WO2022109801A1 - Procédé et système de commande coopérative pour tête de berceau et aéronef - Google Patents

Procédé et système de commande coopérative pour tête de berceau et aéronef Download PDF

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Publication number
WO2022109801A1
WO2022109801A1 PCT/CN2020/131204 CN2020131204W WO2022109801A1 WO 2022109801 A1 WO2022109801 A1 WO 2022109801A1 CN 2020131204 W CN2020131204 W CN 2020131204W WO 2022109801 A1 WO2022109801 A1 WO 2022109801A1
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WIPO (PCT)
Prior art keywords
gimbal
preset
avoidance
angle
aircraft
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PCT/CN2020/131204
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English (en)
Chinese (zh)
Inventor
谢振生
李罗川
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/131204 priority Critical patent/WO2022109801A1/fr
Priority to CN202080070618.9A priority patent/CN115175854A/zh
Publication of WO2022109801A1 publication Critical patent/WO2022109801A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64D—EQUIPMENT FOR FITTING IN OR TO AIRCRAFT; FLIGHT SUITS; PARACHUTES; ARRANGEMENT OR MOUNTING OF POWER PLANTS OR PROPULSION TRANSMISSIONS IN AIRCRAFT
    • B64D47/00—Equipment not otherwise provided for
    • B64D47/08—Arrangements of cameras
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals

Definitions

  • 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.
  • 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.
  • 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 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:
  • 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:
  • the first preset avoidance parameter is related to the increasing speed of the Euler angle of the aircraft.
  • the gimbal 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.
  • 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.
  • 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.
  • the cooperative control method 100 of the gimbal and the aircraft includes the following steps:
  • step S110 obtain the Euler angle of the aircraft and the joint angle of the gimbal
  • 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;
  • 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.
  • 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.
  • the control device may be a flight controller of an unmanned aerial vehicle, or may be other general-purpose or special-purpose processors.
  • 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.
  • 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.
  • the gimbal can also adjust the working direction of the load.
  • 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.
  • 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.
  • 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.
  • 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.
  • the imaging device rotates following the rotation of the PTZ, so that the shooting direction of the imaging device changes.
  • 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.
  • 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 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.
  • 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.
  • 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.
  • 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.
  • the first direction may be any one of a pitch direction, a roll direction, and a yaw direction.
  • 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.
  • 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.
  • 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.
  • the second avoidance mode 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • the Euler angle of the aircraft can usually only change within a certain range.
  • 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;
  • 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.
  • the upper limit range of avoidance to 5° ⁇ -8° and the lower limit range of avoidance to be -70° ⁇ -90°.
  • 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.
  • the first preset angle is, for example, -25°
  • 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.
  • 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 .
  • the control process of the pitch angle (pitch) of the aircraft is as follows:
  • Fc_pitch_cmd fc_pitch_cmd_last+pitch_cmd_spd*tick;
  • 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
  • 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
  • the tick is the operation period.
  • Fc_pitch_cmd fc_pitch_cmd_last+pitch_cmd_spd_smooth*tick;
  • Fc_pitch_cmd_target is the final target value of the pitch angle of the aircraft.
  • 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.
  • 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.
  • the first avoidance mode of the gimbal can be called 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.
  • 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.
  • a second preset angle for example, greater than 30°, or less than -128 °
  • 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.
  • the angle 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.
  • 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.
  • 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.
  • 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.
  • Pitch_spd_max Error/avoid_time*2;
  • Avoid_acc pitch_spd_max/avoid_time_acc
  • Avoid_dec pitch_spd_max/avoid_time_dec
  • Avoid_dec_distance_cur 1/2*pitch_avoid_spd_cur ⁇ 2/avoid_dec ⁇ 2;
  • Pitch_avoid_spd_cur pitch_avoid_spd_cur_last+avoid_acc*tick;
  • Gb_target_cur gb_target_cur_last+pitch_avoid_spd_cur*tick;
  • Gb_target_cur gb_target_cur_last+pitch_avoid_spd_cur*tick;
  • pitch_avoid_spd_cur pitch_avodi_spd_cur_last–avoid_dec*tick;
  • gb_target_cur gb_target_cur_last+pitch_avoid_spd_cur*tick;
  • the second avoidance mode of the gimbal can be called the fixed stroke 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.
  • 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°.
  • the travel of the gimbal is the same, so the running speed and running time of the gimbal are basically the same.
  • 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.
  • 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.
  • Pitch_spd_max avoid_distance_total/avoid_time*2;
  • Avoid_acc pitch_spd_max/avoid_time_acc
  • Avoid_dec pitch_spd_max/avoid_time_dec
  • Pitch_avoid_spd_cur pitch_avoid_spd_cur_last+avoid_acc*tick;
  • Gb_target_cur gb_target_cur_last+pitch_avoid_spd_cur*tick;
  • pitch_avoid_spd_cur pitch_spd_max
  • Gb_target_cur gb_target_cur_last+pitch_avoid_spd_cur*tick;
  • avoid_dec_distanc> Error_current
  • pitch_avoid_spd_cur pitch_avodi_spd_cur_last–avoid_dec*tick;
  • gb_target_cur gb_target_cur_last+pitch_avoid_spd_cur*tick;
  • the third avoidance mode of the gimbal can be called 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.
  • 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.
  • 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.
  • the gimbal in the fixed target joint angle avoidance mode, 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.
  • 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.
  • 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);
  • Gb_target_cur gb_target_cur_last+avoid_spd*tick
  • the second avoidance mode may be entered.
  • 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.
  • 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.
  • 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.
  • the preset speed coefficient can be set to a larger value, so that the gimbal can quickly avoid the limit.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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 .
  • the upper limit range of avoidance may be 5° to -8°
  • the range of the lower limit of avoidance may be -70° to -90°.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • 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.
  • an embodiment of the present invention further provides a computer storage medium, on which a computer program is stored.
  • the steps of the aforementioned method 100 for cooperative control of the gimbal and the aircraft can be implemented.
  • 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.
  • ROM read only memory
  • EPROM erasable programmable read only memory
  • CD-ROM portable compact disk read only memory
  • 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.
  • the method and system for the coordinated control of the gimbal and the aircraft 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.
  • the disclosed system, apparatus and method may be implemented in other manners.
  • the apparatus embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or Can be integrated into another system, or some features can be ignored, or not implemented.
  • 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.
  • 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.
  • 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 disclosed apparatus and method may be implemented in other manners.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division. In actual implementation, there may be other division methods.
  • multiple units or components may be combined or May be integrated into another device, or some features may be omitted, or not implemented.
  • 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.
  • 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.
  • DSP digital signal processor
  • 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.

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Studio Devices (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

L'invention concerne un procédé et un système de commande coopérative pour une tête de berceau (330) et un aéronef (310), la tête de berceau (330) étant montée sur l'aéronef (310), le procédé consistant à : acquérir des angles d'Euler d'un aéronef (310) et des angles d'articulation d'une tête de berceau (330) ; lorsqu'il est détecté qu'un angle correspondant à une première direction parmi les angles d'Euler de l'aéronef (310) atteint un premier angle prédéfini, commander la vitesse d'augmentation des angles d'Euler de l'aéronef (310) afin qu'elle ne soit pas supérieure à une première vitesse prédéfinie ; et lorsqu'il est détecté qu'un angle correspondant à la première direction parmi les angles d'articulation de la tête de berceau (330) atteint un second angle prédéfini, commander, selon un premier paramètre d'évitement prédéfini, la tête de berceau (330) afin qu'elle soit mise en rotation dans la même direction que l'aéronef (310) dans la première direction, le premier paramètre d'évitement prédéfini se rapportant à la vitesse d'augmentation des angles d'Euler de l'aéronef (310). Lorsque la tête de berceau (330) doit éviter une limite mécanique et éviter de limiter la vitesse d'augmentation des angles d'Euler de l'aéronef (310) lorsque des palettes sont observées, du temps est réservé pour l'évitement de la tête de berceau (330), de telle sorte que la tête de berceau (330) puisse réaliser lentement un évitement, ce qui garantit la régularité d'une illustration d'image capturée.
PCT/CN2020/131204 2020-11-24 2020-11-24 Procédé et système de commande coopérative pour tête de berceau et aéronef WO2022109801A1 (fr)

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PCT/CN2020/131204 WO2022109801A1 (fr) 2020-11-24 2020-11-24 Procédé et système de commande coopérative pour tête de berceau et aéronef
CN202080070618.9A CN115175854A (zh) 2020-11-24 2020-11-24 云台和飞行器的协同控制方法和系统

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5448144A (en) * 1991-11-22 1995-09-05 Kabushiki Kaisha Yaskawa Denki Method and apparatus for controlling a robot
CN108521777A (zh) * 2017-11-22 2018-09-11 深圳市大疆创新科技有限公司 云台的控制方法、云台以及无人飞行器
CN108778932A (zh) * 2017-12-29 2018-11-09 深圳市大疆创新科技有限公司 控制云台复位的方法和装置、云台、无人飞行器
CN110649365A (zh) * 2019-10-29 2020-01-03 北京联恒众达科技中心(有限合伙) 一种云台单圈360度限位机构
CN110869283A (zh) * 2018-08-30 2020-03-06 深圳市大疆创新科技有限公司 云台的控制方法与装置、云台系统和无人机
CN111447362A (zh) * 2020-04-02 2020-07-24 浙江大华技术股份有限公司 云台电机限位方法、装置、云台摄像机及存储介质

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5448144A (en) * 1991-11-22 1995-09-05 Kabushiki Kaisha Yaskawa Denki Method and apparatus for controlling a robot
CN108521777A (zh) * 2017-11-22 2018-09-11 深圳市大疆创新科技有限公司 云台的控制方法、云台以及无人飞行器
CN108778932A (zh) * 2017-12-29 2018-11-09 深圳市大疆创新科技有限公司 控制云台复位的方法和装置、云台、无人飞行器
CN110869283A (zh) * 2018-08-30 2020-03-06 深圳市大疆创新科技有限公司 云台的控制方法与装置、云台系统和无人机
CN110649365A (zh) * 2019-10-29 2020-01-03 北京联恒众达科技中心(有限合伙) 一种云台单圈360度限位机构
CN111447362A (zh) * 2020-04-02 2020-07-24 浙江大华技术股份有限公司 云台电机限位方法、装置、云台摄像机及存储介质

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