WO2022109801A1

WO2022109801A1 - Cooperative control method and system for cradle head and aircraft

Info

Publication number: WO2022109801A1
Application number: PCT/CN2020/131204
Authority: WO
Inventors: 谢振生; 李罗川
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-11-24
Filing date: 2020-11-24
Publication date: 2022-06-02
Also published as: CN115175854A

Abstract

A cooperative control method and system for a cradle head (330) and an aircraft (310), the cradle head (330) being mounted on the aircraft (310), the method comprising: acquiring Euler angles of an aircraft (310) and joint angles of a cradle head (330); when detected that an angle corresponding to a first direction among the Euler angles of the aircraft (310) reaches a first preset angle, controlling the increase speed of the Euler angles of the aircraft (310) to not be greater than a first preset speed; and when detected that an angle corresponding to the first direction among the joint angles of the cradle head (330) reaches a second preset angle, controlling, according to a first preset avoidance parameter, the cradle head (330) to rotate in the same direction as the aircraft (310) in the first direction, the first preset avoidance parameter being related to the increase speed of the Euler angles of the aircraft (310). When the cradle head (330) needs to avoid a mechanical limit and avoid limiting the increase speed of the Euler angles of the aircraft (310) when paddles are observed, time is reserved for the cradle head (330) avoidance, so that the cradle head (330) may slowly avoid, thereby ensuring the smoothness of an image captured picture.

Description

Cooperative control method and system of gimbal and aircraft

manual

technical field

The present application relates to the field of gimbal and aircraft control, and more particularly to a method and system for cooperative control of a gimbal and an aircraft.

Background technique

The current aircraft is usually equipped with a gimbal. The gimbal can stabilize the imaging device, so that the imaging device erected on the gimbal can shoot smooth and stable images.

The joint angle of the gimbal usually has a certain mechanical limit. When the inclination angle of the aircraft is too large, the joint angle of the gimbal may be too large and may hit the mechanical limit of the gimbal, or cause the imaging device installed on the gimbal to shoot. A situation where the captured image is unavailable due to the aircraft's fuselage or blades. In this case, if the gimbal quickly evades in the reverse direction, the picture captured by the imaging device will suddenly change; if the evasion speed is too small, it will cause the problem of untimely evasion.

SUMMARY OF THE INVENTION

A series of concepts in simplified form have been introduced in the Summary section, which are described in further detail in the Detailed Description section. The Summary of the Invention section of the present invention is not intended to attempt to limit the key features and essential technical features of the claimed technical solution, nor is it intended to attempt to determine the protection scope of the claimed technical solution.

A first aspect of the embodiments of the present invention provides a method for cooperative control of a gimbal and an aircraft, where the gimbal is mounted on the aircraft, and the method includes:

Obtain the Euler angle of the aircraft and the joint angle of the gimbal;

When it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft not to be greater than the first preset speed;

When it is detected that the angle of the joint angles of the gimbal corresponding to the first direction reaches a second preset angle, control the gimbal to align with the aircraft in the first direction according to the first preset avoidance parameter When rotating in the same direction, the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.

A second aspect of the embodiments of the present invention provides a cooperative control system of a pan-tilt and an aircraft, the cooperative control system includes a pan-tilt, an aircraft, and a control device, the pan-tilt is mounted on the aircraft, and the control device uses At:

Obtain the Euler angle of the aircraft and the joint angle of the gimbal;

According to the cooperative control method and system of the gimbal and the aircraft, when the gimbal needs to avoid the mechanical limit or avoid looking at the paddle, the increase speed of the Euler angle of the aircraft is limited, and time is reserved for the gimbal to avoid, The gimbal can be slowly avoided, so as to ensure the smoothness of the shooting picture.

Description of drawings

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

In the attached image:

FIG. 1 shows a schematic flowchart of a cooperative control method for a gimbal and an aircraft according to an embodiment of the present invention;

FIG. 2A shows a schematic diagram of hovering the aircraft and keeping the gimbal level in an embodiment of the present invention;

FIG. 2B shows a schematic diagram of the aircraft leaning forward and the gimbal keeping level according to an embodiment of the present invention;

FIG. 3 shows a schematic block diagram of a cooperative control system of a gimbal and an aircraft according to an embodiment of the present invention.

Detailed ways

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some, but not all, embodiments of the present invention, and it should be understood that the present invention is not limited by the example embodiments described herein. Based on the embodiments of the present invention described in the present invention, all other embodiments obtained by those skilled in the art without creative efforts shall fall within the protection scope of the present invention.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art that the present invention may be practiced without one or more of these details. In other instances, some technical features known in the art have not been described in order to avoid obscuring the present invention.

It should be understood that the present invention may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a," "an," and "the/the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the terms "compose" and/or "include", when used in this specification, identify the presence of stated features, integers, steps, operations, elements and/or components, but do not exclude one or more other The presence or addition of features, integers, steps, operations, elements, parts and/or groups. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

For a thorough understanding of the present invention, detailed steps and detailed structures will be proposed in the following description to explain the technical solutions proposed by the present invention. Preferred embodiments of the present invention are described in detail below, however, the present invention may have other embodiments in addition to these detailed descriptions.

In the following, the cooperative control method of the pan/tilt and the aircraft, the heading measurement system, the unmanned aerial vehicle and the computer-readable storage medium of the present application will be described in detail with reference to the accompanying drawings. The features of the embodiments and implementations described below may be combined with each other without conflict.

First, with reference to FIG. 1 , a method for cooperative control of a gimbal and an aircraft provided by an embodiment of the present invention will be described. FIG. 1 shows a flowchart of a method 100 for cooperative control of a gimbal and an aircraft according to an embodiment of the present invention, wherein the gimbal is mounted on the aircraft. As shown in FIG. 1 , the cooperative control method 100 of the gimbal and the aircraft includes the following steps:

In step S110, obtain the Euler angle of the aircraft and the joint angle of the gimbal;

In step S120, when it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, the increasing speed of the Euler angles of the aircraft is controlled to be no greater than the first preset speed;

In step S130, when it is detected that the angle of the joint angles of the gimbal corresponding to the first direction reaches a second preset angle, the gimbal is controlled in the first direction according to a first preset avoidance parameter Rotating in the same direction as the aircraft, the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.

According to the cooperative control method 100 of the gimbal and the aircraft, when the gimbal needs to avoid the mechanical limit, the increasing speed of the Euler angle of the aircraft is limited, and time is reserved for the gimbal to avoid. The first preset avoidance parameter related to the increasing speed of the pull angle controls the avoidance of the gimbal, so that the gimbal can be slowly avoided, thereby ensuring the smoothness of the shooting picture and avoiding the problem of untimely avoidance.

The execution subject of the method 100 for coordinating control of a gimbal and an aircraft in this embodiment of the present invention may be a control device. Specifically, the control device may be a flight controller of an unmanned aerial vehicle, or may be other general-purpose or special-purpose processors. In step S110, the control device acquires the Euler angles of the aircraft and the joint angles of the gimbal in real time, and the obtained Euler angles of the aircraft and the joint angles of the gimbal at least include the Euler angles of the aircraft corresponding to the first direction and the cloud The angle in the joint angle of the stage corresponding to the first direction.

Wherein, the aircraft may be an unmanned aerial vehicle. The aircraft may include one or more power units for powering the airborne flight of the aircraft. One or more power units are capable of moving the aircraft in one or more degrees of freedom. The aircraft may be a rotorcraft, which may include a plurality of rotors as the power unit for flight. Multiple rotors can rotate at the same speed, giving the aircraft the same lift or propulsion; multiple rotors can also rotate at multiple different speeds to provide different lift or propulsion for the aircraft, and can also make the aircraft rotate , thereby changing the Euler angles of the aircraft.

The Euler angles of the aircraft can be used to characterize the attitude angle of the aircraft. The Euler angle of the aircraft is determined by the relationship between the body coordinate system and the geographic coordinate system, and is used to characterize the yaw angle of the aircraft in the yaw direction, the pitch angle in the pitch direction, and the roll angle in the roll direction. , the first direction hereinafter may be any one of the yaw direction, the pitch direction and the roll direction. The Euler angle of the aircraft can be measured by the body sensor, the body sensor includes a gyroscope, an accelerometer, a compass, etc. The body sensor is connected to the control device in communication, so that the measured parameters are sent to the control device.

The aircraft is equipped with a gimbal. The gimbal is a device used to stabilize the load erected on the gimbal. The load of the gimbal can be an imaging device. At the same time, the gimbal can also adjust the working direction of the load. For example, The PTZ can adjust the shooting direction of the imaging device. The pan/tilt in this embodiment of the present invention may be a two-axis pan/tilt or a multi-axis pan/tilt, and the following description will mainly take a three-axis pan/tilt as an example.

Exemplarily, the three-axis pan/tilt is specifically composed of a pan/tilt base, a pitch axis motor, a roll axis motor, a yaw axis motor, a pitch axis arm, a roll axis arm, and an imaging device fixing mechanism. The base can be connected with the aircraft and support other components, and the imaging device fixing mechanism can be arranged on the roll axis arm for fixing the imaging device. Among them, the pitch axis motor is used to drive the pitch axis arm to rotate in the pitch direction, thereby changing the pitch angle of the gimbal; the roll axis motor is used to drive the roll axis arm to rotate in the roll direction, thereby changing the gimbal's pitch angle. Roll angle; the yaw axis motor is used to drive the yaw axis arm to rotate in the yaw direction, thereby changing the yaw angle of the gimbal. When the PTZ rotates, the imaging device rotates following the rotation of the PTZ, so that the shooting direction of the imaging device changes.

2A and 2B, wherein FIG. 2A shows the state when the aircraft 210 is hovering and the gimbal 220 is horizontal, and the joint angle of the gimbal 220 is 0° at this time; FIG. 2B shows the aircraft 210 is tilted forward, the gimbal 220 When the 220 is horizontal, the attitude angle of the aircraft 210 changes. To keep the attitude angle of the gimbal 220 horizontal, the gimbal joints of the gimbal 220 need to be adjusted, and the joint angle will change. Exemplarily, the attitude angle of the gimbal can be obtained through the inertial measurement unit provided on the gimbal; the angle sensors of the yaw axis motor, the roll axis motor and the pitch axis motor can be used to obtain each angle of the gimbal. The joint angle corresponding to the rotation axis. The joint angle of the gimbal obtained in step S110 includes at least the joint angle of the gimbal in one of the pitch, roll and yaw directions, which is the first direction. For example, if the The Euler angle includes an angle corresponding to the pitch direction, and the acquired joint angle of the gimbal includes at least the joint angle of the gimbal in the pitch direction.

Corresponding mechanical limits are set on the gimbal in one or more of the yaw direction, pitch direction and roll direction, so that the gimbal cannot rotate unrestrictedly in this direction. In addition, when the joint angle of the gimbal reaches a certain angle, the imaging device on the gimbal will see the paddle. For example, assuming that the joint angle of the gimbal in the pitch direction is limited to +45° and -130°, However, when the joint angle of the gimbal reaches +32°, the imaging device set up on the gimbal may capture the blades on the left and right sides of the aircraft. Therefore, when the Euler angle of the aircraft reaches a certain angle, the Euler angle of the gimbal is no longer kept unchanged, but the gimbal and the aircraft need to be controlled to rotate in the same direction to avoid mechanical limitations and avoid looking at the paddles.

In the embodiment of the present invention, the gimbal and the aircraft need to be controlled cooperatively during avoidance. Specifically, in step S120, when it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft reaches the first preset angle, the increasing speed of the Euler angles of the aircraft is controlled to be no greater than the first preset speed. Wherein, when the gimbal is a three-axis gimbal, the first direction may be any one of a pitch direction, a roll direction, and a yaw direction. By limiting the increase speed of the Euler angle of the aircraft in the first direction, more time can be reserved for the avoidance of the gimbal, so that the gimbal can be slowly avoided, avoiding the sudden change of the picture captured by the imaging device fixed on the gimbal, and at the same time able to Avoid the problem that the Euler angle of the aircraft changes too fast and the gimbal is not avoided in time.

At the same time, in step S130, when it is detected that the angle of the joint angle of the gimbal corresponding to the first direction reaches the second preset angle, the gimbal is controlled to be the same as the aircraft in the first direction according to the first preset avoidance parameter turn to avoid mechanical stops and avoid looking at the paddles. The first preset avoidance parameter is related to the increase speed of the Euler angle of the aircraft. For example, by configuring the first preset avoidance parameter and the increase speed of the Euler angle of the aircraft, the gimbal can not only slowly avoid, but also There will be no problems of hitting the limit or watching the paddle if the avoidance is not timely. Exemplarily, in the process of controlling the gimbal to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, the increasing speed of the angle corresponding to the first direction among the joint angles of the gimbal is not less than the Euler of the aircraft. The increasing speed of the angle corresponding to the first direction in the angle, so as to avoid the problem of untimely avoidance.

In one embodiment, the avoidance mode of the above-mentioned cooperative control of the gimbal and the aircraft is called the first avoidance mode, that is, when it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, the aircraft is controlled to The increasing speed of the Euler angle is not greater than the first preset speed; when it is detected that the angle corresponding to the first direction in the joint angle of the gimbal reaches the second preset angle, according to the second preset angle related to the increasing speed of the Euler angle of the aircraft. A preset avoidance parameter controls the gimbal to rotate in the same direction as the aircraft in the first direction to avoid mechanical limit and avoid looking at the paddles. Optionally, when it is detected that the state of the aircraft, the gimbal, and the imaging device mounted on the gimbal meets the preset conditions, enter the above-mentioned first avoidance mode, and control the gimbal to slowly avoid while limiting the Euler angle increase speed of the aircraft. Conversely, if it is detected that the state of the imaging device mounted on the aircraft, the gimbal and the gimbal does not meet the preset condition, the second avoidance mode can be entered. The second avoidance mode does not limit the increasing speed of the Euler angle of the aircraft, and The avoidance speed of the gimbal is relatively fast, and the specific details of the second avoidance mode will be described later.

Exemplarily, the states of the aircraft, the gimbal, and the imaging device of the gimbal satisfy the preset conditions, including: the aircraft is in a non-braking state, the imaging device of the gimbal is in an imaging state, and the target Euler angle of the gimbal is in the first preset state. within the setting range.

Specifically, firstly, the increase speed of the Euler angle of the aircraft needs to be limited in the above-mentioned first avoidance mode. Therefore, one of the conditions that needs to be satisfied to enter the first avoidance mode is that the aircraft is in a non-braking state; and when the aircraft is in a braking state, Considering the flight safety, it is necessary to make the aircraft stop as soon as possible, and it is not appropriate to limit the increase speed of the Euler angle of the aircraft, so the above-mentioned first avoidance mode is not entered. Among them, the braking state of the aircraft includes releasing the lever brake, triggering the braking by the remote control button, or triggering the emergency braking automatically by the aircraft.

Second, the main purpose of using the above-mentioned first avoidance mode is to avoid the sudden change of the picture captured by the imaging device of the gimbal, so that the state of the imaging device of the gimbal can be detected in real time, and the first avoidance mode can be entered when the imaging device of the gimbal is in the imaging state. One avoidance mode, on the contrary, if the imaging device of the gimbal is not in the imaging state, the first avoidance mode may not be entered.

Third, the Euler angle of the aircraft can usually only change within a certain range. When the Euler angle of the gimbal is within a certain range, there is no possibility of hitting the limit or looking at the paddle, so it is not necessary to enter the avoidance mode. Specifically, the maximum Euler angle and the minimum Euler angle of the aircraft and the forward and reverse mechanical limits of the gimbal in the first direction can be comprehensively considered to determine the angular range where there is a possibility of hitting the limit; On this basis, the maneuvering performance of the aircraft can be further considered, and a first preset range that avoids excessive loss of maneuvering performance of the aircraft is finally determined. For general aircraft and gimbal, it is more appropriate to set the upper limit range of avoidance to 5°～-8° and the lower limit range of avoidance to be -70°～-90°.

After entering the first avoidance mode, when the Euler angle of the aircraft in the first direction reaches the first preset angle, the increase speed of the Euler angle of the aircraft is limited, that is, the increase speed of the Euler angle of the aircraft is limited. Wherein, the first preset angle is, for example, -25°, and the increase speed of the Euler angle of the aircraft can be limited to no more than -1°/s, the purpose of which is to slow down the increase speed of the Euler angle of the aircraft and prolong the arrival of the aircraft The time of the maximum Euler angle (eg -35°) reserves enough time for the gimbal to actively avoid downwards. Wherein, the first preset angle may include two, for example, may include a positive first preset angle and a negative first preset angle, and the first preset angle can be reached when the aircraft is tilted forward or backward .

Exemplarily, taking the first direction as the pitch direction as an example, if the first avoidance mode is not entered, the control process of the pitch angle (pitch) of the aircraft is as follows:

When fc_pitch_cmd>-PITCH_THRD,

Fc_pitch_cmd=fc_pitch_cmd_last+pitch_cmd_spd*tick;

Among them, Fc_pitch_cmd is the attitude command of the pitch angle of the aircraft, PITCH_THRD is the first preset angle in the pitch direction, such as -25°, fc_pitch_cmd_last is the attitude command of the pitch angle of the aircraft in the previous operation cycle, and pitch_cmd_spd is the limit to increase the pitch angle The increase speed of the pitch angle before the speed, which is much greater than the first preset speed, for example, 200°/s, and the tick is the operation period. The above expression indicates that when the attitude command of the pitch angle of the aircraft does not reach the first preset angle, the increasing speed of the pitch angle of the aircraft is not limited.

In contrast, in the first avoidance mode, the control process of the aircraft pitch angle is as follows:

When fc_pitch_cmd<-PITCH_THRD and fc_pitch_cmd_target<-PITCH_THRD,

Fc_pitch_cmd=fc_pitch_cmd_last+pitch_cmd_spd_smooth*tick;

Among them, Fc_pitch_cmd_target is the final target value of the pitch angle of the aircraft. For example, when the aircraft flies forward at the maximum speed of the full stick in S gear, Fc_pitch_cmd_target is -35°. Pitch_cmd_spd_smooth is the increase speed of the pitch angle of the aircraft after the limitation, which is not greater than the first preset speed, for example, it may be 1°/s. The above expression indicates that when the attitude command of the pitch angle of the aircraft and the final target value of the pitch angle of the aircraft are both greater than the first preset angle, the increasing speed of the pitch angle of the aircraft is limited to be no greater than the first preset speed, with The limited speed controls the pitch angle of the aircraft to increase slowly, thus prolonging the time it takes for the aircraft to reach the target Euler angle. The first preset speed may be the set change rate of the Euler angle of the corresponding UAV when the speed of the UAV is controlled by using the stick normally without avoiding the collision limit or watching the paddle.

As mentioned above, since the increasing speed of the Euler angle of the aircraft is limited when the gimbal is required to avoid the mechanical limit and avoid looking at the paddles, the time it takes for the aircraft to reach the target Euler angle is prolonged, so the gimbal can be controlled to slowly evade , to avoid sudden changes in the picture captured by the imaging device. Three exemplary first avoidance modes that the gimbal can adopt are shown below, but the gimbal can also adopt other feasible first avoidance modes for slow avoidance.

Among them, the first avoidance mode of the gimbal can be called the fixed target Euler angle avoidance mode. In the fixed target Euler angle avoidance mode, the above-mentioned controlling the gimbal to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter includes: controlling the gimbal to rotate in the first direction according to the first preset avoidance parameter Rotate in the same direction as the aircraft to make the Euler angle of the gimbal reach the preset target Euler angle. The target Euler angle can include two, which are close to the upper limit range of avoidance and the lower limit range of avoidance; the target Euler angle can also be for one. Specifically, in the first avoidance mode, the joint angle of the gimbal in the first direction is detected in real time, and if the joint angle of the gimbal in the first direction reaches a second preset angle, for example, greater than 30°, or less than -128 °, then control the Euler angle of the gimbal in the first direction to reach the fixed target Euler angle. Since the Euler angle has a certain range when the aircraft is flying in a normal flight attitude, if the gimbal moves to the fixed target Euler angle, when the aircraft is flying in a normal attitude, it will not cause the sight of the paddles or the collision of the limit. question.

Exemplarily, in the fixed target Euler angle avoidance mode, the gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, so that the Euler angle of the gimbal reaches the preset target Euler. angle, including: determining the angle difference between the current Euler angle of the gimbal and the target Euler angle; determining the maximum avoidance speed according to the angle difference and the preset avoidance running time; according to the maximum avoidance speed and the preset avoidance acceleration time Plan the avoidance acceleration section and the avoidance deceleration section with the preset avoidance deceleration time; adjust the Euler angle of the gimbal according to the planned avoidance acceleration section and avoidance deceleration section, so that the gimbal's avoidance speed decelerates to zero when the gimbal The Euler angles reach the preset target Euler angles. Among them, the parameters such as the target Euler angle and the preset avoidance running time are reasonable parameters determined according to the increasing speed of the Euler angle of the aircraft. Of course, the method for making the Euler angle of the gimbal reach the preset target Euler angle is not limited to this, as long as the Euler angle of the gimbal can reach the target Euler angle within the avoidance time reserved by the aircraft.

Continue to take the first direction as the pitch direction and the Euler angle of the gimbal in the first direction as the pitch angle as an example, when the joint angle of the gimbal reaches the second preset angle, first obtain the target Euler angle of the gimbal, E.g,

When the joint angle of the gimbal is >30°, the target Euler angle of the gimbal is gb_target_avoid_pitch=-8°;

When the joint angle of the gimbal is <-128°, the target Euler angle of the gimbal is gb_target_avoid_pitch=-85°;

Get the preset avoidance running time, such as avoid_time=5s;

Get the preset avoidance acceleration time, such as avoid_time_acc=1s;

Get the preset avoidance deceleration time, such as avoid_time_dec=4s;

Exemplarily, a preset constant speed running time avoid_time_avg may also be set between the preset avoidance acceleration time and the preset avoidance deceleration time, but the preset constant speed running time is only optional, and the constant speed running time may be 0, That is, avoid_time_avg=0s;

The total avoidance time is the sum of the preset avoidance acceleration time, the preset avoidance deceleration time and the preset constant speed running time, namely:

avoid_time=avoid_time_acc+avoid_time_dec+avoid_time_avg.

Calculate the angle difference between the current Euler angle of the gimbal and the target Euler angle at the moment of avoidance:

Error=gb_target_cur–gb_target_avoid_pitch;

Calculate the maximum movement speed based on the angle difference and the total avoidance time:

Pitch_spd_max=Error/avoid_time*2;

Calculate the acceleration of the acceleration segment according to the maximum movement speed and the preset avoidance acceleration time:

Avoid_acc = pitch_spd_max/avoid_time_acc;

Calculate the acceleration of the deceleration segment according to the maximum motion speed and the preset avoidance deceleration time:

Avoid_dec = pitch_spd_max/avoid_time_dec;

Calculate the deceleration segment distance at maximum avoidance speed:

Avoid_dec_distance=1/2*avoid_dec*avoid_time_dec^2.

After triggering avoidance, the real-time update process of the target Euler angle of the gimbal is:

Calculate the error between the current pitch of the gimbal and the target pitch in real time:

Error_current=gb_target_cur–gb_target_avoid_pitch;

Calculate the current deceleration distance in real time:

Avoid_dec_distance_cur=1/2*pitch_avoid_spd_cur^2/avoid_dec^2;

If pitch_avoid_spd_cur<pitch_spd_max, and the current error is greater than the current deceleration distance, in the avoidance acceleration section, accelerate according to the above acceleration Avoid_acc:

Pitch_avoid_spd_cur=pitch_avoid_spd_cur_last+avoid_acc*tick;

Gb_target_cur=gb_target_cur_last+pitch_avoid_spd_cur*tick;

If the current avoidance speed pitch_avoid_spd_cur=pitch_spd_max, in the constant speed section of avoidance, keep running at a constant speed:

Gb_target_cur=gb_target_cur_last+pitch_avoid_spd_cur*tick;

If the current error is less than or equal to the current deceleration distance or the deceleration distance at the maximum avoidance speed, that is, Avoid_dec_distance_cur>=Error_current or avoid_dec_distanc>=Error_current, then in the avoidance deceleration section, decelerate according to the deceleration section:

pitch_avoid_spd_cur=pitch_avodi_spd_cur_last–avoid_dec*tick;

gb_target_cur=gb_target_cur_last+pitch_avoid_spd_cur*tick;

When the current avoidance speed decelerates to 0, the avoidance is considered to be over, that is, Pitch_avoid_spd_cur=0; Gb_target_cur=gb_target_cur_last=gb_target_avoid_pitch;

At this point, the current Euler angle of the gimbal has reached the preset target Euler angle.

The second avoidance mode of the gimbal can be called the fixed stroke avoidance mode. In the fixed travel avoidance mode, the above-mentioned controlling the gimbal to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter includes: controlling the gimbal to rotate the preset travel according to the first preset avoidance parameter, thereby avoiding the limit bit. Specifically, the joint angle of the gimbal is detected in real time, and when the joint angle of the gimbal reaches the second preset angle, the gimbal is controlled to rotate the preset stroke, that is, the Euler angle of the gimbal in the first direction is controlled to change a fixed angle , for example 8°. In this mode, every time the gimbal evasion is triggered, the travel of the gimbal is the same, so the running speed and running time of the gimbal are basically the same.

Exemplarily, in the fixed-stroke avoidance mode, controlling the gimbal to rotate the preset travel according to the first preset avoidance parameter includes: determining the maximum avoidance speed according to the preset travel and the preset avoidance running time; Set the avoidance acceleration time and the preset avoidance deceleration time to plan the avoidance acceleration section and avoidance deceleration section; adjust the Euler angle of the gimbal according to the planned avoidance acceleration section and avoidance deceleration section, so that the gimbal decelerates to zero at the avoidance speed The preset itinerary has been run. Parameters such as the preset travel and the preset avoidance running time are reasonable parameters determined according to the increasing speed of the Euler angle of the aircraft. Of course, the method of rotating the gimbal to the preset stroke is not limited to this, as long as the gimbal can be rotated to the preset stroke within the avoidance time reserved by the aircraft.

Continue to take the first direction as the pitch direction and the Euler angle of the gimbal in the first direction as the pitch angle as an example, when the joint angle of the gimbal in the first direction reaches the second preset angle, first obtain the gimbal's joint angle. The preset travel avoid_distance_total, for example, avoid_distance_total=8°;

Obtain the preset avoidance running time avoid_time, obtain the preset avoidance acceleration time avoid_time_acc, obtain the preset avoidance deceleration time avoid_time_dec; optionally, you can also obtain the constant speed running time avoid_time_avg;

Calculate the maximum movement speed based on the preset travel and the preset avoidance run time:

Pitch_spd_max=avoid_distance_total/avoid_time*2;

Calculate the acceleration of the acceleration segment according to the maximum motion speed and the preset avoidance acceleration time:

Avoid_acc = pitch_spd_max/avoid_time_acc;

Avoid_dec = pitch_spd_max/avoid_time_dec;

Calculate the deceleration segment distance at maximum avoidance speed:

Avoid_dec_distance=1/2*avoid_dec*avoid_time_dec^2;

After triggering evasion, the real-time update process of the gimbal target pitch is as follows:

Error_current=gb_target_cur–gb_target_avoid_pitch;

If the current avoidance speed pitch_avoid_spd_cur is less than the maximum motion speed pitch_spd_max, that is, pitch_avoid_spd_cur<pitch_spd_max, in the avoidance acceleration section, accelerate according to the acceleration avoid_acc of the acceleration section:

Pitch_avoid_spd_cur=pitch_avoid_spd_cur_last+avoid_acc*tick;

Gb_target_cur=gb_target_cur_last+pitch_avoid_spd_cur*tick;

If pitch_avoid_spd_cur=pitch_spd_max, in the constant speed section of avoidance, keep running at a constant speed:

Gb_target_cur=gb_target_cur_last+pitch_avoid_spd_cur*tick;

If the current error is less than or equal to the speed limit distance at the maximum avoidance speed, that is, avoid_dec_distanc>=Error_current, then in the avoidance deceleration segment, decelerate according to the deceleration segment acceleration Avoid_dec:

pitch_avoid_spd_cur=pitch_avodi_spd_cur_last–avoid_dec*tick;

gb_target_cur=gb_target_cur_last+pitch_avoid_spd_cur*tick;

When the current avoidance speed of the gimbal, Pitch_avoid_spd_cur decelerates to 0, the avoidance ends. At this time, the gimbal runs the preset stroke, that is, the pitch angle of the gimbal changes the preset angle in the opposite direction to the limit when the avoidance is triggered. .

The third avoidance mode of the gimbal can be called the fixed target joint angle avoidance mode. In the fixed target joint angle avoidance mode, the above-mentioned controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to the first preset avoidance parameter includes: controlling the gimbal to rotate in the first direction with the aircraft according to the first preset avoidance parameter The aircraft rotates in the same direction so that the joint angle of the gimbal reaches the target joint angle, and the target joint angle is determined based on the preset margin and the second preset angle. Specifically, in this avoidance mode, the current joint angle of the gimbal is detected in real time, and if the current joint angle is greater than the second preset angle, the gimbal and the aircraft are controlled to rotate in the same direction until the current joint angle is smaller than the second preset angle, And leave a certain preset margin. In this avoidance mode, the joint angle of the gimbal can be detected in real time. Whenever the joint angle reaches the second preset angle, the gimbal and the aircraft are controlled to rotate in the same direction, so that the joint angle of the gimbal reaches the target joint angle. the trip is shorter.

Exemplarily, in the fixed target joint angle avoidance mode, the gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, so that the joint angle of the gimbal reaches the preset target joint angle, including: : Obtain the current angle difference between the current joint angle of the gimbal and the second preset angle in real time; determine the avoidance speed according to the current angle difference and the preset margin; control the gimbal to rotate in the same direction as the aircraft in the first direction according to the avoidance speed, When the evasion speed is decelerated to zero, the joint angle of the gimbal reaches the target joint angle. Of course, the method of making the joint angle of the gimbal reach the preset target joint angle is not limited to this, as long as the joint angle of the gimbal can reach the target joint angle within the avoidance time reserved by the aircraft.

Continue to take the first direction as the pitch direction and the Euler angle of the gimbal in the first direction as the pitch angle as an example, when the joint angle of the gimbal reaches the second preset angle, that is, Joint_angle>joint_angle_limit_up (eg 30deg) or Joint_angle <joint_angle_limit_down (eg -128deg),

Calculate the angle value at which the joint angle of the gimbal exceeds the second preset angle:

Avoid_over_angle=joint_angle–joint_angle_limit_up;

(or Avoid_over_angle=joint_angle–joint_angle_limit_down);

To get a preset margin:

Avoid_angle=3～5deg;

Get the preset speed factor:

Avoid_spd_coef=2～5;

The angle that the gimbal needs to avoid is the sum of the angle value at which the joint angle of the gimbal exceeds the second preset angle and the preset margin. The avoidance speed is calculated according to the angle and speed coefficient that the gimbal needs to avoid:

Avoid_spd=avoid_spd_coef*(avoid_over_angle+avoid_angle);

Update the target pitch angle of the gimbal in real time according to the avoidance speed:

Gb_target_cur=gb_target_cur_last+avoid_spd*tick;

When it is detected that the avoidance speed avoid_spd=0, the avoidance ends, and the joint angle of the gimbal has reached the target joint angle.

As described above, when it is detected that the states of the aircraft and the gimbal do not meet the preset conditions for entering the first avoidance mode, the second avoidance mode may be entered. Specifically, when the aircraft is in the non-braking state, the imaging device of the gimbal is in the imaging state, and the target Euler angle of the gimbal is not satisfied within the first preset range, the second avoidance mode is entered. For example, if the aircraft is in a braking state, considering flight safety, the aircraft should be braked as soon as possible, so that the aircraft does not enter the first avoidance mode that needs to limit the Euler angle of the aircraft.

Wherein, the second avoidance mode includes: when it is detected that the Euler angle of the aircraft corresponding to the first direction reaches the first preset angle, and the joint angle of the gimbal and the angle corresponding to the first direction reaches the second preset angle , according to the second preset avoidance parameter, control the gimbal to rotate in the same direction as the aircraft in the first direction to avoid the mechanical limit. In the second preset avoidance mode, the duration of the gimbal to avoid the mechanical limit is shorter than the first preset The length of time for the gimbal to avoid the mechanical limit in avoidance mode. That is to say, the second avoidance mode does not limit the increase speed of the Euler angle of the aircraft, and the aircraft can quickly reach the target Euler angle, so the gimbal needs to quickly avoid it in a short time.

The second avoidance mode can also be implemented to make the Euler angle of the gimbal reach a fixed target Euler angle when triggering avoidance, make the gimbal run a fixed stroke or make the joint angle of the gimbal reach the target joint angle, which is different from the first avoidance mode. The difference between the modes is that its avoidance speed is faster. For example, when the joint angle of the gimbal reaches the target joint angle, the preset speed coefficient can be set to a larger value, so that the gimbal can quickly avoid the limit. In this case, it may cause sudden changes in the image captured by the imaging device, but the limit can be quickly avoided without causing the gimbal to hit the mechanical limit or the camera to see the blades; at the same time, it will not affect the speed of the aircraft. stop.

The above has exemplarily described the exemplary flow of steps included in the cooperative control method for a gimbal and an aircraft according to an embodiment of the present invention. The coordinated control method of the gimbal and the aircraft according to the embodiment of the present invention limits the increase speed of the Euler angle of the aircraft when the gimbal needs to avoid mechanical limits and avoid looking at the paddles, so as to reserve time for the gimbal to avoid, and at the same time, according to the difference between the gimbal and the aircraft The first preset avoidance parameter related to the increasing speed of Euler angle controls the avoidance of the gimbal, so that the gimbal can be slowly avoided, thereby ensuring the smoothness of the shooting picture.

Another aspect of an embodiment of the present invention provides a cooperative control system of a pan-tilt and an aircraft. FIG. 3 is a schematic block diagram of a cooperative control system 300 of a pan-tilt and an aircraft according to an embodiment of the present invention. As shown in FIG. 3 , the coordinated control system 300 of the gimbal and the aircraft includes an aircraft 310, a control device 320, and a gimbal 330. The gimbal 330 is mounted on the aircraft 310, and the gimbal 330 and the aircraft 310 are connected to the control device 320 in communication. Only the main functions of the cooperative control system 300 of the gimbal and the aircraft will be described below, and some details described above will be omitted.

The aircraft 310 may be an unmanned aerial vehicle, such as a multi-rotor unmanned aerial vehicle. The gimbal 330 mounted on the aircraft 310 may be a two-axis gimbal or a three-axis gimbal, and the control device 320 may be a flight controller of the aircraft 310 or other general-purpose or dedicated processors.

Specifically, the control device 320 is configured to: obtain the Euler angle of the aircraft 310 and the joint angle of the gimbal 330; when it is detected that the Euler angle of the aircraft 310 corresponding to the first direction reaches the first preset angle, control the aircraft 310 The increasing speed of the Euler angle is not greater than the first preset speed; when it is detected that the angle corresponding to the first direction in the joint angle of the gimbal 330 reaches the second preset angle, the gimbal 330 is controlled according to the first preset avoidance parameter Rotating in the same direction as the aircraft 310 in the first direction, the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft 310 .

The control device 320 is further configured to enter the first avoidance mode when it is detected that the state of the aircraft 310, the gimbal 330 and the imaging device carried on the gimbal 330 meets the preset condition; wherein, the first avoidance mode includes: when the aircraft is detected When the angle corresponding to the first direction in the Euler angle of 310 reaches the first preset angle, the increase speed of the Euler angle of the control aircraft 310 is not greater than the first preset speed; when it is detected that the joint angle of the gimbal 330 corresponds to the first When the angle of the direction reaches the second preset angle, the gimbal 330 is controlled to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter, the first preset avoidance parameter and the increase speed of the Euler angle of the aircraft 310 related.

Exemplarily, the states of the aircraft 310, the gimbal 330, and the imaging device of the gimbal 330 satisfy the preset conditions, including: the aircraft 310 is in the non-braking state, the imaging device of the gimbal 330 is in the imaging state, and the target object of the gimbal 330 is in the non-braking state. The draw angle is within the first preset range.

Exemplarily, the first preset range includes an evasion upper limit range and an evasion lower limit range. The avoidance upper limit range and the avoidance lower limit range may be determined according to the maximum Euler angle and the minimum Euler angle of the aircraft 310 , the mechanical limit of the gimbal 330 and the maneuvering performance of the aircraft 310 . For example, the upper limit range of avoidance may be 5° to -8°, and the range of the lower limit of avoidance may be -70° to -90°.

Exemplarily, in the process of controlling the gimbal 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter, the increasing speed of the angle corresponding to the first direction among the joint angles of the gimbal 330 is not less than that of the aircraft. 310 The increasing speed of the angle corresponding to the first direction in the Euler angles.

Exemplarily, controlling the gimbal 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameters includes: controlling the gimbal 330 to rotate in the same direction as the aircraft 310 according to the first preset avoidance parameters, so that the cloud The Euler angles of the stage 330 reach the preset target Euler angles.

Specifically, controlling the gimbal 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter, so that the Euler angle of the gimbal 330 reaches the preset target Euler angle, may include the following steps: determining The angle difference between the current Euler angle of the gimbal 330 and the target Euler angle; the maximum avoidance speed is determined according to the angle difference and the preset avoidance running time; according to the maximum avoidance speed, the preset avoidance acceleration time and the preset avoidance The deceleration time is to plan the avoidance acceleration section and the avoidance deceleration section; adjust the Euler angle of the gimbal 330 according to the planned avoidance acceleration section and avoidance deceleration section, so that the Euler angle of the gimbal 330 when the avoidance speed of the gimbal 330 decelerates to zero The preset target Euler angles are reached.

Exemplarily, controlling the gimbal 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter includes: controlling the gimbal 330 to rotate a preset stroke according to the first preset avoidance parameter. Specifically, controlling the pan/tilt 330 to rotate the preset travel according to the first preset avoidance parameter may include the following steps: determining the maximum avoidance speed according to the preset travel and the preset avoidance running time; according to the maximum avoidance speed and the preset avoidance acceleration Time and the preset avoidance deceleration time to plan the avoidance acceleration section and the avoidance deceleration section; adjust the Euler angle of the gimbal 330 according to the planned avoidance acceleration section and avoidance deceleration section, so that the gimbal 330 runs when the avoidance speed deceleration is zero preset itinerary.

Exemplarily, controlling the gimbal 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameters includes: controlling the gimbal 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameters Rotate so that the joint angle of the pan/tilt head 330 reaches the target joint angle, and the target joint angle is determined based on the preset margin and the second preset angle. Specifically, controlling the gimbal 330 to rotate in the same direction as the aircraft 310 in the first direction according to the first preset avoidance parameter, so that the joint angle of the gimbal 330 reaches the target joint angle, may include the following steps: acquiring the current value of the gimbal 330 in real time. The joint angle exceeds the current angle difference of the second preset angle; the avoidance speed is determined according to the current angle difference and the preset margin; according to the avoidance speed, the gimbal 330 is controlled to rotate in the same direction as the aircraft 310 in the first direction, so that the avoidance speed is decelerated as The joint angle of the zero-hour gimbal 330 reaches the target joint angle.

In one embodiment, the control device 320 is further configured to enter the second avoidance mode when it is detected that the states of the aircraft 310 and the gimbal 330 do not meet the preset conditions; wherein the second avoidance mode includes: when the aircraft 310 is detected When the angle corresponding to the first direction in the Euler angles reaches the first preset angle, and the angle corresponding to the first direction in the joint angle of the gimbal 330 reaches the second preset angle, the gimbal is controlled according to the second preset avoidance parameter 330 rotates in the same direction as the aircraft 310 in the first direction to avoid the mechanical limit. In the second preset avoidance mode, the time period for the gimbal 330 to avoid the mechanical limit is shorter than that in the first preset avoidance mode. time limit.

The main functions of the components of the cooperative control system 300 are described above. For further details, reference may be made to the relevant description in the cooperative control method 100 of the gimbal and the aircraft above, which will not be repeated here.

In addition, an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored. When the computer program is executed by the processor, the steps of the aforementioned method 100 for cooperative control of the gimbal and the aircraft can be implemented.

For example, the computer storage medium is a computer-readable storage medium. Computer storage media may include, for example, memory cards for smartphones, storage components for tablet computers, hard drives for personal computers, read only memory (ROM), erasable programmable read only memory (EPROM), portable compact disk read only memory ( CD-ROM), USB memory, or any combination of the above storage media. A computer-readable storage medium can be any combination of one or more computer-readable storage media.

To sum up, the method and system for the coordinated control of the gimbal and the aircraft according to the embodiments of the present invention limit the increase speed of the Euler angle of the aircraft when the gimbal needs to avoid the mechanical limit and avoid looking at the paddles, and is reserved for the gimbal avoidance. Time out, so that the gimbal can slowly evade, so as to ensure the smoothness of the shooting picture.

Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Skilled artisans may implement the described functionality using different methods for each particular application, but such implementations should not be considered beyond the scope of the present invention.

Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

In the several embodiments provided in this application, it should be understood that the disclosed system, apparatus and method may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and components shown as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be embodied in the form of a software product in essence, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including Several instructions are used to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program codes .

The above are only specific embodiments of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention. should be included within the protection scope of the present invention. Therefore, the protection scope of the present invention should be subject to the protection scope of the claims.

Although example embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above-described example embodiments are exemplary only, and are not intended to limit the scope of the invention thereto. Various changes and modifications can be made therein by those of ordinary skill in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other manners. For example, the device embodiments described above are only illustrative. For example, the division of the units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.

In the description provided herein, numerous specific details are set forth. It will be understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it is to be understood that in the description of the exemplary embodiments of the invention, various features of the invention are sometimes grouped together , or in its description. However, this method of the invention should not be interpreted as reflecting the intention that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the corresponding claims reflect, the invention lies in the fact that the corresponding technical problem may be solved with less than all features of a single disclosed embodiment. Thus, the claims following the Detailed Description are hereby expressly incorporated into this Detailed Description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all features disclosed in this specification (including the accompanying claims, abstract and drawings) and any method or apparatus so disclosed may be used in any combination, except that the features are mutually exclusive. Processes or units are combined. Each feature disclosed in this specification (including accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that although some of the embodiments described herein include certain features, but not others, included in other embodiments, that combinations of features of different embodiments are intended to be within the scope of the invention within and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

Various component embodiments of the present invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art should understand that a microprocessor or a digital signal processor (DSP) may be used in practice to implement some or all of the functions of some modules according to the embodiments of the present invention. The present invention may also be implemented as apparatus programs (eg, computer programs and computer program products) for performing part or all of the methods described herein. Such a program implementing the present invention may be stored on a computer-readable medium, or may be in the form of one or more signals. Such signals may be downloaded from Internet sites, or provided on carrier signals, or in any other form.

It should be noted that the above-described embodiments illustrate rather than limit the invention, and that alternative embodiments may be devised by those skilled in the art without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In a unit claim enumerating several means, several of these means may be embodied by one and the same item of hardware. The use of the words first, second, and third, etc. do not denote any order. These words can be interpreted as names.

The above is only the specific embodiment of the present invention or the description of the specific embodiment, and the protection scope of the present invention is not limited thereto. Any changes or substitutions should be included within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

A collaborative control method for a gimbal and an aircraft, wherein the gimbal is mounted on the aircraft, wherein the method comprises:

Obtain the Euler angle of the aircraft and the joint angle of the gimbal;

When it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft not to be greater than the first preset speed;

When it is detected that the angle of the joint angles of the gimbal corresponding to the first direction reaches a second preset angle, control the gimbal to align with the aircraft in the first direction according to the first preset avoidance parameter When rotating in the same direction, the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
The collaborative control method according to claim 1, wherein the method further comprises:

When it is detected that the state of the aircraft, the gimbal and the imaging device mounted on the gimbal meets a preset condition, enter the first avoidance mode;

Wherein, the first avoidance mode includes: when it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increase speed of the Euler angles of the aircraft to be no greater than the third a preset speed; when it is detected that the angle of the joint angles of the gimbal corresponding to the first direction reaches a second preset angle, the gimbal is controlled in the first direction according to the first preset avoidance parameter Rotating upward in the same direction as the aircraft, the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
The collaborative control method according to claim 2, wherein the states of the aircraft, the gimbal and the imaging device of the gimbal satisfy a preset condition, comprising:

The aircraft is in a non-braking state, the imaging device of the gimbal is in an imaging state, and the target Euler angle of the gimbal is within a first preset range.
The cooperative control method according to claim 3, wherein the first preset range includes an avoidance upper limit range and an avoidance lower limit range.
The cooperative control method according to claim 4, wherein the avoidance upper limit range and the avoidance lower limit range are based on the maximum Euler angle and the minimum Euler angle of the aircraft, and the mechanical limit of the gimbal. and the maneuverability of the aircraft is determined.
The collaborative control method according to claim 5, wherein the upper limit of avoidance is in the range of 5° to -8°, and the lower limit of avoidance is in the range of -70° to -90°.
The cooperative control method according to claim 1, wherein in the process of controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to the first preset avoidance parameter, the The increasing speed of the angle corresponding to the first direction among the joint angles of the gimbal is not less than the increasing speed of the angle corresponding to the first direction among the Euler angles of the aircraft.
The cooperative control method according to claim 1, wherein the controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter comprises:

The gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, so that the Euler angle of the gimbal reaches a preset target Euler angle.
The cooperative control method according to claim 8, wherein the gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to a first preset avoidance parameter, so that the gimbal is controlled to rotate in the same direction as the aircraft. The Euler angles reach the preset target Euler angles, including:

determining the angle difference between the current Euler angle of the gimbal and the target Euler angle;

Determine the maximum avoidance speed according to the angle difference and the preset avoidance running time;

planning the avoidance acceleration segment and the avoidance deceleration segment according to the maximum avoidance speed and the preset avoidance acceleration time and the preset avoidance deceleration time;

Adjust the Euler angle of the gimbal according to the planned avoidance acceleration section and avoidance deceleration section, so that the Euler angle of the gimbal reaches the preset target Euler angle when the avoidance speed of the gimbal is decelerated to zero .
The cooperative control method according to claim 1, wherein the controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter comprises:

The gimbal is controlled to rotate a preset stroke according to the first preset avoidance parameter.
The collaborative control method according to claim 10, wherein the controlling the rotation preset stroke of the gimbal according to the first preset avoidance parameter comprises:

Determine the maximum avoidance speed according to the preset travel and the preset avoidance running time;

planning the avoidance acceleration segment and the avoidance deceleration segment according to the maximum avoidance speed and the preset avoidance acceleration time and the preset avoidance deceleration time;

Adjust the Euler angle of the gimbal according to the planned avoidance acceleration section and avoidance deceleration section, so that the gimbal runs the preset stroke when the avoidance speed decelerates to zero.
The cooperative control method according to claim 1, wherein the controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to a first preset avoidance parameter comprises:

The gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, so that the joint angle of the gimbal reaches the target joint angle, and the target joint angle is based on the preset residual angle. amount and the second preset angle are determined.
The cooperative control method according to claim 12, wherein the control of the gimbal to rotate in the same direction with the aircraft in the first direction according to the first preset avoidance parameter, so that the gimbal is controlled to rotate in the same direction as the aircraft. The joint angle reaches the target joint angle, including:

Acquiring in real time the current angle difference between the current joint angle of the gimbal and the second preset angle;

determining an avoidance speed according to the current angle difference and the preset margin;

The gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the avoidance speed, so that the joint angle of the gimbal reaches the target joint angle when the avoidance speed is decelerated to zero.
The collaborative control method according to claim 2, wherein the method further comprises:

When it is detected that the state of the aircraft and the gimbal does not meet the preset condition, enter the second avoidance mode;

The second avoidance mode includes: when it is detected that the Euler angles of the aircraft corresponding to the first direction reach a first preset angle, and the joint angles of the gimbal correspond to the first When the angle of the direction reaches the second preset angle, the gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the second preset avoidance parameter, and in the second preset avoidance mode , the duration of the gimbal avoiding the mechanical limit is shorter than the duration of the gimbal avoiding the mechanical limit in the first preset avoidance mode.
A collaborative control system of a pan-tilt and an aircraft, characterized in that the collaborative control system comprises a pan-tilt, an aircraft and a control device, the pan-tilt is mounted on the aircraft, and the control device is used for:

Obtain the Euler angle of the aircraft and the joint angle of the gimbal;

When it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increasing speed of the Euler angles of the aircraft not to be greater than the first preset speed;

When it is detected that the angle of the joint angles of the gimbal corresponding to the first direction reaches a second preset angle, control the gimbal to align with the aircraft in the first direction according to the first preset avoidance parameter When rotating in the same direction, the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
The cooperative control system according to claim 15, wherein the control device is further used for:

When it is detected that the state of the aircraft, the gimbal and the imaging device mounted on the gimbal meets a preset condition, enter the first avoidance mode;

Wherein, the first avoidance mode includes: when it is detected that the angle corresponding to the first direction in the Euler angles of the aircraft reaches a first preset angle, controlling the increase speed of the Euler angles of the aircraft to be no greater than the third a preset speed; when it is detected that the angle of the joint angles of the gimbal corresponding to the first direction reaches a second preset angle, the gimbal is controlled in the first direction according to the first preset avoidance parameter Rotating upward in the same direction as the aircraft, the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
The collaborative control system according to claim 16, wherein the states of the aircraft, the gimbal and the imaging device of the gimbal satisfy a preset condition, comprising:

The aircraft is in a non-braking state, the imaging device of the gimbal is in an imaging state, and the target Euler angle of the gimbal is within a first preset range.
The cooperative control system according to claim 17, wherein the first preset range includes an avoidance upper limit range and an avoidance lower limit range.
The cooperative control system according to claim 18, wherein the avoidance upper limit range and the avoidance lower limit range are based on the maximum Euler angle and the minimum Euler angle of the aircraft, and the mechanical limit of the gimbal. and the maneuverability of the aircraft is determined.
The cooperative control system according to claim 19, wherein the upper limit of avoidance is in the range of 5° to -8°, and the lower limit of avoidance is in the range of -70° to -90°.
The cooperative control system according to claim 15, wherein in the process of controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to the first preset avoidance parameter, the The increasing speed of the angle corresponding to the first direction among the joint angles of the gimbal is not less than the increasing speed of the angle corresponding to the first direction among the Euler angles of the aircraft.
The cooperative control system according to claim 15, wherein the controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to the first preset avoidance parameter comprises:

The gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter, so that the Euler angle of the gimbal reaches a preset target Euler angle.
The cooperative control system according to claim 22, wherein the gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to a first preset avoidance parameter, so that the gimbal rotates in the same direction as the aircraft. The Euler angles reach the preset target Euler angles, including:

determining the angle difference between the current Euler angle of the gimbal and the target Euler angle;

Determine the maximum avoidance speed according to the angle difference and the preset avoidance running time;

planning the avoidance acceleration segment and the avoidance deceleration segment according to the maximum avoidance speed and the preset avoidance acceleration time and the preset avoidance deceleration time;

Adjust the Euler angle of the gimbal according to the planned avoidance acceleration section and avoidance deceleration section, so that the Euler angle of the gimbal reaches the preset target Euler angle when the avoidance speed of the gimbal is decelerated to zero .
The cooperative control system according to claim 15, wherein the controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to the first preset avoidance parameter comprises:

The gimbal is controlled to rotate a preset stroke according to the first preset avoidance parameter.
The cooperative control system according to claim 24, wherein the controlling the rotation preset travel of the pan/tilt according to the first preset avoidance parameter comprises:

Determine the maximum avoidance speed according to the preset travel and the preset avoidance running time;

planning the avoidance acceleration segment and the avoidance deceleration segment according to the maximum avoidance speed and the preset avoidance acceleration time and the preset avoidance deceleration time;

Adjust the Euler angle of the gimbal according to the planned avoidance acceleration section and avoidance deceleration section, so that the gimbal runs the preset stroke when the avoidance speed decelerates to zero.
The cooperative control system according to claim 15, wherein the controlling the gimbal to rotate in the same direction with the aircraft in the first direction according to the first preset avoidance parameter comprises:

The gimbal and the aircraft are controlled to rotate in the same direction according to the first preset avoidance parameter, so that the joint angle of the gimbal reaches the target joint angle, and the target joint angle is based on the preset margin and the second preset The angle is determined.
The cooperative control system according to claim 26, wherein the control of the gimbal to rotate in the same direction as the aircraft in the first direction according to the first preset avoidance parameter makes the gimbal rotate in the same direction as the aircraft. The joint angle reaches the target joint angle, including:

Acquiring in real time the current angle difference between the current joint angle of the gimbal and the second preset angle;

determining an avoidance speed according to the current angle difference and the preset margin;

The gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the avoidance speed, so that the joint angle of the gimbal reaches the target joint angle when the avoidance speed is decelerated to zero.
The cooperative control system according to claim 16, wherein the control device is further used for:

When it is detected that the state of the aircraft and the gimbal does not meet the preset condition, enter the second avoidance mode;

The second avoidance mode includes: when it is detected that the Euler angles of the aircraft corresponding to the first direction reach a first preset angle, and the joint angles of the gimbal correspond to the first When the angle of the direction reaches the second preset angle, the gimbal is controlled to rotate in the same direction as the aircraft in the first direction according to the second preset avoidance parameter, and in the second preset avoidance mode , the duration of the gimbal avoiding the mechanical limit is shorter than the duration of the gimbal avoiding the mechanical limit in the first preset avoidance mode.