The apparatus according to claim 53, wherein said processor is a flight controller of the drone, and zero position information of said stand is pre-stored by said flight controller.
The apparatus according to claim 53, wherein said processor is for

Receiving a return-to-zero command sent by a terminal controlling the drone, wherein the return-to-zero command carries zero-bit information of the tripod;

The zero position information of the tripod is parsed from the return-to-zero command.
The apparatus according to claim 52, wherein said processor is for

Controlling the rotation of the stand;

When it is determined that the stand is aligned with the yaw axis based on the first sensing unit, it is determined that the stand is in a zero position.
The apparatus of claim 52 wherein said step of said processor controlling said tripod to be in a zero position is performed immediately after said processor determines that said drone is powered up.
The device according to claim 52, wherein the processor further comprises: before controlling the tripod to be in a zero position:

Calibrate the zero position of the tripod.
The apparatus according to claim 58, wherein said processor is for

Obtaining the current position of the tripod when it is determined that the tripod of the camera mounted by the pan-tilt does not have the tripod, or if the tripod is determined to be outside a designated area in the photographing screen of the camera information;

The current position information of the tripod is marked as the zero position information corresponding to the zero position of the tripod.
The apparatus according to claim 59, wherein said processor determines that said tripod of said camera does not exist, or determines that said tripod is specified in a photographing screen of said camera Before the area, it is also used to:

Receiving a position adjustment command sent by the remote controller;

According to the position adjustment command, the position of the stand is adjusted such that the stand of the camera does not have the stand, or the stand is outside a designated area in the photographing screen of the camera.
The apparatus of claim 60 wherein said processor is for

Two support bars that control the two sides of the camera mounted on the gimbal are symmetrically located on both sides of the camera along the central axis of the camera.
The device according to claim 61, wherein said stand comprises three support bars;

The processor is further configured to

A support rod located at the rear end of the camera mounted on the gimbal is controlled to face the yaw axis.
The apparatus according to claim 59, wherein said processor is for

Based on the image processing algorithm, it is determined that the tripod does not exist in the photographing screen of the camera; or, based on an image processing algorithm, it is determined that the tripod is outside a designated area in the photographing screen of the camera.
The device according to claim 59, wherein after the processor marks the current position information of the stand as the zero position information corresponding to the zero position of the stand, the processor is further configured to:

The zero information is sent to the terminal that controls the drone.
An unmanned aerial vehicle comprising a fuselage, a tripod connected to the fuselage, and a platform mounted on the fuselage, further comprising a processor and a motor, wherein the processor Connecting the tripod through the motor to drive the tripod to rotate, and the processor is communicatively connected to the pan/tilt;

The processor is for,

Obtain the real-time attitude of the yaw axis of the gimbal;

According to the real-time posture of the yaw axis, the rotation of the stand is controlled to follow the rotation direction of the pan.
A drone according to claim 65, wherein said processor is for

Obtaining a rotation direction of the yaw axis when a posture of the yaw axis is changed;

The rotation of the stand is controlled according to the direction of rotation.
The drone according to claim 66, wherein said processor is adapted to:

Two support bars that control the two sides of the camera mounted on the gimbal are symmetrically located on both sides of the camera along the central axis of the camera.
The drone according to claim 66, further comprising a first sensing unit for detecting a relative positional relationship between the tripod and the yaw axis, the first sensing unit and The processor is electrically connected;

The processor controls the rotation of the stand according to the rotation direction, and is also used for:

Obtaining a relative positional relationship between the tripod and the yaw axis detected by the first sensing unit;

When the tripod is centered with the yaw axis, the rotation of the stand is stopped.
The drone according to claim 68, wherein said stand comprises three support bars;

The processor is for,

A support rod located at the rear end of the camera mounted on the gimbal is controlled to be in line with the position of the yaw axis.
The drone according to claim 68, wherein said first sensing unit is a position sensor or an angle sensor.
The drone according to claim 70, wherein said first sensing unit is a Hall sensor.
The drone according to claim 66, wherein said processor is adapted to:

Obtaining the direction of rotation of the yaw axis directly by the direction of rotation of the yaw axis motor of the gimbal; or

The direction of rotation of the yaw axis is obtained by real-time monitoring by an IMU inertial measurement unit installed on the gimbal.
The drone according to claim 66, wherein said processor is adapted to:

Obtaining a rotation angle of the yaw axis when a posture of the yaw axis is changed;

The rotation of the stand is controlled according to the rotation angle of the yaw axis.
A drone according to claim 73, wherein said processor is for

Determining a target rotation angle of the tripod according to a rotation angle of the yaw axis;

The rotation of the stand is controlled according to the target rotation angle.
A drone according to claim 73, wherein said processor is for

Calculating an angle difference between an angle of incidence of the camera and an angle between two support rods on both sides of the camera mounted on the gimbal;

Determining a target rotation angle of the tripod according to a rotation angle of the yaw axis and the angle difference;

The rotation of the stand is controlled according to the target rotation angle.
A drone according to any one of claims 74 to 75, wherein said processor is for

Generating a driving signal of a motor for controlling rotation of the stand according to the target rotation angle;

Sending the drive signal to the motor.
The drone according to claim 76, wherein said motor is a servo motor.
The drone according to claim 76, further comprising a second sensing unit for detecting an actual rotation angle of the stand, the second sensing unit being electrically connected to the processor;

After transmitting the driving signal to the motor, the processor is further configured to:

Obtaining an actual rotation angle of the tripod based on the second sensing unit;

The drive signal is adjusted according to the actual rotation angle.
The drone according to claim 78, wherein the processor is further configured to: before adjusting the driving signal according to the actual rotation angle:

It is determined that the difference between the actual rotation angle and the target rotation angle is less than a preset threshold.
The drone according to claim 78, wherein said second sensing unit is a position sensor or an angle sensor.
The drone according to claim 80, wherein said second sensing unit is a position sensor and said position sensor is a Hall sensor.
A drone according to any one of claims 74 to 75, wherein said processor is for

According to the target rotation angle, the tripod rotation is controlled by a linear interpolation algorithm and/or an S-type interpolation algorithm.
A drone according to claim 73, wherein said processor is for

Calculating the rotation angle of the yaw axis by the joint angle of the yaw axis motor of the gimbal;

or,

The rotation angle of the yaw axis is directly obtained by the IMU inertial measurement unit installed on the gimbal.
The UAV according to claim 65, wherein the processor is further configured to: before acquiring the real-time posture of the yaw axis of the PTZ;

Controlling the tripod to be in a zero position;

After the tripod is in the zero position, the pan/tilt is controlled to rotate.
A drone according to claim 84, wherein said processor is for

Obtaining zero position information of the tripod;

The tripod is controlled to be in a zero position according to the zero position information.
The drone according to claim 85, wherein said processor is a flight controller of the drone, and zero position information of said stand is pre-stored by said flight controller.
A drone according to claim 85, wherein said processor is for

Receiving a return-to-zero command sent by a terminal controlling the drone, wherein the return-to-zero command carries zero-bit information of the tripod;

The zero position information of the tripod is parsed from the return-to-zero command.
A drone according to claim 84, wherein said processor is for

Controlling the rotation of the stand;

When it is determined that the stand is aligned with the yaw axis based on the first sensing unit, it is determined that the stand is in a zero position.
The drone according to claim 84, wherein said step of said processor controlling said tripod to be in a zero position is performed immediately after said processor determines that said drone is powered up.
The drone according to claim 84, wherein the processor further comprises: before controlling the tripod to be in a zero position:

Calibrate the zero position of the tripod.
A drone according to claim 90, wherein said processor is for

Obtaining the current position of the tripod when it is determined that the tripod of the camera mounted by the pan-tilt does not have the tripod, or if the tripod is determined to be outside a designated area in the photographing screen of the camera information;

The current position information of the tripod is marked as the zero position information corresponding to the zero position of the tripod.
The drone according to claim 91, wherein the processor determines that the tripod does not exist in the photographing screen of the camera, or determines that the tripod is in a photographing screen of the camera Before being specified outside the zone, it is also used to:

Receiving a position adjustment command sent by the remote controller;

According to the position adjustment command, the position of the stand is adjusted such that the stand of the camera does not have the stand, or the stand is outside a designated area in the photographing screen of the camera.
A drone according to claim 92, wherein said processor is for

Two support bars that control the two sides of the camera mounted on the gimbal are symmetrically located on both sides of the camera along the central axis of the camera.
A drone according to claim 93, wherein said stand comprises three support bars;

The processor is further configured to

A support rod located at the rear end of the camera mounted on the gimbal is controlled to face the yaw axis.
The drone according to claim 91, wherein said processor is adapted to:

Based on the image processing algorithm, it is determined that the tripod does not exist in the photographing screen of the camera; or, based on an image processing algorithm, it is determined that the tripod is outside a designated area in the photographing screen of the camera.
The UAV according to claim 91, wherein the processor, after marking the current position information of the stand as the zero position information corresponding to the zero position of the stand, is further used for:

The zero information is sent to the terminal that controls the drone.
The drone according to claim 65, wherein said processor and said pan/tilt are communicatively coupled based on a CAN bus.
A computer readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor to perform the steps of the drone control method according to any one of claims 1 to 32.