WO2022000137A1

WO2022000137A1 - Movable platform system, and control method and device therefor

Info

Publication number: WO2022000137A1
Application number: PCT/CN2020/098581
Authority: WO
Inventors: 谢振生; 刘帅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-06-28
Filing date: 2020-06-28
Publication date: 2022-01-06
Also published as: CN113795806A

Abstract

A movable platform system, and a control method and device therefor. The movable platform system comprises a movable platform and a gimbal carried thereon. The gimbal is used for carrying a photography device. The method comprises: when a movable platform turns, controlling the movable platform to enter a first mode (S501); and in the first mode, controlling the heading direction of the gimbal to deflect relative to the movement direction of the movable platform, a preset angle being formed between the deflection direction and the turning direction of the movable platform (S502). When turning, the movable platform is controlled to enter the first mode. In the first mode, the heading direction of the gimbal is controlled to deflect relative to the movement direction of the movable platform, and a preset angle is formed between the deflection direction and the turning direction of the movable platform, which is equivalent to controlling the gimbal to be ahead of the movable platform by an angle to completely expose the turning trajectory within the field of view of the photography device, so that the photography device can capture the obstacle on the turning trajectory in advance, thereby improving the flight safety and the flight experience.

Description

Movable platform system and its control method and device

technical field

The present application relates to the field of control, and in particular, to a movable platform system and a control method and device thereof.

Background technique

At present, it is common to mount a gimbal on a movable platform, and carry a load on the gimbal to realize obstacle avoidance of the movable platform. Exemplarily, the load is a photographing device, and the image captured by the photographing device guides the movement of the movable platform. If the FOV (Field of view) of the photographing device is relatively small, when the movable platform is turning, the photographing device may not be able to photograph the obstacles on the turning trajectory of the movable platform, or when the obstacles on the turning trajectory are photographed , the movable platform has no time to brake or evade and hit an obstacle, or even be damaged, which makes the turning of the movable platform very difficult and affects the control experience of the movable platform.

SUMMARY OF THE INVENTION

The present application provides a movable platform system and a control method and device thereof.

In a first aspect, an embodiment of the present application provides a control method for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support The load for obstacle avoidance, the method includes:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the heading of the gimbal is controlled to be deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.

In a second aspect, an embodiment of the present application provides a control device for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support The load for avoiding obstacles, the control device of the movable platform system includes:

a storage device for storing program instructions; and

One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

In a third aspect, an embodiment of the present application provides a control method for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support The load for obstacle avoidance, the method includes:

In the first mode, the attitude of the head and/or the movable platform is controlled, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction is the same as that of the movable platform. The turning direction of the mobile platform is a preset angle.

In a fourth aspect, an embodiment of the present application provides a control method for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support The load for obstacle avoidance, the method includes:

In the first mode, the attitude of the gimbal and/or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

In a fifth aspect, an embodiment of the present application provides a control method for a movable platform system, where the movable platform system includes a movable platform and a PTZ mounted on the movable platform, and the PTZ is used for carrying support The load for obstacle avoidance, the method includes:

In the first mode, the movement of the pan/tilt head and/or the movable platform is controlled so that the sensing range of the payload and the body of the movable platform are deflected in the same direction, and the payload of the payload is deflected in the same direction. The deflection angle of the sensing range is greater than the deflection angle of the body of the movable platform.

In a sixth aspect, an embodiment of the present application provides a control device for a movable platform system, where the movable platform system includes a movable platform and a PTZ mounted on the movable platform, and the PTZ is used for carrying support An obstacle avoidance load, the device includes:

a storage device for storing program instructions; and

In a seventh aspect, an embodiment of the present application provides a control device for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support An obstacle avoidance load, the device includes:

a storage device for storing program instructions; and

In an eighth aspect, an embodiment of the present application provides a control device for a movable platform system, where the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for mounting support An obstacle avoidance load, the device includes:

a storage device for storing program instructions; and

In a ninth aspect, an embodiment of the present application provides a movable platform system, where the movable platform system includes:

removable platform;

a head mounted on the movable platform, the head used for carrying a photographing device; and

The control device of the movable platform system according to the second aspect or the sixth aspect or the seventh aspect or the eighth aspect is supported by the movable platform and/or the pan/tilt head.

According to the technical solutions provided by the embodiments of the present application, the present application controls the movable platform to enter the first mode when the movable platform turns, and in the first mode, controls the heading of the gimbal to deflect relative to the moving direction of the movable platform, and the deflection The direction and the turning direction of the movable platform form a preset angle, or control the attitude of the gimbal, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle , or control the attitude of the gimbal so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load, or control the movement of the gimbal so that the sensing range of the load and the body of the movable platform are in the same direction Deflection, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform, which is equivalent to controlling the gimbal to advance the movable platform by an angle, so that the turning trajectory is exposed to the sensing range of the load in advance, so that the load can be advanced in advance. Obstacles on the turning trajectory are sensed to improve the movement safety and control experience of the movable platform.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative labor.

1 is a schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application;

2 is a schematic flowchart of a method for controlling a method for an unmanned aerial vehicle system in an embodiment of the present application;

3A is a schematic diagram of the speed of the unmanned aerial vehicle in an embodiment of the present application when it flies;

3B is a schematic diagram of the speed of the unmanned aerial vehicle in another embodiment of the present application when flying;

3C is a schematic view of the flight of the unmanned aerial vehicle in an embodiment of the present application, and FIG. 3C(a) discloses the positional relationship between the field of view angle FOV of the photographing device and the heading of the unmanned aerial vehicle in the second mode of the unmanned aerial vehicle, Figure 3C(b) discloses the positional relationship between the field of view angle FOV of the photographing device and the heading of the UAV in the first mode of the UAV;

FIG. 3D is a schematic flight diagram of the unmanned aerial vehicle in another embodiment of the present application, and FIG. 3D(a) discloses the positional relationship between the field of view angle FOV of the photographing device and the heading of the unmanned aerial vehicle in the second mode of the unmanned aerial vehicle , Fig. 3D(b) reveals the positional relationship between the FOV of the photographing device and the heading of the UAV in the first mode of the UAV;

3E is a schematic diagram of a turning of the unmanned aerial vehicle in an embodiment of the present application;

4 is a schematic diagram of an implementation process in which the heading of the control head is deflected relative to the movement direction of the unmanned aerial vehicle in an embodiment of the present application, and the deflection direction and the turning direction of the unmanned aerial vehicle form a preset angle;

5 is a schematic flowchart of a method for controlling a movable platform system in another embodiment of the present application;

6 is a schematic flowchart of a method for controlling a movable platform system in another embodiment of the present application;

7 is a schematic flowchart of a method for controlling a movable platform system in another embodiment of the present application;

8 is a structural block diagram of a control device of a mobile platform system in an embodiment of the present application;

FIG. 9 is another schematic structural diagram of a movable platform system in an embodiment of the present application.

detailed description

When the mobile platform is guided to avoid obstacles by carrying a load on the gimbal, if the load is a photographing device, when the mobile platform is guided to avoid obstacles by using the images captured by the photographing device, if the FOV of the photographing device is relatively small, the movable platform will When turning, the photographing device may not be able to photograph the obstacles on the turning track of the movable platform, or when the obstacles on the turning track are photographed, the movable platform may not have time to brake or evade and hit the obstacle, or even be damaged, resulting in The turning of the movable platform becomes very difficult, which affects the user's control experience of the movable platform.

For example, the movable platform is an unmanned aerial vehicle. When the user manually operates the unmanned aerial vehicle to fly, such as controlling the unmanned aerial vehicle to fly in the FPV (First Person View) of the first person perspective, he will use equipment such as flying glasses or a display screen to pass the image The real-time image of the onboard camera is transmitted, and the operation is performed according to the real-time image to control the flight of the unmanned aerial vehicle. If the UAV is flying far away from the user or the UAV is flying in a relatively complex environment (such as an environment where there are obstacles such as trees, buildings or lamp posts around the UAV), the user can usually only use the real-time image Judging the environment around the unmanned aerial vehicle, but cannot see the environment around the unmanned aerial vehicle in the real world with the naked eye. In this case, when the unmanned aerial vehicle is turning, if the photographing device does not capture any obstacles or obstacles on the turning trajectory If the obstacle on the turning trajectory is photographed later, when the user judges the surrounding environment of the UAV through the real-time image, the user will be too late to operate due to the untimely judgment, which will cause the UAV to hit the obstacle during the turning process. Even bombing the machine will bring great losses to the user.

In addition, when the user judges the surrounding environment of the UAV through the real-time image to operate the UAV to fly, the camera may not be able to photograph the obstacles on the turning trajectory or take pictures of the obstacles on the turning trajectory later. Become cautious and seriously affect the flying experience.

For this, the embodiment of the present application controls the movable platform to enter the first mode when the movable platform turns, and in the first mode, controls the heading of the gimbal to deflect relative to the moving direction of the movable platform, and the deflection direction is the same as that of the movable platform. The turning direction is a preset angle, or the attitude of the gimbal is controlled so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction is a preset angle with the turning direction of the movable platform, or the gimbal is controlled. position, so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load, or control the movement of the gimbal so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the load The deflection angle of the sensing range is greater than the deflection angle of the body of the movable platform, which is equivalent to controlling the gimbal to advance the movable platform by an angle, so that the turning trajectory is exposed to the sensing range of the load in advance, so that the load can sense the turning trajectory in advance. obstacles on top, thereby improving flight safety and flight experience.

It can be understood that the turning track or track point described in this application may be preset, or may be estimated according to the movement of the movable platform, which is not specifically limited here.

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

It should be noted that, in the case of no conflict, the features in the following embodiments and implementations can be combined with each other.

Wherein, the movable platform system in the embodiment of the present application includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used for carrying a load supporting obstacle avoidance. Among them, the movable platform includes unmanned aerial vehicles, unmanned vehicles, unmanned ships, etc., and the user can remotely control the movable platform through the control terminal. The load in this embodiment of the present application may include a load supporting obstacle avoidance, and the load supporting obstacle avoidance includes but is not limited to a photographing device and/or an obstacle avoidance sensor. Exemplarily, the load is a photographing device, such as a camera, mounted on a gimbal. The images collected by the photographing device can be displayed in real time on the control terminal to guide the pilot to control the movement of the movable platform, such as to achieve artificial obstacle avoidance; exemplarily, the load is an obstacle avoidance sensor, and the obstacle avoidance operation can be performed on the movable platform, For automatic obstacle avoidance, the obstacle avoidance sensor may include a visual obstacle avoidance sensor and/or an electromagnetic wave obstacle avoidance sensor, wherein the visual obstacle avoidance sensor may include a binocular vision sensor, and the electromagnetic wave obstacle avoidance sensor may include a lidar or TOF (Time of flight, time-of-flight ranging) sensor; of course, the obstacle avoidance sensor can also be of other types.

The following contents of the embodiments of the present application are all described by taking the movable platform as an unmanned aerial vehicle as an example. It can be understood that the corresponding description of other movable platforms can refer to the unmanned aerial vehicle, its cooperation with the gimbal, and the unmanned aerial vehicle. The cooperation between the aircraft and the gimbal is basically similar, which will not be repeated in this embodiment of the present application.

Referring to FIG. 1 , the unmanned aerial vehicle system of the embodiment of the present application may include an unmanned aerial vehicle 100 and a gimbal 200 mounted on the unmanned aerial vehicle 100 , and the gimbal 200 is used to carry a load 300 supporting obstacle avoidance. The unmanned aerial vehicle 100 in the embodiment of the present application may be an unmanned aerial vehicle, such as a multi-rotor unmanned aerial vehicle, a fixed-wing unmanned aerial vehicle, or other types of unmanned aerial vehicles, such as a helicopter unmanned aerial vehicle; of course, the unmanned aerial vehicle 100 may also Can be used for other types of unmanned aerial vehicles. The gimbal 200 may be a single-axis gimbal, a two-axis gimbal, a three-axis gimbal, or other multi-axis gimbal.

The payload may include a photographing device and/or obstacle avoidance sensor. Exemplarily, the payload is a photographing device, and the photographing device may include a first-person main-view FPV photographing device or other photographing devices, such as a downward-looking photographing device mounted on the bottom of the UAV 100 device, a rear-view camera mounted on the rear of the unmanned aerial vehicle 100, a left-view camera mounted on the left side of the unmanned aerial vehicle 100, a right-view camera mounted on the right side of the unmanned aerial vehicle 100, exemplarily, a camera device It is a first-person main perspective FPV shooting device.

In the embodiment of the present application, the UAV 100 is connected to the gimbal 200 in communication, and the UAV 100 can control the gimbal 200, such as controlling the heading rotation of the gimbal 200, or controlling the attitude of the gimbal 200 (that is, controlling the movement of the gimbal 200). yaw attitude and/or pitch attitude and/or roll attitude), or control the movement of the gimbal 200 (ie, control the yaw attitude and/or pitch attitude and/or roll attitude and/or translation of the gimbal 200). Exemplarily, when the UAV 100 controls the gimbal 200 , a trigger signal is sent to the gimbal 200 , and the gimbal 200 rotates and/or translates according to the trigger signal, so that the UAV 100 indirectly controls the gimbal 200 . The translation refers to that by controlling the pan/tilt head 200, the load can be translated in at least one direction to realize displacement.

2 is a schematic flowchart of a method for controlling a UAV system in an embodiment of the present application; the execution subject of the control method for an UAV system in an embodiment of the present application is an UAV system, for example, the execution subject may be an unmanned aerial vehicle system. The flight controller of the human aircraft, or other controllers provided in the UAV, or the combination of the flight controller and the other controllers provided in the UAV.

Referring to FIG. 2, the control method of the unmanned aerial vehicle system according to the embodiment of the present application may include steps S201-S202.

Wherein, in S201, when the unmanned aerial vehicle turns, the unmanned aerial vehicle is controlled to enter the first mode.

There are many ways to judge whether the UAV is turning, such as automatically judging whether the UAV is turning according to the motion information of the UAV, or obtaining the motion information of the UAV through an external device, and judging based on the motion information of the UAV Whether the UAV turns, the external device sends the judgment result to the UAV, or judges whether the UAV turns according to the position information of the UAV.

For example, in some embodiments, whether the UAV is turning is automatically determined based on the motion information of the UAV. Exemplarily, before judging that the unmanned aerial vehicle turns, the motion information of the unmanned aerial vehicle is obtained. If the motion information satisfies the first preset condition, it is determined that the UAV turns. The motion information may include the target linear velocity and the target angular velocity of the UAV, and the first preset condition may include: the target linear velocity is greater than the preset linear velocity threshold, and the target angular velocity is greater than the preset angular velocity threshold, that is, when the target linear velocity is greater than the preset angular velocity threshold When the speed is greater than the preset linear velocity threshold, and the target angular velocity is greater than the preset angular velocity threshold, it is determined that the UAV turns. It should be understood that the motion information may also include other items, and the first preset condition may also include other items accordingly.

In the embodiment of the present application, the target linear velocity may be the linear velocity of the unmanned aerial vehicle (for example, it may be the direction of the head of the unmanned aerial vehicle indicating the heading, and the user only hits the pitch stick of the remote control of the unmanned aerial vehicle, The linear velocity in the forward direction of the UAV, that is, the linear velocity in the heading of the UAV).

It should be noted that, when the target linear velocity is the linear velocity of the movable platform moving forward (for example, it can be used to indicate the heading in the direction of the nose of the movable platform, and the user only lays down the remote control of the movable platform to control the movable platform). When moving the rod that moves the platform forward, the linear velocity of the forward moving direction of the movable platform, that is, the linear velocity of the heading of the movable platform), the linear velocity of the forward movement of the movable platform includes the forward movement of the unmanned aerial vehicle. Line speed.

Exemplarily, in some embodiments, referring to FIG. 3A , when the UAV is turning and flying, the combined linear velocity V of the UAV can be decomposed into Vx and Vy, where the direction of Vx is parallel to the direction of the UAV. The heading (that is, the direction of the above-mentioned forward flying linear velocity), the direction of Vy is perpendicular to the heading of the UAV. That is, this situation is applicable to the coexistence of forward flight and side flight of the unmanned aerial vehicle, that is, the user hits the pitch stick and roll stick of the remote control of the unmanned aerial vehicle. Among them, due to the influence of forward flight and side flight, when the unmanned aerial vehicle is turning and flying, the combined linear velocity V of the unmanned aerial vehicle does not coincide with the heading of the unmanned aerial vehicle, but the heading of the gimbal can still be controlled according to Vx. , so that the heading of the gimbal is ahead of the movement direction of the unmanned aerial vehicle, and the unmanned aerial vehicle can be prevented from hitting obstacles in the process of turning.

In other embodiments, please refer to FIG. 3B , Vx is not equal to 0, Vy is equal to 0, and Vx points to the front of the unmanned aerial vehicle, and the movement direction of the unmanned aerial vehicle is the direction of Vx, that is, the movement direction of the unmanned aerial vehicle is the same as that of the unmanned aerial vehicle. The course of the human aircraft coincides. That is to say, this situation is suitable for the UAV to fly forward, that is, the user hits the pitch stick and yaw stick of the remote controller of the UAV to achieve turning flight, and can control the heading of the gimbal according to Vx to Make the heading of the gimbal ahead of the moving direction of the UAV, and avoid the UAV hitting obstacles during the turning process.

It should be noted that, in the embodiment of the present application, the coordinate system is established with the body of the unmanned aerial vehicle, and the orientation of the nose is the direction of Vx.

It can be understood that in practical applications, there may also be backward flight, or backward flight and side flight. Back flight means that the user hits the pitch stick of the remote control of the unmanned aerial vehicle, but the direction of the shot is opposite to the direction of forward flight. In the case of backward flight, there may also be a turning situation. At this time, according to the linear speed of the UAV backward flight, and the rotation angle of the gimbal allows, the heading of the gimbal can be controlled to make the cloud The heading of the platform is ahead of the moving direction of the UAV, so as to avoid the UAV hitting obstacles in the process of turning.

Before the unmanned aerial vehicle is controlled to enter the first mode, the heading of the gimbal and the movement direction may or may not be coincident. Exemplarily, the load is a photographing device, the course of the gimbal coincides with the bisector of the field of view angle FOV of the photographing device, and the course of the gimbal coincides with the movement direction, which is equivalent to the coincidence of the bisector of the FOV with the movement direction, and the gimbal coincides with the movement direction. The misalignment of the heading and the motion direction is equivalent to the fact that the bisector of the field of view angle FOV does not coincide with the motion direction. Therefore, the bisector of the field of view angle FOV can be used to characterize the heading of the gimbal. It can be understood that if the load is an obstacle avoidance sensor, the heading of the gimbal coincides with the angular bisector of the sensing range of the obstacle avoidance sensor, and the heading of the gimbal coincides with the movement direction, which is equivalent to the angular bisector of the sensing range and the movement direction. Coincidence, the heading of the gimbal does not coincide with the moving direction, which means that the angular bisector of the sensing range does not coincide with the moving direction. Therefore, the heading of the gimbal can be characterized by the angular bisector of the sensing range. For example, in some embodiments, before the UAV is controlled to enter the first mode, the heading of the gimbal coincides with the movement direction. The dotted line in ) coincides with the direction of Vx, that is, the heading of the gimbal coincides with the heading of the UAV. The heading of the gimbal and the heading of the UAV are suitable for the mode that the gimbal follows the UAV. In the mode that the gimbal follows the UAV, the user controls the heading rotation of the UAV through the remote control device. The heading follows the heading of the UAV. It should be noted that before the gimbal enters the mode that the gimbal follows the unmanned aerial vehicle, the heading of the gimbal and the heading of the unmanned aerial vehicle can also coincide.

In some other embodiments, before the unmanned aerial vehicle is controlled to enter the first mode, the heading of the gimbal does not coincide with the moving direction. The angle between the dotted line in ) and the direction of Vx is the preset angle θ, that is, the angle between the heading of the gimbal and the heading of the UAV is the preset angle θ. Among them, the preset angle θ can be set by the user, which is suitable for the scenario where the user controls the heading of the gimbal through the remote control device, so that the heading is different from the heading of the unmanned aerial vehicle.

The preset linear velocity threshold and the preset angular velocity threshold can be set as required. For example, the preset linear velocity threshold is slightly greater than 0, and the preset angular velocity threshold is also slightly greater than 0. Exemplarily, the preset linear velocity threshold is 2m/ s (unit: m/s), the preset angular velocity threshold is 5°/s (unit: degree/s), and the first preset condition includes: the target linear velocity is greater than 2m/s, and the target angular velocity is greater than 5°/s.

Further, when at least one of the target linear velocity and the target angular velocity does not meet the first preset condition, the UAV is controlled to enter the second mode, and at least one of the target linear velocity and the target angular velocity does not meet the first preset condition indicates that The UAV is not in a turning state or exiting a turning state. Exemplarily, the first preset condition includes: the target linear velocity is greater than the preset linear velocity threshold, and the target angular velocity is greater than the preset angular velocity threshold, and at least one of the target linear velocity and the target angular velocity is greater than the preset angular velocity threshold. A failure to satisfy the first preset condition includes: the target linear velocity is less than or equal to the preset linear velocity threshold, and/or the target angular velocity is less than or equal to the preset angular velocity threshold. Among them, when the target linear velocity is less than or equal to the preset linear velocity threshold, it means that the UAV is flying at a small target linear velocity (such as a target linear velocity close to 0). If the target angular velocity is greater than the preset angular velocity threshold, it can be It is considered that the UAV rotates, and in the autorotation state, the UAV will not collide with obstacles; if the target angular velocity is less than or equal to the preset angular velocity threshold, it can be considered that the UAV is hovering, and in the hovering state, the UAV will also Does not collide with obstacles. When the target angular velocity is less than or equal to the preset angular velocity threshold, it means that the UAV rotates at a small target angular velocity (such as a target angular velocity close to 0). At this time, whether the target linear velocity is greater than the preset linear velocity threshold or less than or equal to the preset linear velocity threshold. Since the target angular velocity is small, when the user controls the UAV, because the UAV rotates slowly, after the user finds the obstacle on the turning trajectory through the real-time image, the UAV will not immediately collision with obstacles, so the user has time to manually adjust the UAV to prevent the UAV from colliding with obstacles.

In the second mode, the relationship between the heading of the gimbal and the direction of movement can be determined according to the relationship between the heading of the gimbal and the direction of movement before the UAV enters the first mode. The relationship between the movement direction is the same as the relationship between the gimbal's heading and the movement direction before the UAV enters the first mode; of course, in the second mode, the relationship between the gimbal's heading and the movement direction is the same as that before the UAV enters the first mode. , the relationship between the heading of the gimbal and the direction of movement may also be inconsistent. In the second mode, the relationship between the heading of the gimbal and the direction of movement can be set as required.

Exemplarily, in some embodiments, in the second mode, the heading of the control gimbal coincides with the movement direction; in other embodiments, in the second mode, the included angle between the heading of the gimbal and the movement direction is controlled It is the size of the preset included angle, and the preset included angle is set by the user. When at least one of the target linear velocity and the target angular velocity does not satisfy the first preset condition, the UAV is controlled to enter the second mode. In the second mode, the heading of the gimbal is controlled to coincide with the moving direction, or the angle between the heading and the moving direction of the gimbal is controlled to be a preset angle. Such a design can prevent the unmanned aerial vehicle from flying slowly or rotating slowly, and the unmanned aerial vehicle is still in the first mode, which will cause the gimbal heading to shake, and further cause the sudden change of the real-time image.

Exemplarily, before the unmanned aerial vehicle is controlled to enter the first mode, the unmanned aerial vehicle may be controlled to be in the second mode, that is, when the unmanned aerial vehicle turns, the unmanned aerial vehicle is controlled to switch from the second mode to the first mode.

Exemplarily, at the end of the turning of the unmanned aerial vehicle, the target angular velocity is less than or equal to the preset angular velocity threshold, that is, the target angular velocity is approximately 0. Therefore, at the end of the turning of the unmanned aerial vehicle, the unmanned aerial vehicle can be controlled to switch from the first mode to In the second mode, when the UAV flies slowly or rotates slowly, the UAV is still in the first mode, which will cause the gimbal heading to shake, and further cause the sudden change of the real-time image.

The target linear velocity and the target angular velocity in the embodiments of the present application are both determined according to the speed control quantity sent from the outside. Exemplarily, the target linear velocity is determined according to the speed control quantity and the mapping relationship between the speed control quantity and the speed of the unmanned aerial vehicle. and the target angular velocity, wherein the mapping relationship between the speed control amount and the speed of the UAV is the existing mapping relationship. Exemplarily, when the UAV is controlled to fly by the remote controller, the speed control amount may be determined according to the stick amount of the remote controller; it should be understood that the speed control amount may also be generated by a mobile phone, a tablet computer, or a somatosensory control device.

In S202, in the first mode, the heading of the gimbal is controlled to deflect relative to the movement direction of the unmanned aerial vehicle, and the deflection direction and the turning direction of the unmanned aerial vehicle form a preset angle.

Exemplarily, the UAV 100 turns along the turning trajectory shown in FIG. 3E . FIG. 3E shows the position of the UAV 100 on the turning trajectory at time t1 and time t2 , time t1 is earlier than time t2 , wherein , the turning direction of the UAV 100 can be characterized by the connection direction between the position of the UAV 100 on the turning trajectory at time t1 and the position of the UAV 100 on the turning trajectory at time t2.

Referring to FIG. 4 , an implementation process of controlling the heading of the gimbal to deflect relative to the movement direction of the UAV, and the deflection direction and the turning direction of the UAV form a preset angle may include steps S401 - S402 .

Wherein, in S401, the target deflection angle is determined according to the target linear velocity and the target angular velocity.

In this embodiment of the present application, it is only necessary to control the gimbal to advance the movable platform by an angle, so that the turning trajectory is exposed within the sensing range of the load in advance. Yes, the preset angle can be smaller than the target deflection angle or equal to the target deflection angle.

Different strategies can be used to determine the target deflection angle. Exemplarily, in some embodiments, the target deflection angle is negatively correlated with the turning radius of the UAV, that is, the smaller the turning radius is, the larger the target deflection angle is set. When the UAV is turning, the smaller the turning radius, the faster the UAV turns, and the greater the possibility that the UAV will hit the obstacle because the camera cannot capture the obstacles on the turning trajectory. Small, the larger the target deflection angle is set, so that the heading of the gimbal is deflected by a larger target deflection angle relative to the moving direction of the UAV, and the deflection direction is at a preset angle with the turning direction of the UAV, so that the shooting device The obstacles on the turning trajectory can be photographed in time to reduce the risk of the UAV hitting the obstacles. In the embodiment of the present application, the turning radius is determined according to the target linear velocity and the target angular velocity. Optionally, the calculation formula of the turning radius r is as follows:

r=v/w (1);

In formula (1), v is the target linear velocity, and w is the target angular velocity.

In other embodiments, the load is a photographing device, and the target deflection angle is negatively correlated with the field of view FOV of the photographing device, that is, the smaller the field of view FOV, the larger the target deflection angle is. When the UAV is turning, the smaller the FOV of the field of view, the greater the possibility that the camera cannot capture the obstacles on the turning trajectory. Therefore, the smaller the FOV of the field of view, the larger the target deflection angle is set, which makes the cloud The heading of the platform is deflected by a large target deflection angle relative to the movement direction of the UAV, and the deflection direction is at a preset angle with the turning direction of the UAV, so that the camera can capture the obstacles on the turning trajectory and reduce the risk of unmanned aerial vehicles. Risk of collision of human aircraft with obstacles.

In some other embodiments, the target deflection angle is positively correlated with the target angular velocity, that is, the larger the target angular velocity is, the larger the target deflection angle is set. When the UAV is turning, the higher the target angular velocity, the faster the UAV turns, and the greater the possibility that the UAV will hit the obstacle because the camera does not have time to capture the obstacles on the turning trajectory. Therefore, the higher the target angular velocity, The larger the target deflection angle is, the greater the target deflection angle is set, so that the heading of the gimbal is deflected by a larger target deflection angle relative to the movement direction of the UAV, and the deflection direction is at a preset angle with the turning direction of the UAV. The obstacles on the turning trajectory can be photographed in time to reduce the risk of the UAV hitting the obstacles.

It should be understood that the above strategies for determining the target deflection angle can be combined. Exemplarily, the target deflection angle is negatively correlated with the turning radius of the UAV, and negatively correlated with the field of view FOV of the photographing device, so that the photographing device The obstacles on the turning trajectory can be photographed in time to reduce the risk of the UAV hitting the obstacles.

In the embodiment of the present application, the target deflection angle is less than or equal to the preset angle threshold. In this way, when the heading of the control gimbal is ahead of the movement direction of the unmanned aerial vehicle, the gimbal can be prevented from being deflected beyond the rotation angle range of the gimbal, and at the same time It can prevent the gimbal's heading from deflecting too much relative to the movement direction of the UAV, which will cause the gimbal to shake too much, and further cause the sudden change of the real-time image. The size of the preset angle threshold can be set as required. Exemplarily, the size of the preset angle threshold can be determined according to the angular rotation range of the gimbal. If the target deflection angle determined in S401 is greater than the preset angle threshold, the target is deflected The angle is limited to the preset angle threshold value to prevent the target deflection angle from being too large and exceeding the angular rotation range of the gimbal.

In S402, according to the target deflection angle, the heading of the gimbal is controlled to deflect relative to the movement direction of the unmanned aerial vehicle, and the deflection direction and the turning direction of the unmanned aerial vehicle form a preset angle.

S402 can be realized by controlling the rotation of the gimbal and/or by controlling the rotation of the unmanned aerial vehicle. In the following, the description is given by taking the load as a photographing device as an example. It can be understood that the corresponding description of the load as an obstacle avoidance sensor can refer to the load as a photographing device. example. For example, in some embodiments, according to the target deflection angle, the heading of the gimbal is controlled to deflect toward the turning direction of the UAV so that there is a deflection between the heading of the gimbal and the movement direction of the UAV. When the UAV turns, control the gimbal's heading to turn a part of the angle toward the center of the turning circle, which is equivalent to the gimbal's heading ahead of the UAV's movement direction by an angle, so that the inner side of the turning trajectory is more exposed to the shooting device. Within the FOV, the user can see more of the inner side of the turning trajectory through the real-time image transmitted by the image, so that the user can know in advance whether there are obstacles on the turning trajectory, improving flight safety and control experience.

In this embodiment, the target deflection angle is the target deflection angle of the gimbal heading.

Wherein, according to the target deflection angle, the process of controlling the course of the gimbal to deflect toward the turning direction of the unmanned aerial vehicle may include, but is not limited to, the following steps:

(1), obtain the first target angle of the gimbal;

In the embodiment of the present application, the first target angle is equal to the third target angle of the UAV, and the direction is a preset angle, and the third target angle is determined according to the target angular velocity. Exemplarily, taking the heading angle as an example, the target angular velocity is 10°/s, and the angle of the UAV at the current moment is 90° (unit: degrees), then the third target angle of the UAV in the next second is 100°. , correspondingly, the first target angle is 100°.

It should be noted that, in the embodiment of the present application, the first target angle and the third target angle both include the heading angle; of course, the first target angle and the third target angle may also include angles in other directions, such as the pitch angle and/or roll angle.

(2), superimpose the target deflection angle and the first target angle to obtain the second target angle of the gimbal;

Exemplarily, the first target angle includes the first heading target angle of the gimbal, the second target angle includes the second heading target angle of the gimbal, and step (2) is the target deflection angle and the first heading in the first target angle. The target angles are superimposed to obtain a second heading target angle among the second target angles. It should be understood that when the first target angle includes angles in other directions, the second target angle also includes angles in corresponding directions.

Different strategies can be used to achieve the superposition of the target deflection angle and the first target angle. Exemplarily, according to the first preset algorithm, the target deflection angle and the first target angle are smoothly superimposed to obtain the second target of the gimbal at different times. Angle, so that the heading of the gimbal is smoothly deflected toward the turning direction of the unmanned aerial vehicle, and the shaking of the gimbal is reduced, thereby reducing the shaking of the picture captured by the photographing device.

Wherein, the first preset algorithm may include a low-pass filtering algorithm, and may also include other filtering algorithms, such as a mean filtering algorithm. Exemplarily, the first preset algorithm is a low-pass filtering algorithm, and according to the first preset algorithm, the target deflection angle and the first target angle are smoothly superimposed to obtain the second target angle of the gimbal at different times, according to The target deflection angle, the first low-pass filter coefficient, and the superimposed deflection angle of the gimbal at the previous moment determine the superimposed deflection angle of the gimbal at the current moment; superimpose the superimposed deflection angle of the gimbal at the current moment with the first target angle , to obtain the second target angle of the gimbal at the current moment.

Exemplarily, the calculation method of determining the superimposed deflection angle of the gimbal at the current time t by the low-pass filtering algorithm is as follows:

α _t =(1-p ₁ )*α _t-1 +p ₁ *α (2);

In formula (2), α _t represents the superimposed deflection angle at the current time t;

α _t-1 represents the superimposed deflection angle at the previous moment (t-1);

α represents the target deflection angle;

p ₁ represents the first low-pass filter coefficient, 0<p ₁ <1, the _{larger p 1} is, the weaker the filtering effect, and the faster the superposition speed of the target deflection angle to the first target angle. During the flight of the UAV, the target linear velocity and/or the target angular velocity may vary, and therefore, the target deflection angle determined in S401 also varies. If p ₁ =1, it is equivalent to superimposing the size of the target deflection angle at every moment. Exemplarily, the size of the currently determined target deflection angle is 5°, and the size of the target deflection angle determined at the next moment is 4°. If p ₁ =1, due to the calculation delay, the actual superimposed target deflection angle at the next moment is caused. It's still 5°, not 4°, which would cause the gimbal to shake, which would cause the camera to shake the footage. Setting p _{1 to} a value range greater than 0 and less than 1 can reduce screen shake. _{It should be understood that the value of p 1} can also be set to 1 if the influence of the jitter of the gimbal is not considered.

Further, the recording can also be superimposed on the deflection angle [alpha] _t of the current time t to (t + 1) is superimposed deflection angle [alpha] _t used in the calculation of the next time.

The superimposed deflection angle of the gimbal at the current time t is superimposed with the second target angle, and the calculation method to obtain the second target angle of the gimbal at the current time t is as follows:

β _t =β+α _t (3);

In formula (3), β represents the first target angle, β=β ₀ +ω*t, and β ₀ represents the initial first target angle;

β _t represents the second target angle of the gimbal at the current time t.

Exemplarily, β ₀ =90°, ω = 10°/s, α = 5°, p ₁ =0.2, then according to formula (2):

Time 1: α ₁ =(1-0.2)*0+0.2*5°=1°;

Time 2: α ₂ =(1-0.2)*1+0.2*5°=1.8°;

The difference between time 1 and time 2 is 0.1s. Accordingly, according to formula (3):

Time 1: β ₁ =90°+1°+10°/s*0.1s=92°;

Time 2: β ₂ =91°+1.8°+10°/s*0.1s=93.8°;

Other times and so on.

It should be understood that the calculation method of the superimposed deflection angle at the current time t is not limited to the formula (2), and the calculation of the second target angle at the current time t is not limited to the formula (3).

(3), according to the second target angle, control the gimbal to rotate, so that the heading of the gimbal is deflected toward the turning direction of the unmanned aerial vehicle.

Exemplarily, in the embodiment where β ₀ =90°, ω = 10°/s, α = 5°, and p ₁ =0.2, before the unmanned aerial vehicle enters the first mode, the heading of the gimbal is the same as that of the unmanned aerial vehicle. When the UAV is in the first mode, there is no user to control the yaw angle of the gimbal alone, then at time 1, the UAV's heading angle is controlled to rotate to 91°, and the gimbal's heading is controlled. The angle is rotated to 92°, so that the heading of the gimbal is deflected by 1° toward the turning direction of the UAV; at time 2, the heading angle of the UAV is controlled to rotate to 92°, and the heading angle of the gimbal is controlled to rotate to 93.8°, The heading of the gimbal is deflected by 1.8° towards the turning direction of the UAV. In this way, the heading of the gimbal is ahead of the moving direction of the UAV by an angle, so that the inside of the turning trajectory is more exposed to the FOV of the camera. Inside, the user can see more vision inside the turning track through the image transmission screen, so that the user can know in advance whether there are obstacles on the turning track, and make corresponding obstacle avoidance operations to improve flight safety and control experience. It should be noted that at time 1 and time 2, the heading angle of the unmanned aerial vehicle

Exemplarily, the unmanned aerial vehicle flies forward and turns, and the heading of the gimbal coincides with the heading of the unmanned aerial vehicle, please refer to Figure 3C(a), when the unmanned aerial vehicle flies forward and turns in the second mode, the heading of the gimbal Not ahead of the movement direction of the UAV. At this time, the heading of the gimbal coincides with Vx, and the obstacle 1 cannot be photographed within the FOV of the camera. The user may not be able to control the UAV in time to avoid obstacles. The UAV hits obstacle 1; please refer to Figure 3C(b), when the UAV turns forward, control the gimbal to enter the first mode, so that the heading of the gimbal is ahead of the moving direction of the UAV Deflection by an angle α _t , that is, the heading of the gimbal is deflected by an angle α _t ahead of Vx, so that the inner side of the turning trajectory is more exposed to the field of view FOV of the camera, and the camera can shoot within the field of view FOV of the camera to obstacle 1, thereby avoiding the UAV hitting obstacle 1.

Exemplarily, the unmanned aerial vehicle flies forward and turns, and the included angle between the heading of the gimbal and the heading of the unmanned aerial vehicle is θ, please refer to 3D(a), when the unmanned aerial vehicle flies forward and turns in the second mode, The heading of the gimbal is not ahead of the movement direction of the UAV. At this time, the angle between the heading of the gimbal and Vx is the size of θ. Obstacle 2 cannot be photographed within the FOV of the camera. Control the UAV to avoid obstacles and cause the UAV to hit the obstacle 2; please refer to Figure 3D(b). The heading is deflected by an angle α _t ahead of the moving direction of the UAV, that is, the angle between the heading of the gimbal and Vx is the _{sum of θ and α t} , so that the inside of the turning trajectory is more exposed to the field of view of the camera. Within the FOV, the obstacle 2 can be photographed within the field of view FOV of the photographing device, thereby preventing the unmanned aerial vehicle from hitting the obstacle 2 .

It should be noted that the unmanned aerial vehicle flies forward and turns, and the angle between the heading of the gimbal and the heading of the unmanned aerial vehicle is θ. The gimbal is an angle ahead of or behind the body of the movable platform, that is, in this case, it means that the angle θ between the heading of the gimbal and the heading of the UAV has achieved the position of the gimbal relative to the body of the movable platform. ahead.

In other embodiments, according to the target deflection angle, the movement direction of the unmanned aerial vehicle is controlled to deviate from the turning direction, so that there is a deflection between the heading of the gimbal and the movement direction of the unmanned aerial vehicle. When the UAV turns, the movement direction of the UAV is controlled to deviate from the turning direction by a small angle, which is equivalent to the movement direction of the UAV lags the heading of the gimbal by an angle, which can also make the inside of the turning trajectory more exposed. Within the FOV of the shooting device, the user can see more of the inner side of the turning trajectory through the real-time image transmitted through the image, so that the user can know in advance whether there are obstacles on the turning trajectory, improving flight safety and control experience.

In this embodiment, the target deflection angle is the target deflection angle of the UAV heading.

Wherein, according to the target deflection angle, the process of controlling the movement direction of the UAV to deviate from the turning direction may include but not be limited to the following steps:

(1) Obtain the third target angle of the UAV;

Exemplarily, the target angular velocity is 10°/s, and the angle of the UAV at the current moment is 90°, then the third target angle of the UAV in the next second is 100°.

(2), determine the fourth target angle of the unmanned aerial vehicle according to the difference obtained by subtracting the target deflection angle from the third target angle;

Exemplarily, the third target angle includes the third heading target angle of the unmanned aerial vehicle, the fourth target angle includes the fourth heading target angle of the unmanned aerial vehicle, and the fourth heading target angle is the third heading in the third target angle. The difference is obtained by subtracting the target deflection angle from the target angle. It should be understood that when the third target angle includes angles in other directions, the fourth target angle also includes angles in corresponding directions.

Different strategies can be used to achieve the subtraction of the third target angle and the target deflection angle. Exemplarily, according to the second preset algorithm, the third target angle and the target deflection angle are controlled to be smoothly subtracted, and the third target angle of the unmanned aerial vehicle at different times is determined. The four target angles make the movement direction of the UAV smoothly deflect away from the turning direction.

Wherein, the second preset algorithm may include a low-pass filtering algorithm, and may also include other filtering algorithms, such as a mean filtering algorithm. Exemplarily, the second preset algorithm is a low-pass filter algorithm, and when the second target angle and the target deflection angle are controlled to be smoothly subtracted according to the second preset algorithm to determine the fourth target angle of the unmanned aerial vehicle at different times, Determine the subtracted deflection angle of the UAV at the current moment according to the target deflection angle, the second low-pass filter coefficient, and the subtracted deflection angle of the UAV at the previous moment; subtract the UAV at the current moment from the third target angle The difference obtained by the subtracted deflection angle at the moment determines the fourth target angle of the UAV at the current moment.

Exemplarily, the calculation method of determining the subtracted deflection angle of the gimbal at the current time t by the low-pass filtering algorithm is as follows:

In formula (4),

Represents the subtracted deflection angle at the current time t;

Represents the subtracted deflection angle at the last moment (t-1);

Represents the target deflection angle;

p ₂ represents the first low-pass filter coefficient, 0<p ₂ <1, the _{larger p 2} is, the weaker the filtering effect, and the faster the subtraction speed between the third target angle and the target deflection angle. During the flight of the UAV, the target linear velocity and/or the target angular velocity may vary, and therefore, the target deflection angle determined in S401 also varies. If p ₂ =1, it is equivalent to immediately subtracting the target deflection angle at every moment. Exemplarily, the size of the currently determined target deflection angle is 5°, and the size of the target deflection angle determined at the next moment is 4°. If p ₂ =1, due to the calculation delay, the actual subtracted target deflection at the next moment is caused. The angle is still 5° instead of 4°, which would cause the UAV to turn erratically. _{It should be understood that the value of p 2} can also be set to 1 if the influence of the rotational stability of the UAV is not considered.

In addition, the subtracted deflection angle of the current time t can also be

_{Recording is made to use α t} in calculating the subtracted deflection angle at the next time instant (t+1).

According to the difference obtained by subtracting the subtracted deflection angle of the unmanned aerial vehicle from the third target angle at the current time t, the calculation method for determining the fourth target angle of the unmanned aerial vehicle at the current time t is as follows:

In formula (5), φ represents the third target angle, φ=φ ₀ +ω*t, and φ ₀ represents the initial third target angle;

φ _t represents the third target angle of the UAV at the current time t.

Exemplarily, φ ₀ =90°, ω = 10°/s,

p ₂ =0.2, then according to formula (4):

Moment 1:

Moment 2:

The difference between time 1 and time 2 is 0.1s. Accordingly, according to formula (5):

Time 1: φ ₁ =90°-1°+10°/s*0.1s=90°;

Time 2: φ ₂ =91°-1.8°+10°/s*0.1s=90.2°;

Other times and so on.

It should be understood that the calculation method of the subtracted deflection angle at the current time t is not limited to the formula (4), and the calculation of the fourth target angle at the current time t is not limited to the formula (5).

(3) Control the rotation of the unmanned aerial vehicle according to the fourth target angle, so that the movement direction of the unmanned aerial vehicle is deflected away from the turning direction.

Exemplarily, at φ ₀ =90°, ω = 10°/s,

In _{the embodiment with p 2} =0.2, before the UAV enters the first mode, the heading of the gimbal coincides with the heading of the UAV, and when the UAV is in the first mode, there is no user's ability to control the gimbal alone. Yaw angle, at time 1, control the heading angle of the gimbal to rotate to 91°, and control the heading angle of the UAV to rotate to 90°, so that the heading of the UAV is deviated from the turning direction by 1°, so that no one The heading of the aircraft lags the heading of the gimbal by 1°; at time 2, the heading angle of the gimbal is controlled to rotate to 92°, and the heading angle of the UAV is controlled to rotate to 90.2°. The heading of the gimbal is deflected by 1.8° towards the turning direction of the UAV. In this way, the moving direction of the UAV is lagged behind the heading of the gimbal by an angle, so that the inside of the turning trajectory is more exposed to the FOV of the camera. Inside, the user can see more vision inside the turning track through the image transmission screen, so that the user can know in advance whether there are obstacles on the turning track, and make corresponding obstacle avoidance operations to improve flight safety and control experience.

It should be noted that it is also possible to control the heading of the gimbal to deflect towards the turning direction of the unmanned aerial vehicle according to the target deflection angle, and control the movement direction of the unmanned aerial vehicle to deviate from the turning direction, so that the heading of the gimbal is the same as that of the unmanned aerial vehicle. There is a deflection between the directions of motion. That is, the above-mentioned implementation of controlling the heading of the gimbal ahead of the movement direction of the UAV by an angle and the above-mentioned implementation of controlling the moving direction of the unmanned aerial vehicle to lag the heading of the gimbal by an angle can be combined.

It can be understood that when the heading of the control gimbal is deflected relative to the movement direction of the UAV, and the deflection direction is at a preset angle with the turning direction of the UAV, the target deflection angle may not be calculated, but a preset angle can be directly given. The deflection angle, according to the preset deflection angle, controls the heading of the gimbal to deflect relative to the movement direction of the unmanned aerial vehicle, and the deflection direction and the turning direction of the unmanned aerial vehicle form a preset angle. When the heading of the gimbal is controlled to deflect relative to the movement direction of the UAV according to the preset deflection angle, and the deflection direction is at a preset angle with the turning direction of the UAV, the heading of the gimbal can be controlled to be ahead of the UAV. The movement direction is controlled by an angle and/or the movement direction of the UAV is controlled to lag the heading of the gimbal by an angle, and the heading of the gimbal is controlled by an angle ahead of the movement direction of the UAV or the movement direction of the UAV is controlled to lag the gimbal. For the implementation manner of the heading angle of , please refer to the description of the corresponding part in the above-mentioned embodiment, which will not be repeated here. It can be understood that the preset angle may be smaller than the preset deflection angle, or may be equal to the preset deflection angle.

In the embodiments of the present application, automatic obstacle avoidance of the unmanned aerial vehicle or manual obstacle avoidance can be realized according to the data information of load sensing (including the position information of obstacles). When the UAV turns, because the gimbal is ahead of the UAV by an angle, the load can sense the position information of obstacles on the turning trajectory in advance. Therefore, the data information sensed according to the load can effectively detect the UAV. Avoid obstacles and improve cornering safety. Exemplarily, in some embodiments, the unmanned aerial vehicle obtains the position information of the obstacle detected by the load to avoid the obstacle, and the automatic obstacle avoidance method does not require human intervention. In some embodiments, the load is a photographing device, and the data information sensed by the load includes a real-time image collected by the photographing device. The control method of the unmanned aerial vehicle system may further include: sending the real-time image collected by the photographing device to an external display device, and the user It can be judged whether there are obstacles on the turning track according to the real-time image displayed by the external display device (if there is an obstacle on the turning track, the real-time image can indicate the position information of the obstacle on the turning track), so as to control the unmanned aerial vehicle to achieve Obstacle avoidance, wherein the photographing device may include a first-person main view FPV photographing device, or may include other photographing devices, and the external display device may include video glasses or other display devices.

5 is a schematic flowchart of a method for controlling a mobile platform system in another embodiment of the present application; the execution body of the control method for a mobile platform system in this embodiment of the present application is the mobile platform system, for example, the execution body may be The main controller of the movable platform, or other controllers provided on the movable platform, or a combination of the main controller of the movable platform and other controllers provided on the movable platform. Referring to FIG. 5 , the control method of the movable platform system in the embodiment of the present application may include the following steps:

S501, when the movable platform turns, control the movable platform to enter the first mode;

S502. In the first mode, control the posture of the gimbal and/or the movable platform to deflect the sensing direction of the load relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.

Wherein, the sensing direction of the load can be characterized by the angle bisector of the sensing range of the load, or by the boundary of the sensing range of the load, or by any point within the sensing range of the load and the sensing range of the load The connection direction of the corner vertices is characterized.

That is, when turning, the load and the body of the movable platform can be controlled to deflect the same angle in the same direction, but in order to make the load lead the body by an angle, an angle can be superimposed on the deflection angle of the load and/or the deflection angle of the body. An angle is subtracted upward, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.

Taking the movable platform as an unmanned aerial vehicle as an example, the difference between the control method of the movable platform system of the embodiment shown in FIG. 5 and the control method of the unmanned aerial vehicle system of the embodiment shown in FIG. 2 is: the embodiment shown in FIG. 2 When the unmanned aerial vehicle turns, the heading of the control gimbal is ahead of the moving direction of the unmanned aerial vehicle by an angle, so that the load can sense the obstacles on the turning trajectory in advance. When the unmanned aerial vehicle turns, in the embodiment shown in FIG. 5, taking the attitude of controlling the gimbal as an example, the sensing direction of the load is advanced by an angle relative to the movement direction of the unmanned aerial vehicle, so that the load is advanced in advance Obstacles on the turning trajectory are sensed, which is not only suitable for the scene where the UAV turns on a plane (such as a horizontal or vertical plane or a plane between the horizontal and vertical), but also applies to the scene where the UAV turns In the scenario of space turning (the turning trajectory is located in multiple planes), when the UAV turns on a plane, if the turning trajectory is parallel to the horizontal plane, when controlling the attitude of the gimbal, you only need to control the yaw attitude of the gimbal. The sensing direction of the load is advanced by an angle relative to the movement direction of the unmanned aerial vehicle, which is similar to that of the embodiment shown in FIG. When controlling the attitude of the gimbal, you only need to control the pitch attitude of the gimbal, and the sensing direction of the load can be advanced by an angle relative to the movement direction of the UAV; and when the UAV turns in space, it can be controlled when the gimbal is controlled. When the attitude of the unmanned aerial vehicle (UAV), it may be necessary to control at least two of the yaw attitude, pitch attitude and roll attitude of the gimbal, so that the sensing direction of the load can be advanced by an angle relative to the movement direction of the unmanned aerial vehicle. When the aircraft rolls back and forth while changing the heading, it can control the yaw attitude and pitch attitude of the gimbal, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform are preset. angle. In addition, when the UAV rolls back and forth while changing the heading, it can also adjust the roll attitude, which can be used to enhance stability or assist in adjusting the sensing direction of the load. Exemplarily, the payload is a photographing device, and the sensing direction of the payload is the photographing range of the photographing device.

In addition, the method of determining the target linear velocity in the embodiment shown in FIG. 5 is similar to the method of determining the target linear velocity in the embodiment shown in FIG. 2 . For the target angular velocity, if the UAV turns horizontally, the attitude of the control head is , only the yaw attitude is controlled, and the target angular velocity in the embodiment shown in Figure 5 is the same as the target angular velocity in the embodiment shown in Figure 2, both refer to the yaw angular velocity; if the UAV turns upward or downward, then When controlling the attitude of the gimbal, only the pitch attitude is controlled, and the target angular velocity in the embodiment shown in FIG. 5 is the pitch angular velocity. That is, the target angular velocity corresponds to the turning direction, and adaptive adjustment can be made under different turning situations.

The remaining undeployed parts in the embodiment shown in FIG. 5 are similar in principle to the corresponding parts in the embodiment shown in FIG. 2 , and reference may be made to the descriptions of the corresponding parts in the embodiment shown in FIG. 2 , which will not be repeated here.

6 is a schematic flowchart of a method for controlling a mobile platform system in another embodiment of the present application; the execution body of the control method for a mobile platform system in this embodiment of the present application is the mobile platform system, for example, the execution body may be The main controller of the movable platform, or other controllers provided on the movable platform, or a combination of the main controller of the movable platform and other controllers provided on the movable platform. Referring to FIG. 6 , the control method of the movable platform system in the embodiment of the present application may include the following steps:

S601, when the movable platform turns, control the movable platform to enter the first mode;

S602. In the first mode, control the posture of the gimbal and/or the movable platform so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

That is, when turning, the load and the body of the movable platform can be controlled to deflect the same angle in the same direction, but in order to make the load lead the body by an angle, an angle can be superimposed on the deflection angle of the load and/or the deflection angle of the body. Decrease an angle upward, so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

It should be noted that the trajectory point is located on the turning trajectory, and the trajectory point of the movable platform at the next moment falls within the sensing range of the load, that is, the load can sense the trajectory point of the movable platform at the next moment in advance, thereby Obstacles on the turning trajectory are sensed in advance.

Exemplarily, when the attitude of the gimbal and/or the movable platform is controlled, so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load, the attitude of the gimbal and/or the movable platform can be controlled, The sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform are at a preset angle. Refer to the control method of the movable platform system of the embodiment shown in FIG. The control method of the movable platform system of the exemplary embodiment is explained and described, and details are not repeated here.

7 is a schematic flowchart of a method for controlling a mobile platform system in another embodiment of the present application; the execution body of the control method for a mobile platform system in this embodiment of the present application is the mobile platform system, for example, the execution body may be The main controller of the movable platform, or other controllers provided on the movable platform, or a combination of the main controller of the movable platform and other controllers provided on the movable platform. Referring to FIG. 7 , the control method of the movable platform system in the embodiment of the present application may include the following steps:

S701, when the movable platform turns, control the movable platform to enter the first mode;

S702. In the first mode, control the movement of the gimbal and/or the movable platform, so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than that of the movable platform The deflection angle of the body.

Taking the movable platform as an unmanned aerial vehicle as an example, the body of the movable platform is the body of the unmanned aerial vehicle. Since the pan/tilt may rotate and/or translate, the embodiment shown in FIG. 7 is used when the unmanned aerial vehicle turns. , by controlling the movement of the head and/or the movable platform, the sensing range of the load is deflected in the same direction as the body of the unmanned aerial vehicle, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the unmanned aerial vehicle, Thus, the gimbal is ahead of the UAV by an angle, so that the load can sense obstacles on the turning trajectory in advance. That is, when turning, the load and the body can be controlled to deflect the same angle in the same direction, but in order to make the load lead the body by an angle, an angle can be added to the deflection angle of the load and/or the deflection angle of the body can be subtracted by an angle. , so that the sensing range of the load and the body of the unmanned aerial vehicle are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the unmanned aerial vehicle.

Optionally, the movement of the gimbal includes attitude switching and/or translation, wherein, when controlling the movement of the gimbal, the sensing range of the load and the body of the movable platform are deflected in the same direction, and the sensing range of the load is deflected. When the angle is greater than the deflection angle of the body of the movable platform, optionally, the gimbal is controlled to perform attitude switching, so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than The deflection angle of the body of the movable platform; optionally, control the pan/tilt to translate, so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than that of the movable platform. The deflection angle of the main body; optional, control the attitude of the gimbal and control the gimbal to translate, so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than that of the movable platform. The deflection angle of the body of the mobile platform. The implementation principle of controlling the PTZ to perform attitude switching is similar to the implementation principle of controlling the attitude of the PTZ in the embodiment shown in FIG. 5 , and will not be repeated here. Exemplarily, the gimbal is mounted on the gimbal through a translation structure, or the gimbal has its own translation structure, and the shaft assembly of the gimbal (the posture of the shaft assembly can be controlled) is carried on its own translation structure. If it can translate along the preset plane, then controlling the pan-tilt to perform translation may include: controlling the translation structure to translate along the preset plane, so as to control the pan-tilt to pan along the preset plane. Among them, the movement of the movable platform includes attitude switching.

The principle of the remaining unexpanded parts in the embodiment shown in FIG. 7 is similar to that of the corresponding parts in the embodiment shown in FIG. 5 , and reference may be made to the description of the corresponding parts in the embodiment shown in FIG. 5 , which will not be repeated here.

It should be noted that, controlling the movable platform to enter the first mode/second mode described in the above embodiments also means controlling the movable platform system to enter the first mode/second mode. In practical applications, the first mode/second mode is used to indicate the relative rotational relationship/relative positional relationship between the body of the movable platform and the gimbal, and there may be no mode setting, but only represents the switching of control logic.

Corresponding to the control method of the movable platform system in the above-mentioned embodiment, the embodiment of the present application further provides a control device of the movable platform system. Referring to FIG. 8 , the control device of the movable platform system may include a storage device and a processor, and the processor includes one or more processors.

The storage device is used for storing program instructions. The storage device stores the executable instruction computer program of the control method of the mobile platform system, the storage device may include at least one type of storage medium, and the storage medium includes a flash memory, a hard disk, a multimedia card, a card-type memory (eg , SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read only memory (ROM), electrically erasable programmable read only memory (EEPROM), programmable read only memory ( PROM), magnetic memory, magnetic disk, optical disk, etc. Also, the control device of the mobile platform system may cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory may be an internal storage unit of the control device of the mobile platform system, such as a hard disk or a memory of the control device of the mobile platform system. The memory can also be an external storage device of the control device of the mobile platform system, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the control device of the mobile platform system. ) card, Flash Card, etc. Further, the memory may also include both an internal storage unit of the control device of the movable platform system and an external storage device. Memory is used to store computer programs and other programs and data required by the device. The memory can also be used to temporarily store data that has been or will be output.

In some embodiments, the one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to perform the following operations: When the movable platform turns, control the movable platform to enter the first mode; in the first mode, control the heading of the gimbal to deflect relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle. The processor of this embodiment can implement the control method of the unmanned aerial vehicle system according to the embodiment shown in FIG. 2 and FIG. 4 of the present application. Please refer to the control method of the unmanned aerial vehicle system of the above-mentioned embodiment for the movable platform system of this embodiment. The control device is explained.

In some embodiments, one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to use In the implementation of the following operations: when the movable platform turns, control the movable platform to enter a first mode; in the first mode, control the attitude of the pan/tilt, so that the sensing direction of the load is relative to each other The moving direction of the movable platform is deflected, and the deflection direction and the turning direction of the movable platform form a preset angle. The processor of this embodiment can implement the control method of the movable platform system according to the embodiment shown in FIG. 5 of the present application. For details, please refer to the control method of the movable platform system in the above embodiment for the control device of the movable platform system in this embodiment. Be explained.

In some embodiments, one or more processors invoke program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to use In the implementation of the following operations: when the movable platform turns, control the movable platform to enter the first mode; in the first mode, control the posture of the pan/tilt, so that the movable platform next moment The track points fall within the sensing range of the load. The processor of this embodiment can implement the control method of the movable platform system according to the embodiment shown in FIG. 6 of the present application. For details, please refer to the control method of the movable platform system of the above-mentioned embodiment for the control device of the movable platform system of this embodiment. Be explained.

In some embodiments, when the movable platform turns, the movable platform is controlled to enter a first mode; in the first mode, the movement of the pan/tilt head is controlled to make the sensing range of the load The body of the movable platform is deflected in the same direction, and the deflection angle of the sensing range of the load is larger than the deflection angle of the body of the movable platform. The processor of this embodiment can implement the control method of the movable platform system according to the embodiment shown in FIG. 7 of the present application. For details, please refer to the control method of the movable platform system of the above-mentioned embodiment for the control device of the movable platform system of this embodiment. Be explained.

The processor may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), field Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

Further, an embodiment of the present application further provides a movable platform system, and the movable platform system may include a movable platform, a pan-tilt, and the control device of the movable platform system of the foregoing embodiments. Wherein, the pan/tilt is mounted on the movable platform, the pan/tilt is used to mount the photographing device, and the control device of the movable platform system is supported by the movable platform and/or the pan/tilt.

Specifically, an unmanned aerial vehicle system is taken as an example for description. Please refer to FIG. 1 and FIG. 9 . control device. The gimbal 200 is mounted on the unmanned aerial vehicle 100 , the gimbal 200 is used for carrying the load 300 supporting obstacle avoidance, and the control device of the movable platform system is supported by the unmanned aerial vehicle 100 and/or the gimbal 200 .

Wherein, the payload 300 may include a photographing device and/or an obstacle avoidance sensor, exemplarily, the payload 300 is a photographing device; exemplarily, the payload 300 is an obstacle avoidance sensor; exemplarily, the payload includes a photographing device and an obstacle avoidance sensor fault sensor.

In the embodiment of the present application, the control device of the movable platform system may include or be a part of the unmanned aerial vehicle, or may be independent of the unmanned aerial vehicle. Exemplarily, the control device of the movable platform system includes the flight controller of the unmanned aerial vehicle, or the control device of the movable platform system includes other controllers provided in the unmanned aerial vehicle; exemplarily, the control device of the unmanned aerial vehicle is independent For the unmanned aerial vehicle, the control device of the movable platform system communicates with the unmanned aerial vehicle and the gimbal respectively, thereby controlling the unmanned aerial vehicle and the gimbal.

Exemplarily, the unmanned aerial vehicle 100 is an unmanned aerial vehicle, and the gimbal 200 may be mounted above the front of the fuselage of the unmanned aerial vehicle, or mounted on the bottom of the fuselage or other positions of the fuselage.

In addition, the embodiments of the present application further provide a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, implements the steps of the control method of the mobile platform system of the above-mentioned embodiments. Wherein, the steps of the control method of the movable platform control system in the above-mentioned embodiment include the steps of the control method of the unmanned aerial vehicle system as an example for description.

The computer-readable storage medium may be an internal storage unit of the UAV system described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium can also be an external storage device of the UAV system, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash memory card (Flash Card) equipped on the device. )Wait. Further, the computer-readable storage medium may also include both an internal storage unit of the UAV system and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the UAV system, and can also be used to temporarily store data that has been output or will be output.

It should be noted that, in the above-mentioned illustration involving the unmanned aerial vehicle, in the case of adaptable replacement, it can be replaced with a movable platform, which is not limited in this application.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.

The above disclosure is only a part of the embodiments of the present application, of course, the scope of the rights of the present application cannot be limited by this, so the equivalent changes made according to the claims of the present application are still within the scope of the present application.

Claims

A control method of a movable platform system, characterized in that the movable platform system comprises a movable platform and a PTZ mounted on the movable platform, the PTZ is used for carrying a load supporting obstacle avoidance, The method includes:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the heading of the gimbal is controlled to be deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.
The method according to claim 1, wherein before the movable platform turns, further comprising:

acquiring motion information of the movable platform;

The movable platform turns, including:

The motion information satisfies the first preset condition.
The method according to claim 2, wherein the motion information includes a target linear velocity and a target angular velocity of the movable platform.
The method according to claim 3, wherein the target linear velocity is the linear velocity of the movable platform moving forward, and the moving direction coincides with the heading of the movable platform.
The method according to claim 3, wherein before the movable platform is controlled to enter the first mode, the heading of the gimbal coincides with the movement direction; or,

Before the movable platform is controlled to enter the first mode, the angle between the heading of the gimbal and the movement direction is a preset angle, and the preset angle is set by the user.
The method according to claim 3, wherein the method further comprises:

When at least one of the target linear velocity and the target angular velocity does not satisfy the first preset condition, controlling the movable platform to enter the second mode;

In the second mode, the heading of the gimbal is controlled to coincide with the movement direction.
The method according to claim 3, wherein the method further comprises:

When at least one of the target linear velocity and the target angular velocity does not satisfy the first preset condition, controlling the movable platform to enter the second mode;

In the second mode, the included angle between the heading of the gimbal and the movement direction is controlled to be a preset angle, and the preset angle is set by the user.
The method according to any one of claims 3 to 7, wherein the first preset condition comprises:

The target linear velocity is greater than a preset linear velocity threshold, and the target angular velocity is greater than a preset angular velocity threshold.
The method according to claim 3, wherein the direction of the control head is deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle, include:

According to the target linear velocity and the target angular velocity, determine the target deflection angle;

According to the target deflection angle, the heading of the gimbal is controlled to deflect relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.
The method according to claim 9, wherein the target deflection angle is negatively correlated with a turning radius of the movable platform, and the turning radius is determined according to the target linear velocity and the target angular velocity.
The method according to claim 9 or 10, wherein the load is a photographing device, and the target deflection angle is negatively correlated with the field of view FOV of the photographing device.
The method of claim 9, wherein the target deflection angle is positively correlated with the target angular velocity.
The method according to claim 9, wherein the target deflection angle is less than or equal to a preset angle threshold.
The method according to claim 9, characterized in that, according to the target deflection angle, the pan-tilt is controlled to deflect relative to the moving direction of the movable platform, and the deflection direction is the same as that of the movable platform. Turning directions at preset angles, including:

According to the target deflection angle, the heading of the gimbal is controlled to deflect toward the turning direction of the movable platform, so that there is a deflection between the heading of the gimbal and the movement direction of the movable platform.
The method according to claim 14, characterized in that, according to the target deflection angle, controlling the course of the gimbal to deflect toward the turning direction of the movable platform, comprising:

obtaining the first target angle of the gimbal;

superimposing the target deflection angle and the first target angle to obtain the second target angle of the gimbal;

According to the second target angle, the gimbal is controlled to rotate, so that the heading of the gimbal is deflected toward the turning direction of the movable platform.
The method according to claim 15, wherein the superimposing the target deflection angle and the first target angle to obtain the second target angle of the gimbal comprises:

According to the first preset algorithm, the target deflection angle and the first target angle are smoothly superimposed to obtain the second target angle of the pan/tilt head at different times.
The method of claim 16, wherein the first preset algorithm comprises a low-pass filtering algorithm.
The method according to claim 17, wherein the target deflection angle and the first target angle are smoothly superimposed according to a first preset algorithm to obtain the second Target angles, including:

According to the target deflection angle, the first low-pass filter coefficient and the superimposed deflection angle of the pan/tilt at the previous moment, determine the superimposed deflection angle of the pan/tilt at the current moment;

The superimposed deflection angle of the gimbal at the current moment is superimposed with the first target angle to obtain the second target angle of the gimbal at the current moment.
The method according to claim 15, wherein the first target angle is equal to the third target angle of the movable platform, and the direction is a preset angle, and the third target angle is based on the The target angular velocity is determined.
The method according to claim 9, wherein, according to the target deflection angle, the pan-tilt is controlled to deflect relative to the moving direction of the movable platform, and the deflection direction is the same as the moving direction of the movable platform. Turning directions at preset angles, including:

According to the target deflection angle, the moving direction of the movable platform is controlled to be deflected away from the turning direction, so that there is a deflection between the heading of the head and the moving direction of the movable platform.
The method according to claim 20, wherein the controlling the moving direction of the movable platform to deflect away from the turning direction according to the target deflection angle comprises:

obtaining a third target angle of the movable platform;

determining a fourth target angle of the movable platform according to the difference obtained by subtracting the target deflection angle from the third target angle;

According to the fourth target angle, the movable platform is controlled to rotate so that the movement direction of the movable platform is deflected away from the turning direction.
The method according to claim 21, wherein determining the fourth target angle target angular velocity of the movable platform according to the difference obtained by subtracting the target deflection angle from the third target angle comprises:

According to the second preset algorithm, the third target angle and the target deflection angle are controlled to be smoothly subtracted to determine the fourth target angle of the movable platform at different times.
The method of claim 22, wherein the second preset algorithm comprises a low-pass filtering algorithm.
The method according to claim 23, wherein the third target angle is controlled to be smoothly subtracted from the target deflection angle according to a second preset algorithm, and the third target angle of the movable platform at different times is determined. Four target angles, including:

Determine the subtracted deflection angle of the movable platform at the current moment according to the target deflection angle, the second low-pass filter coefficient, and the subtracted deflection angle of the movable platform at the previous moment;

The fourth target angle of the movable platform at the current moment is determined according to the difference obtained by subtracting the subtracted deflection angle of the movable platform at the current moment from the third target angle.
The method according to claim 3, wherein the target linear velocity and the target angular velocity are both determined according to a velocity control amount sent from outside.
The method according to claim 1, wherein the load is a photographing device, and the method further comprises:

The real-time image collected by the photographing device is sent to an external display device.
The method according to claim 26, wherein the photographing device comprises a first-person main-view FPV photographing device.
A control device for a movable platform system, characterized in that the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used to carry a load supporting obstacle avoidance, The control device of the movable platform system includes:

a storage device for storing program instructions; and

One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the heading of the gimbal is controlled to be deflected relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.
29. The control apparatus of a movable platform system of claim 28, wherein the one or more processors are further configured, individually or collectively, to perform the following operations before the movable platform turns :

acquiring motion information of the movable platform;

The movable platform turns, including:

The motion information satisfies the first preset condition.
The control device of the movable platform system according to claim 29, wherein the motion information includes a target linear velocity and a target angular velocity of the movable platform.
The control device of the movable platform system according to claim 30, wherein the target linear velocity is the linear velocity of the movable platform moving forward, and the moving direction coincides with the heading of the movable platform .
The control device for a movable platform system according to claim 30, wherein before the movable platform is controlled to enter the first mode, the heading of the PTZ coincides with the moving direction; Before the movable platform is controlled to enter the first mode, the angle between the heading of the gimbal and the movement direction is a preset angle, and the preset angle is set by the user.
The control apparatus of the mobile platform system of claim 30, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When at least one of the target linear velocity and the target angular velocity does not satisfy the first preset condition, controlling the movable platform to enter the second mode;

In the second mode, the heading of the gimbal is controlled to coincide with the movement direction.
The control apparatus of the mobile platform system of claim 30, wherein the one or more processors, individually or collectively, are further configured to perform the following operations:

When at least one of the target linear velocity and the target angular velocity does not meet the first preset condition, controlling the movable platform to enter the second mode;

In the second mode, the included angle between the heading of the gimbal and the movement direction is controlled to be a preset angle, and the preset angle is set by the user.
The control device for a movable platform system according to any one of claims 30 to 34, wherein the first preset condition comprises:

The target linear velocity is greater than a preset linear velocity threshold, and the target angular velocity is greater than a preset angular velocity threshold.
The control device of the movable platform system according to claim 30, wherein the one or more processors are controlling the heading of the pan/tilt to deflect relative to the moving direction of the movable platform, and the deflection direction is the same as the direction of movement of the movable platform. When the turning direction of the movable platform is at a preset angle, individually or collectively, it is further configured to perform the following operations:

According to the target linear velocity and the target angular velocity, determine the target deflection angle;

According to the target deflection angle, the heading of the gimbal is controlled to deflect relative to the moving direction of the movable platform, and the deflection direction and the turning direction of the movable platform form a preset angle.
The control device for a movable platform system according to claim 36, wherein the target deflection angle is negatively correlated with a turning radius of the movable platform, and the turning radius is determined according to the target linear velocity and the The target angular velocity is determined.
The control device of the movable platform system according to claim 36 or 37, wherein the load is a photographing device, and the target deflection angle is negatively correlated with the field of view FOV of the photographing device.
The control device of the movable platform system according to claim 36, wherein the target deflection angle is positively correlated with the target angular velocity.
The control device of the movable platform system according to claim 36, wherein the target deflection angle is less than or equal to a preset angle threshold.
The control device for a movable platform system according to claim 36, wherein the one or more processors control the movement of the heading of the pan-tilt head relative to the movable platform according to the target deflection angle When the direction is deflected, and the deflection direction is at a preset angle with the turning direction of the movable platform, individually or collectively, it is further configured to perform the following operations:

According to the target deflection angle, the heading of the gimbal is controlled to deflect toward the turning direction of the movable platform, so that there is a deflection between the heading of the gimbal and the movement direction of the movable platform.
The control device of the movable platform system according to claim 41, wherein the one or more processors control the turning of the pan/tilt toward the movable platform according to the target deflection angle When the direction is deflected, individually or collectively, is further configured to perform the following operations:

obtaining the first target angle of the gimbal;

superimposing the target deflection angle and the first target angle to obtain the second target angle of the gimbal;

According to the second target angle, the gimbal is controlled to rotate, so that the heading of the gimbal is deflected toward the turning direction of the movable platform.
The control device of the movable platform system according to claim 42, wherein the one or more processors superimpose the target deflection angle and the first target angle to obtain the pan/tilt angle. The second target angle, individually or collectively, is further configured to perform the following operations:

According to the first preset algorithm, the target deflection angle and the first target angle are smoothly superimposed to obtain the second target angle of the pan/tilt head at different times.
The control device of the movable platform system according to claim 43, wherein the first preset algorithm comprises a low-pass filtering algorithm.
The control device of the movable platform system according to claim 44, wherein the one or more processors are smoothing the target deflection angle and the first target angle according to a first preset algorithm In superposition, when obtaining the second target angles of the pan/tilt head at different times, individually or collectively, it is further configured to perform the following operations:

According to the target deflection angle, the first low-pass filter coefficient and the superimposed deflection angle of the pan/tilt at the previous moment, determine the superimposed deflection angle of the pan/tilt at the current moment;

The superimposed deflection angle of the gimbal at the current moment is superimposed with the first target angle to obtain the second target angle of the gimbal at the current moment.
The control device of the movable platform system according to claim 42, wherein the first target angle is equal to the third target angle of the movable platform, and the direction is a preset angle, and the third target angle The target angle is determined according to the target angular velocity.
The control device for a movable platform system according to claim 36, wherein the one or more processors control the movement of the heading of the pan-tilt head relative to the movable platform according to the target deflection angle When the direction is deflected, and the deflection direction is at a preset angle with the turning direction of the movable platform, individually or collectively, it is further configured to perform the following operations:

According to the target deflection angle, the moving direction of the movable platform is controlled to be deflected away from the turning direction, so that there is a deflection between the heading of the head and the moving direction of the movable platform.
The control device of the movable platform system according to claim 47, wherein the one or more processors control the movement direction of the movable platform to deflect away from the turning direction according to the target deflection angle are further configured, individually or collectively, to perform the following operations:

obtaining a third target angle of the movable platform;

determining a fourth target angle of the movable platform according to the difference obtained by subtracting the target deflection angle from the third target angle;

According to the fourth target angle, the movable platform is controlled to rotate so that the movement direction of the movable platform is deflected away from the turning direction.
The control device of the movable platform system according to claim 48, wherein the one or more processors determine the The fourth target angle target angular velocity of the movable platform, individually or collectively, is further configured to perform the following operations:

According to the second preset algorithm, the third target angle and the target deflection angle are controlled to be smoothly subtracted to determine the fourth target angle of the movable platform at different times.
The control device of the movable platform system according to claim 49, wherein the second preset algorithm comprises a low-pass filtering algorithm.
The control device of the movable platform system according to claim 50, wherein the one or more processors are controlling the third target angle and the target deflection angle in a smooth phase according to a second preset algorithm. minus, when determining the fourth target angle of the movable platform at different times, individually or collectively further configured to perform the following operations:

Determine the subtracted deflection angle of the movable platform at the current moment according to the target deflection angle, the second low-pass filter coefficient, and the subtracted deflection angle of the movable platform at the previous moment;

The fourth target angle of the movable platform at the current moment is determined according to the difference obtained by subtracting the subtracted deflection angle of the movable platform at the current moment from the third target angle.
The control device of the movable platform system according to claim 30, wherein the target linear velocity and the target angular velocity are both determined according to a velocity control amount sent from the outside.
The control device of the movable platform system of claim 28, wherein the payload is a photographing device, and the one or more processors, individually or collectively, are further configured to perform the following operations:

The real-time image collected by the photographing device is sent to an external display device.
The control device of the movable platform system according to claim 53, wherein the photographing device comprises a first-person main perspective FPV photographing device.
A control method of a movable platform system, characterized in that the movable platform system comprises a movable platform and a PTZ mounted on the movable platform, the PTZ is used for carrying a load supporting obstacle avoidance, The method includes:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the attitude of the head and/or the movable platform is controlled, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction is the same as that of the movable platform. The turning direction of the mobile platform is a preset angle.
A control method of a movable platform system, characterized in that the movable platform system comprises a movable platform and a PTZ mounted on the movable platform, the PTZ is used for carrying a load supporting obstacle avoidance, The method includes:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the attitude of the gimbal and/or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.
A control method of a movable platform system, characterized in that the movable platform system comprises a movable platform and a PTZ mounted on the movable platform, the PTZ is used for carrying a load supporting obstacle avoidance, The method includes:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the movement of the pan/tilt head and/or the movable platform is controlled so that the sensing range of the payload and the body of the movable platform are deflected in the same direction, and the payload of the payload is deflected in the same direction. The deflection angle of the sensing range is greater than the deflection angle of the body of the movable platform.
A control device for a movable platform system, characterized in that the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used to carry a load supporting obstacle avoidance, The device includes:

a storage device for storing program instructions; and

One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the attitude of the gimbal and/or the movable platform is controlled, so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction is the same as that of the movable platform. The turning direction of the mobile platform is a preset angle.
A control device for a movable platform system, characterized in that the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used to carry a load supporting obstacle avoidance, The device includes:

a storage device for storing program instructions; and

One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the attitude of the gimbal and/or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.
A control device for a movable platform system, characterized in that the movable platform system includes a movable platform and a pan/tilt mounted on the movable platform, and the pan/tilt is used to carry a load supporting obstacle avoidance, The device includes:

a storage device for storing program instructions; and

One or more processors that invoke program instructions stored in the storage device, the one or more processors, when executed, are individually or collectively configured to perform the following operations:

When the movable platform turns, controlling the movable platform to enter the first mode;

In the first mode, the movement of the pan/tilt head and/or the movable platform is controlled so that the sensing range of the payload and the body of the movable platform are deflected in the same direction, and the payload of the payload is deflected in the same direction. The deflection angle of the sensing range is greater than the deflection angle of the body of the movable platform.
A movable platform system, characterized in that the movable platform system comprises:

removable platform;

a head mounted on the movable platform, the head used for carrying a photographing device; and

The control device of the movable platform system according to any one of claims 28 to 54, or 58 or 59 or 60, supported by the movable platform and/or the pan/tilt head.