WO2022134036A1 - Plateforme mobile et procédé de commande et dispositif associé - Google Patents

Plateforme mobile et procédé de commande et dispositif associé Download PDF

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Publication number
WO2022134036A1
WO2022134036A1 PCT/CN2020/139528 CN2020139528W WO2022134036A1 WO 2022134036 A1 WO2022134036 A1 WO 2022134036A1 CN 2020139528 W CN2020139528 W CN 2020139528W WO 2022134036 A1 WO2022134036 A1 WO 2022134036A1
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WO
WIPO (PCT)
Prior art keywords
movable platform
mode
load
gimbal
motion
Prior art date
Application number
PCT/CN2020/139528
Other languages
English (en)
Chinese (zh)
Inventor
刘力源
谢振生
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
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/CN2020/139528 priority Critical patent/WO2022134036A1/fr
Priority to CN202080073976.5A priority patent/CN114641746A/zh
Publication of WO2022134036A1 publication Critical patent/WO2022134036A1/fr

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Classifications

    • 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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • G05D1/101—Simultaneous control of position or course in three dimensions specially adapted for aircraft
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/10—Simultaneous control of position or course in three dimensions
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M2200/00—Details of stands or supports
    • F16M2200/04—Balancing means
    • F16M2200/041—Balancing means for balancing rotational movement of the head

Definitions

  • the present application relates to the technical field of movable platforms, and more particularly, to a control method of a movable platform, a computer-readable storage medium, a control device of a movable platform, a movable platform, and a movable platform assembly.
  • the movable platform can carry the load through the gimbal to realize the control of the attitude of the load.
  • the attitude control methods of the movable platform body are diverse, and the control methods of the gimbal to the load attitude are also diverse, so that users need to consider the control of the movable platform body and the gimbal at the same time, but When the user faces a complex scene and needs to frequently operate or switch the functions of the movable platform and the PTZ, the operation difficulty of the movable platform is increased, and the user experience is reduced.
  • a method for controlling a movable platform, a computer readable storage medium, a control device for a movable platform, a movable platform, and a movable platform assembly are provided to overcome the above problems or at least partially solve the above problems.
  • a control method for a movable platform comprising: acquiring a current motion mode of the movable platform, wherein the movable platform has multiple motions In different motion modes, the movable platform has different control methods, and the movable platform includes a pan/tilt for carrying loads and a support mechanism for supporting the pan/tilt; according to the movement of the movable platform In the current motion mode, it is determined that the gimbal enters a corresponding gimbal mode, where the gimbal mode includes a stabilization mode for maintaining a stable attitude of the payload to the ground, and a stabilization mode for maintaining the payload The following mode is stable relative to the posture of the support mechanism.
  • a computer-readable storage medium storing executable instructions that, when executed by one or more processors, cause the one or more processors to The processor executes the control method provided by the first aspect of the present application.
  • a control apparatus for a mobile platform comprising: a memory for storing executable instructions; a processor for executing the executable instructions stored in the memory Execute the instruction to perform the following operations: obtain the current motion mode of the movable platform, wherein the movable platform has multiple motion modes, and the control modes of the movable platform under different motion modes are different, so
  • the movable platform includes a pan-tilt for carrying loads and a support mechanism for supporting the pan-tilt; according to the motion mode that the movable platform is currently in, it is determined that the pan-tilt enters a corresponding pan-tilt mode , the pan-tilt mode includes a stabilization mode for keeping the attitude of the load relative to the ground stable, and a follow mode for keeping the relative attitude of the load and the support mechanism stable.
  • a movable platform includes a pan-tilt for carrying loads and a support mechanism for supporting the pan-tilt; the movable platform further comprises: a memory for storing executable instructions; a processor for executing the executable instructions stored in the memory to perform the following operations: acquiring the motion mode currently in which the movable platform is located, wherein the executable instructions
  • the mobile platform has multiple motion modes, and the control modes of the movable platform under different motion modes are different;
  • the gimbal mode includes a stabilization mode for maintaining a stable attitude of the load to the ground, and a following mode for keeping the relative posture of the load and the support mechanism stable.
  • a movable platform assembly includes: any of the movable platforms described above; a remote control terminal, wherein the remote control terminal is communicatively connected to the movable platform, It is used to control the movable platform, wherein the movement mode of the movable platform can be switched by the remote control terminal.
  • the movable platform can have two pan-tilt modes, namely stabilization mode and follow mode.
  • the stabilization mode the movable platform can be used to capture images of stable images.
  • the mobile platform may allow the user to experience the first-person perspective of the mobile platform.
  • the present application obtains the current motion mode of the movable platform, and determines that the gimbal enters the corresponding gimbal mode, that is, the stabilization mode or the follow mode, according to the obtained result. Therefore, the gimbal controls the load attitude in a simple and convenient manner. It is fast and reduces the difficulty of operating the mobile platform.
  • control method of the gimbal to the load attitude can be adapted to the current motion mode of the movable platform, so that the control method of the gimbal to the load attitude can satisfy the current movement mode of the movable platform.
  • FIG. 1 is a schematic structural diagram of a movable platform according to an embodiment of the present application.
  • FIG. 2 is a schematic diagram of a gimbal of a movable platform in a stabilization mode according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of a pan/tilt head of a movable platform in a follow mode according to an embodiment of the present application
  • FIG. 4 is a schematic diagram of a movable platform in a first motion mode according to an embodiment of the present application
  • FIG. 5 is a schematic diagram of the movable platform in a second motion mode according to an embodiment of the present application.
  • FIG. 6 is a schematic diagram of the movable platform in a third motion mode according to an embodiment of the present application.
  • FIG. 7 is a schematic diagram of a movable platform in a third motion mode in response to a user input instruction according to an embodiment of the present application
  • FIG. 8 is a schematic diagram of the movable platform in a fourth motion mode according to an embodiment of the present application.
  • FIG. 9 is a schematic diagram when the gimbal of the movable platform enters the stabilization mode from the follow mode according to an embodiment of the present application.
  • FIG. 10 is a schematic diagram when the gimbal of the movable platform enters the follow mode from the stabilization mode according to an embodiment of the present application
  • FIG. 11 is a control principle diagram when the gimbal of the movable platform is in the stabilization mode according to an embodiment of the present application
  • Fig. 12 is a control principle diagram when the pan/tilt of the movable platform is in a follow mode according to an embodiment of the present application
  • FIG. 13 is a control principle diagram when the pan/tilt of the movable platform is in a follow mode according to another embodiment of the present application.
  • 10 is a movable platform
  • 100 is a load
  • 200 is a head
  • 300 is a support mechanism
  • 400 is a positioning device
  • 500 is a detection device.
  • first and second are only used for description purposes, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the number of indicated technical features.
  • features defined as “first” and “second” may expressly or implicitly include, but are not limited to, one or more of said features.
  • This embodiment first provides a control method for a movable platform, where the movable platform includes a pan-tilt for carrying loads and a support mechanism for supporting the pan-tilt.
  • the support mechanism may include but not limited to the chassis of the unmanned vehicle, the fuselage of the robot or the fuselage of the drone. That is, the movable platform may include unmanned vehicles, drones, or robots.
  • the payload may be an imaging device, for example, a camera, a video camera, etc., specifically, a single-lens reflex camera, a mirrorless camera, and the like.
  • the load may be a smart terminal, such as a mobile phone, tablet, etc. with a photographing function.
  • the payload may also be other devices that need to be moved, manipulated, or attitude adjusted, such as a microphone.
  • the PTZ may include one PTZ component, two PTZ components, three PTZ components or more PTZ components. Accordingly, the head may allow the load to rotate about one, two, three or more axes, and the axes for rotation may or may not be orthogonal to each other.
  • the gimbal component can control the attitude of the payload through a motor, including controlling one or more of the payload's pitch angle, roll angle, and yaw angle. Accordingly, the payload may rotate about one or more of the pitch axis P, the roll axis R, and the yaw axis Y.
  • each pan/tilt member may include a connecting arm.
  • the first pan-tilt member is connected to the support mechanism, and the first pan-tilt member can rotate relative to the support mechanism, so that the yaw angle of the load changes, that is, when the first connecting arm rotates relative to the support mechanism, the load can be rotated around the yaw angle.
  • the Y axis rotates.
  • the second pan-tilt part is connected to the first pan-tilt part, and the second pan-tilt part can rotate relative to the support mechanism, so that the roll angle of the load changes, that is, when the second pan-tilt part rotates relative to the support mechanism, the load can be rotated Rotate around the roll axis R.
  • the third pan-tilt part is connected with the second pan-tilt part, and the third pan-tilt part can rotate relative to the support mechanism, so that the pitch angle of the load changes, that is, when the third pan-tilt part rotates relative to the support mechanism, the load can be rotated around the support mechanism.
  • the pitch axis P rotates.
  • the pan/tilt may include only one pan/tilt component.
  • the head part can be rotated relative to the support mechanism to change the yaw angle of the load, that is, when the head part is rotated relative to the support mechanism, the load can be rotated around the yaw axis Y.
  • the gimbal connected to the drone body can have one gimbal part, two gimbal parts, three gimbal parts or more gimbal parts, and can The load can be rotated about one, two or three of the pitch, roll and yaw axes, so that the load can also be rotated about more axes, etc.
  • the gimbal can also have one gimbal part, two gimbal parts, three gimbal parts or more than three gimbal parts, and the load can be Rotate about one, two or three of the pitch, roll, and yaw axes, so that the load can also rotate about more than three axes, etc. That is to say, regardless of the type of support mechanism, the gimbal can be a single-axis gimbal, a two-axis gimbal, a three-axis gimbal or a gimbal with other axes.
  • FIG. 1 is a schematic structural diagram of a movable platform according to an embodiment of the present application, and the movable platform 10 is an example of an unmanned aerial vehicle.
  • UAVs are also commonly referred to as UAVs (Unmanned Aerial Vehicles), wherein UAVs can include fixed-wing UAVs, rotary-wing UAVs, umbrella-wing UAVs, etc. .
  • the connection between the gimbal 200 and the fuselage of the UAV is not limited to the position shown in FIG. 1 , that is, the gimbal 200 can not only be connected to the bottom of the UAV, but also can be connected to the UAV.
  • the top and side parts are connected to each other, which is not limited in this embodiment.
  • the movable platform may be an unmanned vehicle, eg, a remotely controlled unmanned vehicle.
  • the support mechanism may include the chassis of the unmanned vehicle.
  • the chassis can be used to support the gimbal, and the movement of the chassis can be directly moved by wheels, or by other mechanisms such as crawlers.
  • the number of wheels of the unmanned vehicle may be one or more, which is not limited in this embodiment.
  • the movable platform may be a robot.
  • the support mechanism may then comprise the body of the robot. It can be understood that the pan/tilt can be connected not only to the head of the robot body, but also to other parts of the robot body such as the robot arm and the back of the robot, which is not limited in this embodiment.
  • the gimbal has a stabilization mode for keeping the ground attitude of the load stable and a follow mode for keeping the relative attitude of the load and the support mechanism stable.
  • FIG. 2 is a schematic diagram of the gimbal of the movable platform in a stabilization mode according to an embodiment of the present application
  • FIG. 3 is a schematic diagram of the gimbal of the movable platform in a follow mode according to an embodiment of the present application.
  • the stabilization mode when the movable platform 10 is in the stabilization mode, since the gimbal 200 is used to keep the ground-facing attitude of the payload 100 stable, even if the attitude of the support mechanism 300 changes, the orientation of the payload 100 to the ground is stable. The ground attitude is also stable. Therefore, in the stabilization mode, when the payload 100 is an imaging device, the imaging device can be stabilized for imaging, and it is understandable that when the movable platform 10 is an unmanned aerial vehicle, aerial photography can be performed. In the stabilization mode, when the load 100 is a microphone, the microphone can be made to collect stable sound.
  • the movable platform 10 when the movable platform 10 is in the follow mode, since the gimbal 200 is used to keep the relative posture of the load 100 and the support mechanism 300 stable, when the posture of the support mechanism 300 changes, the load 100 The posture will also change. Therefore, in the follow mode, when the payload 100 is an imaging device, the imaging device can be made to take an image from a first-person perspective. Understandably, when the movable platform 10 is a drone, the user can experience a first-person perspective. flight. In the follow mode, when the load is a microphone, the microphone can be made to collect the sound corresponding to the first-person perspective.
  • the control method of the movable platform includes: acquiring the motion mode that the movable platform is currently in, wherein the movable platform has multiple motion modes, and the control modes of the movable platform under different motion modes are different;
  • the current motion mode of the HMI determines that the gimbal enters the corresponding gimbal mode.
  • the movable platform may have two pan/tilt modes, namely stabilization mode and follow mode.
  • the stabilization mode the movable platform can be used to capture images of stable images.
  • the movable platform can enable the user to experience the first-person perspective of the movable platform.
  • the current motion mode of the movable platform is obtained, and it is determined according to the obtained result that the gimbal enters the corresponding gimbal mode, that is, the stabilization mode or the follow mode. There is no need for additional active adjustment by the user, which reduces the operation difficulty of the movable platform.
  • control method of the gimbal to the load attitude can be adapted to the current motion mode of the movable platform, so that the control method of the gimbal to the load attitude can satisfy the current movement mode of the movable platform.
  • the execution body of the embodiment of the present application may be a remote control terminal of the movable platform, or may be a controller of the movable platform, so as to control the PTZ to enter the corresponding PTZ after determining the corresponding PTZ mode. mode, and adjust the posture accordingly.
  • the movable platform may further include a positioning device and a detection device, the positioning device is used for acquiring the position information of the movable platform, and the detection device is used for detecting the surrounding obstacle information of the movable platform.
  • the use states of the positioning device and/or the detection device are different, so that the movable platform has different control modes. That is to say, between different motion modes, only the use state of the positioning device may be different, or only the use state of the detection device may be different, or the use state of the positioning device and the detection device may be different.
  • the different usage states of the positioning device and/or the detection device can make the movable platform have different control modes, for example, a control mode suitable for capturing stable images or capturing a stable sound, and a control mode suitable for users to experience the first-person perspective.
  • the control method of the viewing angle experience therefore, this motion mode corresponds to the different modes of the gimbal, which can meet the diverse needs of users.
  • the control range of the movement parameter (moving speed) of the movable platform can be different, and the movable platform can be moved.
  • the control of the motion parameters of the platform may be affected by the user's instructions in different ways (for example, in the case of different use states of the positioning device and/or the detection device, the types of the motion parameters to be controlled are different, so that the control of the movable platform can be different. (for example, when the movable platform is an aircraft, in the case of different usage states of the positioning device and/or the detection device, the aircraft may be allowed to hover by allowing the Changed to not allow hovering).
  • the movable platform when the movable platform has a relatively fast movement speed, it corresponds to the follow mode, and when the movable platform has a relatively slow movement speed, it corresponds to the stabilization mode; the movement parameters of the movable platform are controlled by the user. When the influence of the command is large, it corresponds to the follow mode. When the control of the motion parameters of the movable platform is less affected by the user's command, it corresponds to the stabilization mode.
  • the movable platform is an aircraft, the aircraft can hover and correspond to the stabilization mode. , the aircraft cannot implement hovering and following mode.
  • the plurality of motion modes may include a first motion mode
  • FIG. 4 is a schematic diagram of the movable platform according to an embodiment of the present application when the movable platform is in the first motion mode.
  • the use state of the positioning device 400 is turned on, and the use state of the detection device 500 is to turn on the surrounding obstacle information for the movable platform 100 in the first direction and The function of visual obstacle avoidance in the second direction.
  • the surrounding obstacle information is used for the visual obstacle avoidance of the movable platform 100 in the first direction may include: surrounding obstacle information is used to control the moving speed of the movable platform 100 in the first direction, for example, when the surrounding obstacle information indicates that the When there is an obstacle in the preset distance in the first direction, the speed of the movable platform in the first direction is reduced or the movement of the movable platform in the first direction is prohibited.
  • the surrounding obstacle information is used for the visual obstacle avoidance of the movable platform 100 in the second direction may include: surrounding obstacle information is used to control the moving speed of the movable platform 100 in the second direction, for example, when the surrounding obstacle information indicates that the When there is an obstacle in the preset distance in the second direction, the speed of the movable platform in the second direction is reduced or the movement of the movable platform in the second direction is prohibited.
  • the positioning device 400 can obtain the position information of the movable platform 10.
  • the obtained position information can be used for For controlling the position of the movable platform 10 , it may not be used for controlling the position of the movable platform 10 .
  • the positioning device may include a global positioning system, and the global positioning system can position all-weather around the world, and has the advantages of high positioning accuracy and short observation time.
  • the positioning device may also include a strapdown inertial navigation system, a wireless positioning system, or the like.
  • the detection means may comprise a visual positioning system. Therefore, the detection device can not only be used to detect the surrounding obstacle information of the movable platform, but also can be used to obtain the position information of the movable platform when the reliability of the positioning device is low and the reliability of the detection device is relatively high. That is to say, when the reliability of the positioning device is high, the position of the movable platform can be controlled by the position information obtained by the positioning device. When the reliability of the positioning device is low and the reliability of the detection device is high, The position of the movable platform can be controlled by the position information obtained by the detection device.
  • the detection device may further include a visual sensor, a device for detecting information about obstacles around the movable platform using ultrasonic waves, and the like.
  • the first direction is the downward direction of the movable platform
  • the second direction is the front and rear directions of the movable platform as an example.
  • the first direction and the second direction may be other situations.
  • the first direction may include any direction in the vertical direction of the movable platform
  • the second direction may include the movable platform. any direction in the horizontal direction.
  • the first direction and the second direction may form any angle with the horizontal or vertical direction of the movable platform.
  • the included angle may be 0 degrees, 10 degrees, 20 degrees, 30 degrees, 40 degrees, 50 degrees, 60 degrees, 70 degrees, 80 degrees, or 90 degrees.
  • the first direction is the downward direction
  • the second direction is the forward direction and the rearward direction, so as to facilitate the unmanned aerial vehicle to perform flight tasks, return home and land.
  • the first direction is the downward direction
  • the second direction is the front direction and the rear direction, so that the unmanned vehicle or robot can perform tasks, return home and avoid movement obstruction.
  • Controlling the gimbal to enter the corresponding gimbal mode according to the current movement mode of the drone may include: when the current movement mode of the drone is the first movement mode, determining that the gimbal enters the stabilization mode. And after the confirmation, you can control the gimbal to enter the stabilization mode.
  • the first movement mode may be a P gear or a normal gear. Since, in the first motion mode, the use state of the detection device makes the movable platform have a relatively slow moving speed, the control of the motion parameters of the movable platform is less affected by the user's instructions (the motion parameters of the movable platform are affected by the user's instructions). The positioning device and the detection device are partially affected), the use state of the positioning device and the detection device enables the movable platform to achieve precise hovering (when the movable platform is an aircraft) and stable movement.
  • the first-person perspective experience is convenient for the movable platform to shoot stable images (when the movable platform is an aircraft, it is convenient for aerial photography) and to collect stable sounds. Therefore, control the gimbal to enter the stabilization mode.
  • the plurality of motion modes may include a second motion mode
  • FIG. 5 is a schematic diagram of the movable platform according to an embodiment of the present application when the movable platform is in the second motion mode.
  • the use state of the positioning device 400 is turned on, and the use state of the detection device 500 is to turn on the surrounding obstacle information for the movable platform 10 in the first direction
  • the function of visual obstacle avoidance is disabled, and the surrounding obstacle information is used for the visual obstacle avoidance function of the movable platform 10 in the second direction.
  • the function of disabling the surrounding obstacle information for visual obstacle avoidance of the movable platform 10 in the second direction may include: not detecting the surrounding obstacle information of the movable platform 10 in the second direction, or detecting the movable platform 10 surrounding obstacle information in the second direction, but the detected information is not used for visual obstacle avoidance of the movable platform 10 in the second direction.
  • the movable platform when it is in the second motion mode, it may have a larger horizontal movement speed than when it is in the first motion mode, whereby the second motion mode is more efficient than the first motion mode Suitable for some users who have experience with mobile platforms.
  • the specific speed can be selected according to the actual situation.
  • its horizontal movement speed when the movable platform is in the second motion mode, its horizontal movement speed can be 17m/s to 23m/s, for example, it can be 17m/s, 17.5m/s, 18m /s, 18.5m/s, 19m/s, 19.5m/s, 20m/s, 20.5m/s, 21m/s, 21.5m/s, 22m/s, 22.5m/s, 23m/s, etc.
  • its horizontal movement speed may be 12m/s to 16m/s, for example, it may be 12m/s, 12.5m/s, 13m/s, 13.5m/s, 14m/s , 14.5m/s, 15m/s, 15.5m/s, 16m/s, etc.
  • the maximum ascending speed and the maximum descending speed of the movable platform can be selected according to the actual situation, for example, the maximum ascending speed can be 12m/s to 16m/ s, for example, may be 12m/s, 12.5m/s, 13m/s, 13.5m/s, 14m/s, 14.5m/s, 15m/s, 15.5m/s, 16m/s, and the like.
  • the maximum descending speed can be 8m/s to 12m/s, for example, it can be 8m/s, 8.5m/s, 9m/s, 9.5m/s, 10m/s, 10.5m/s, 11m/s, 11.5m /s, 12m/s, etc.
  • Controlling the gimbal to enter the corresponding gimbal mode according to the current movement mode of the drone may include: when the current movement mode of the drone is the second movement mode, controlling the gimbal to enter the stabilization mode. And after the confirmation, you can control the gimbal to enter the stabilization mode.
  • the second movement mode may be the S gear or the movement mode. Since, in the second motion mode, the use state of the detection device causes the movable platform to have a relatively slow moving speed, the control of the motion parameters of the movable platform is less affected by the user's instructions (the motion parameters of the movable platform are affected by the user's instructions). The positioning device and the detection device are partially affected), the use status of the positioning device and the detection device enables the movable platform to hover (when the movable platform is an aircraft) and move stably. At this time, it is not convenient for users to experience the first step of the movable platform. The one-person perspective experience is convenient for the movable platform to shoot stable images (when the movable platform is an aircraft, it is convenient for aerial photography) and to collect stable sounds. Therefore, control the gimbal to enter the stabilization mode.
  • the plurality of motion modes may include a third motion mode
  • FIG. 6 is a schematic diagram of the movable platform according to an embodiment of the present application when the movable platform is in the third motion mode.
  • the use state of the positioning device is to close the function of position information for controlling the position of the movable platform
  • the use state of the detection device is to close the surrounding obstacle information for use in The visual obstacle avoidance function of the movable platform in the first direction and the second direction.
  • the use state of the positioning device is that the function of the position information used to control the position of the movable platform may include: the positioning device is not used to obtain the position information of the movable platform, or the positioning device is used to obtain the position information of the movable platform, but the position The information is not used to control the position of the movable platform.
  • the function of disabling the surrounding obstacle information for visual obstacle avoidance of the movable platform 10 in the first direction may include: not detecting the surrounding obstacle information of the movable platform 10 in the first direction, or detecting the movable platform 10 surrounding obstacle information in the first direction, but the detected information is not used for visual obstacle avoidance of the movable platform 10 in the first direction.
  • Controlling the gimbal to enter the corresponding gimbal mode according to the current movement mode of the drone may include: when the current movement mode of the drone is the third movement mode, controlling the gimbal to enter the follow mode. And after the confirmation, you can control the gimbal to enter the stabilization mode.
  • the third movement mode may be the A gear or the attitude gear. Because, in the third motion mode, the use state of the detection device makes the movable platform have a relatively fast moving speed, and the control of the motion parameters of the movable platform is greatly affected by the user's instructions (the motion parameters of the movable platform are not Influenced by the positioning device and the detection device), the use state of the positioning device and the detection device makes it difficult for the movable platform to hover (when the movable platform is an aircraft) and move stably. At this time, it is convenient for users to experience the first step of the movable platform. The one-person perspective experience is not convenient for the movable platform to shoot stable images (when the movable platform is an aircraft, it is not convenient for aerial photography) and to collect stable sounds. Therefore, control the gimbal to enter the follow mode.
  • the movable platform when the positioning device cannot detect the position of the movable platform, and the detection device cannot detect the surrounding obstacle information of the movable platform, the movable platform is controlled to be in the third motion mode.
  • control method provided by this embodiment may further include: judging the reason why the movable platform is in the third motion mode; when the result of the judgment indicates that the reason why the movable platform is in the third motion mode is in response to When the user inputs an instruction, the step of controlling the PTZ to enter the follow mode is triggered.
  • FIG. 7 is a schematic diagram of a movable platform in a third motion mode in response to user input instructions, according to one embodiment of the present application.
  • Fig. 7 takes the movable platform in the first movement mode before being in the third movement mode as an example. It can be understood that before the movable platform is in the third movement mode, the movable platform can also be in other movement modes, for example, the second movement mode. Sports mode or the fourth sports mode mentioned later, etc. Among them, the user can input instructions in various ways, for example, through a remote control of a movable platform, a smart terminal, and the like.
  • the third motion mode is inconvenient for the movable platform to capture stable images (When the movable platform is an aircraft, it is inconvenient for aerial photography) and stable sound collection is convenient for users to experience the movement of the movable platform in the first-person perspective.
  • the steps of triggering and controlling the gimbal to enter the follow mode can meet the user's expectations.
  • the movable platform when the movable platform is automatically switched from the first motion mode to the third motion mode, keep the gimbal in the stabilization mode, and when the movable platform is automatically switched from the second motion mode to the third motion mode, keep the gimbal in the stabilization mode mode, when the movable platform is automatically switched from the fourth movement mode mentioned later to the third movement mode, the gimbal is maintained in the follow mode. At this time, the mode in which the PTZ is located is more in line with the user's expectation.
  • the triggering condition for the movable platform to automatically switch from the previous motion mode to the third motion mode may include a decrease in reliability of detection information of the global positioning system and the visual positioning system.
  • the reliability of determining the detection information of the GPS is reduced when the signal of the GPS is below a preset signal threshold. In other embodiments, the reliability of determining the detection information of the GPS may be reduced when the compass of the GPS is disturbed. When the illumination around the movable platform is lower than the preset brightness threshold, the reliability of determining the detection information of the visual positioning system is reduced.
  • the preset signal threshold can be set such that when the signal of the GPS is lower than the preset signal threshold, the GPS cannot obtain the position information of the movable platform
  • the preset brightness threshold can be set such that when the movable platform is When the surrounding light is lower than the preset brightness threshold, the visual positioning system cannot obtain the surrounding obstacle information of the movable platform.
  • the plurality of motion modes include a fourth motion mode.
  • FIG. 8 is a schematic diagram of the movable platform when the movable platform is in the fourth motion mode according to an embodiment of the present application.
  • the use of the positioning device The state is on, and the use state of the detection device is to turn off the function of the surrounding obstacle information for visual obstacle avoidance of the movable platform in the first direction and the second direction.
  • its horizontal movement speed may be 25m/s to 30m/s, for example, it may be 25m/s, 25.5m/s, 26m/s, 26.5m/s, 27m/s , 27.5m/s, 28m/s, 28.5m/s, 29m/s, 29.5m/s, 30m/s, etc.
  • Controlling the gimbal to enter the corresponding gimbal mode according to the current movement mode of the drone may include: when the current movement mode of the drone is the fourth movement mode, controlling the gimbal to enter the follow mode. And after confirmation, you can control the gimbal to enter the follow mode.
  • the fourth movement mode may be the M gear or the manual gear. Because, in the fourth motion mode, the use state of the detection device makes the movable platform have a relatively fast moving speed, and the control of the motion parameters of the movable platform is greatly affected by the user's instructions (the motion parameters of the movable platform are affected by the user's instructions). The influence of the positioning device and the detection device is small), the use state of the detection device makes it difficult for the movable platform to achieve precise hovering (when the movable platform is an aircraft) and stable movement. At this time, it is convenient for the user to experience the first-person perspective of the movable platform. Experience, it is not convenient for the movable platform to take stable images (when the movable platform is an aircraft, it is not convenient for aerial photography) and to collect stable sounds, therefore, control the gimbal to enter the follow mode.
  • the relevant design of the motion modes may vary.
  • the number of motion modes of the movable platform may be other than 4, for example, it may be 2 , 3 types, 5 types, 6 types, 7 types, 8 types, 9 types, 10 types, etc., and, when the number of motion modes is 4, the use status of the positioning device and/or the detection device in each motion mode is also The usage state may be provided without being limited to the above-described embodiment.
  • the corresponding relationship between the various motion modes, the stabilization mode, and the following mode may also be changed, and may not be limited to the corresponding relationship provided in the foregoing embodiment.
  • the control method for the movable platform provided by the present application may further include: when the movable platform performs a motion operation according to a preset control instruction, controlling the pan/tilt head to be in a stabilization mode. Therefore, when the movable platform is performing these motion operations and the load is an imaging device, the imaging can be stably formed. When the movable platform is performing these motion operations and the load is a microphone, the surrounding sound can be collected stably, so that the pan/tilt head can be stably collected. The mode is more suitable for these motion operations.
  • the step of triggering and detecting the motion mode the movable platform is currently in is stopped during the process that the movable platform performs the motion operation according to the preset control instruction. Therefore, the movable platform has an adapted pan/tilt mode during the entire process of performing these motion operations.
  • the preset control command may include a return-to-home command or a landing command, thereby facilitating the user to grasp the information related to the movable platform when returning to home or landing to avoid accidents such as collisions.
  • the payload is an imaging device
  • stable images related to returning to flight or landing can be provided, and the user can operate the aircraft according to these images, thereby avoiding accidents and improving user experience.
  • the preset control command may include a return-to-home command, thereby facilitating the user to grasp the information related to the movable platform when returning to the home, and to avoid accidents such as collisions.
  • the payload is an imaging device, it can provide stable images related to returning home, and the user can operate the movable platform according to these images, thereby avoiding accidents and improving user experience.
  • the return-to-home command or the landing command can be issued by the user, or can be obtained by the movable platform itself.
  • the return-to-home command or the landing command can be obtained by itself.
  • the control method provided by the embodiment of the present application may further include: when the movable platform is powered on, controlling the PTZ to enter a follow mode.
  • the gimbal can be provided with a limit structure that limits its rotation angle, because the movable platform is placed in various positions when it is turned on. For example, it can be reversed from the normal use state.
  • the gimbal enters the stabilization mode, there may be a risk of hitting the limit, which may cause damage to the limit structure. Therefore, when the gimbal is turned on, control the gimbal to enter the follow mode.
  • the step of triggering and detecting the motion mode that the movable platform is currently in is stopped during the period from when the movable platform is powered on to when the set condition is satisfied. That is to say, from the time when the movable platform is turned on to when the set conditions are met, the gimbal is in the following mode, so as to avoid the risk of hitting the limit during this period.
  • the setting conditions can include that the time after the mobile platform is turned on reaches the time threshold, and the mobile platform is turned on, indicating that the user expects to operate the mobile platform after a period of time. Therefore, the position of the mobile platform will be adjusted to normal after a period of time. Where to use the state. Therefore, the set condition may include that the time period after the movable platform is powered on reaches the time period threshold.
  • the duration threshold may be determined according to the actual situation, for example, may be 1s, 2s, 3s, 4s, 5s, 6s, 7s, 9s, 10s, 20s, 30s, 40s, 50s, 60s, etc.
  • the setting conditions can include that the movable platform obtains the selection instruction of the motion mode, and the acquisition of the selection instruction of the motion mode indicates that the user can operate the movement of the movable platform, and the user needs to adjust the position of the movable platform to normal when operating the movable platform.
  • the setting condition may include the movable platform acquiring the motion mode selection instruction.
  • the setting condition may also include that the height of the movable platform is at the height threshold. At this time, it means that the movable platform is already in the flying state. Trigger the step of detecting the motion mode that the movable platform is currently in, so that the control method of the gimbal on the load attitude can be adapted to the motion mode that the movable platform is currently in, so that the movable platform is currently in a different motion mode. Under the circumstance, the control method of the gimbal to the load attitude can meet the needs of different motion modes.
  • the method may further include: controlling the measured attitude of the load to the ground in the stabilization mode to be the target corresponding to the target relative attitude angle of the load and the support mechanism in the follow mode Ground stance.
  • FIG. 9 is a schematic diagram when the gimbal of the movable platform enters the stabilization mode from the follow mode according to an embodiment of the present application. It can be understood that the state shown in FIG. 9 is the moment when the gimbal enters the stabilization mode from the follow mode. At this time, the target relative attitude angle of the load 100 and the support mechanism 300 can be the angle ⁇ shown in FIG. 9 , which corresponds to the angle ⁇ .
  • the target ground attitude can be represented by the angle ⁇ , then when the gimbal enters the stabilization mode from the follow mode, the target ground attitude represented by the angle ⁇ is directly assigned to the measured ground attitude of the load 100 in the stabilization mode, that is At this time, the measurement of the attitude to the ground is directly assigned, not obtained by measurement. Therefore, at this moment, the position of the gimbal is relatively stable and does not vibrate.
  • the load 100 is an imaging device
  • the imaging device can take pictures. The picture is stable, no twitching occurs, and the torque of the gimbal's motor will not change abruptly.
  • the above-mentioned direct assignment of the measured ground attitude can only be performed at the moment when the gimbal enters the stabilization mode from the follow mode, and then the measured ground attitude can be obtained by real-time measurement, and the user can also adjust the stabilization as needed.
  • the target ground attitude of the mode can only be performed at the moment when the gimbal enters the stabilization mode from the follow mode, and then the measured ground attitude can be obtained by real-time measurement, and the user can also adjust the stabilization as needed.
  • the target ground attitude of the mode can be understood that the above-mentioned direct assignment of the measured ground attitude can only be performed at the moment when the gimbal enters the stabilization mode from the follow mode, and then the measured ground attitude can be obtained by real-time measurement, and the user can also adjust the stabilization as needed.
  • the target ground attitude of the mode can only be performed at the moment when the gimbal enters the stabilization mode from the follow mode, and then the measured ground attitude can be obtained by real-time measurement, and the user
  • the gimbal when the gimbal enters the following mode from the stabilization mode, it may further include: controlling the measured relative attitude angle of the load and the support mechanism in the following mode to be the target corresponding to the ground attitude of the load in the stabilization mode Relative attitude angle.
  • FIG. 10 is a schematic diagram when the gimbal of the movable platform enters the follow mode from the stabilization mode according to an embodiment of the present application.
  • the state shown in Figure 10 is the moment when the gimbal enters the follow mode from the stabilization mode.
  • the target attitude of the load to the ground can be represented by the angle ⁇ in Figure 10
  • the relative attitude angle of the target corresponding to the angle ⁇ is angle ⁇
  • the angle ⁇ is directly assigned to the measured relative attitude angle of the load 100 in the follow mode, that is, the measured relative attitude angle is directly assigned, not measured. Therefore, at this moment, the position of the gimbal is relatively stable and will not shake.
  • the load 100 is an imaging device
  • the image taken by the imaging device can be stabilized without twitching, and the torque of the motor of the gimbal can be stabilized. Mutation does not occur.
  • the above-mentioned direct assignment of the measured relative attitude angle can only be performed at the moment when the gimbal enters the follow mode from the stabilization mode, and then the measured relative attitude angle can be obtained by real-time measurement, and the user can also adjust the follow mode as required.
  • the target relative attitude angle of that is, even when the movable platform moves, the user can adjust the target relative attitude angle according to the needs to meet the user's expectations.
  • FIG. 11 is a control principle diagram when the gimbal of the movable platform is in the stabilization mode according to an embodiment of the present application.
  • the control method may further include: determining the ground target attitude angle Ra of the load; obtaining the ground measurement attitude angle ya of the load; according to the ground target attitude angle Ra and the ground measurement
  • the attitude angle ya controls the gimbal to keep the load-to-ground attitude stable.
  • the ground measurement attitude angle ya can be obtained by measuring units, such as inertial measurement units, electronic accelerometers and gyroscopes, etc., and can also be obtained by fusion attitude estimator FUS through attitude fusion.
  • Controlling the gimbal according to the ground target attitude angle Ra and the ground measurement attitude angle ya to keep the load’s ground attitude stable may include: determining the load’s ground target angular velocity according to the ground target attitude angle Ra and the ground measurement attitude angle ya; Get the ground-measured angular velocity of the load According to the angular velocity of the ground target and the measured angular velocity of the ground Determine the control torque u of the motor of the gimbal; control the motor of the gimbal 200 according to the control torque u, so as to keep the attitude of the load to the ground stable.
  • Measuring angular velocity over the ground It can be obtained by measuring units, such as inertial measurement units, electronic accelerometers and gyroscopes, etc., and can also be obtained by fusion attitude estimator FUS through attitude fusion.
  • determining the ground target angular velocity of the load according to the ground target attitude angle Ra and the ground measurement attitude angle ya may include: determining the error e according to the ground target attitude angle Ra and the ground measurement attitude angle ya (at this time, representing the load Attitude error), and then determine the ground target angular velocity of the load through the attitude angle loop controller C1.
  • Determining the control torque of the motor of the gimbal may include: acquiring the external disturbance d received by the gimbal, and the external disturbance d can cause the position and/or attitude of the gimbal to change; according to the target angular velocity to the ground, the angular velocity measured to the ground And the external disturbance d (disturbance torque) determines the control torque u.
  • the ground measurement angular velocity And the attitude angular velocity loop controller C2 obtains the to-be-corrected torque, and determines the control torque u according to the to-be-corrected torque and the external disturbance d.
  • the external disturbance d may be determined based on one or more motion characteristics of the pan/tilt head connected to the load.
  • the external disturbance d can be associated with disturbance to the gimbal.
  • disturbances may include one or more of wind effects, temperature changes, or external impacts to the load or head.
  • the motion characteristics of the gimbal may include the instantaneous attitude, instantaneous position, linear velocity, angular velocity, linear acceleration and/or angular acceleration of the gimbal.
  • the external disturbance d can be calculated with respect to a rotatable joint on the frame of the head (eg, the heading frame), which is configured to connect the frame with the support mechanism.
  • Sensor data that can be obtained from the external disturbance sensor to obtain the amount of external disturbance d.
  • sensor data is input into a dynamic model of the gimbal and/or load, and the output of the model is the external disturbance d.
  • the kinetic model may include parameters corresponding to specific characteristics of a specific head and/or load. Determination of model parameters and generation of kinetic models can be determined according to methods known to those skilled in the art. The kinetic model may be determined prior to operation and may be pre-stored in memory located on the load, head and/or movable object.
  • the mathematical model for the relationship between the external disturbance d on the outer frame (eg, the heading frame) and the acceleration of the shock-absorbing element connecting the gimbal to the support mechanism is:
  • Tdisturb (K1sin( ⁇ )
  • Tdisturb is the external disturbance d on the drive of the outer frame (e.g. the heading drive); K1, K2, K3 and K4 are the parameters of the dynamics model, based on the weights, rotational inertia tensors and geometry of the three gimbal frames to determine these parameters; where ax and ay are the accelerations of the damping element in the x (a direction perpendicular to the vertical direction) and the y direction (the other direction perpendicular to the vertical direction and perpendicular to the x direction), respectively measurement results; and ⁇ , ⁇ is the current joint angle measured by a sensor (such as a potentiometer) connected to the drive of the gimbal frame (e.g., ⁇ is the angle of the heading drive of the yaw frame, and ⁇ is the roll of the roll frame angle of the drive).
  • a sensor such as a potentiometer
  • the role of the stabilization mode is to design the attitude angle loop controller C1 and the attitude angular velocity loop controller C2, so that under the action of the external disturbance d, the ground measurement attitude angle ya is as close as possible to the ground target attitude angle Ra, and the error e is It should be as small as possible to ensure the stable attitude of the load to the ground.
  • FIG. 12 is a control principle diagram of the gimbal of the movable platform when it is in a follow mode according to an embodiment of the present application.
  • the control method further includes: determining the target relative attitude angle Rj of the load and the support mechanism; obtaining the measured relative attitude angle yj of the load and the support mechanism; according to the target relative attitude angle Rj and the measured relative attitude angle Rj The attitude angle yj controls the gimbal to keep the relative attitude of the load and the support mechanism stable.
  • Controlling the gimbal according to the target relative attitude angle Rj and the measured relative attitude angle yj to keep the relative attitude of the load and the support mechanism stable may include: determining the target relative attitude between the load and the support mechanism according to the target relative attitude angle Rj and the measured relative attitude angle yj Attitude angular velocity; obtains the measured relative attitude angular velocity between the load and the support mechanism According to the target relative attitude angular velocity and the measured relative attitude angular velocity Determine the control torque u of the motor of the gimbal 200; control the motor according to the control torque u to keep the relative posture of the load and the support mechanism stable.
  • Determining the target relative attitude angular velocity between the load and the support mechanism according to the target relative attitude angle Rj and the measured relative attitude angle yj may include: determining the error e (in this case, the joint angle error) according to the target relative attitude angle Rj and the measured relative attitude angle yj , and then determine the target relative attitude angular velocity through the joint angle loop controller C3.
  • Determining the control torque of the motor of the gimbal may include: acquiring the external disturbance d received by the gimbal, the external disturbance d can cause the position and/or attitude of the gimbal to change; according to the target relative attitude angular velocity, measure the relative attitude angular velocity And the external disturbance d determines the control torque u.
  • the ground measurement angular velocity And the joint angular velocity loop controller C4 obtains the torque to be corrected, and determines the control torque u according to the torque to be corrected and the external disturbance d.
  • the role of the follow mode is to design the joint angle loop controller C3 and the joint angular velocity loop controller C4, so that under the action of the external disturbance d, the measured relative attitude angle yj is as close to the target relative attitude angle Rj as possible,
  • the error e is as small as possible to ensure that the relative angle between the gimbal and the support mechanism remains unchanged, and the gimbal closely follows the attitude of the support mechanism to adjust the attitude.
  • the target relative attitude angle Rj does not need to be measured in real time, so that less physical quantities need to be measured, and only the relative attitude angular velocity needs to be measured Therefore, the error caused by the measurement accuracy can be reduced, and the movable platform does not need to activate more sensors, which improves the user experience.
  • FIG. 13 is a control principle diagram when the pan/tilt of the movable platform is in a follow mode according to another embodiment of the present application.
  • the control method further includes: determining the ground target attitude angle Rfc of the load; obtaining the ground measurement attitude angle ya of the load; according to the ground target attitude angle Rfc and the ground measurement of the load
  • the attitude angle ya controls the gimbal to keep the relative attitude of the load and the support mechanism stable.
  • the ground target attitude angle Rfc of the load can be determined by the ground measurement attitude angle of the support mechanism.
  • the ground measurement attitude angle ya can be obtained by measuring units, such as inertial measurement units, electronic accelerometers and gyroscopes, etc., and can also be obtained by fusion attitude estimator FUS through attitude fusion.
  • Control the gimbal according to the ground target attitude angle Rfc and the load’s ground measurement attitude angle ya to keep the relative attitude of the load and the support mechanism stable including: determining according to the ground target attitude angle Rfc and the load’s ground measurement attitude angle ya
  • the ground target angular velocity of the load obtain the measured ground angular velocity of the load
  • the control torque u of the motor of the gimbal control the motor according to the control torque u to keep the relative posture of the load and the support mechanism stable.
  • Measuring angular velocity over the ground It can be obtained by measuring units, such as inertial measurement units, electronic accelerometers and gyroscopes, etc., and can also be obtained by fusion attitude estimator FUS through attitude fusion.
  • Determining the ground target angular velocity of the load according to the ground target attitude angle Rfc and the load’s ground measurement attitude angle ya may include: determining the error e according to the ground target attitude angle Rfc and the load’s ground measurement attitude angle ya (in this case, it is Attitude error), and then determine the ground target angular velocity of the load through the attitude angle loop controller C1.
  • Determining the control torque of the motor of the gimbal may include: acquiring the external disturbance d received by the gimbal, and the external disturbance d can cause the position and/or attitude of the gimbal to change; according to the target angular velocity to the ground, the angular velocity measured to the ground And the external disturbance d determines the control torque u.
  • the ground measurement angular velocity And the attitude angular velocity loop controller C2 obtains the torque to be corrected, and determines the control torque u according to the torque to be corrected and the external disturbance d.
  • the role of the following mode is to design the attitude angle loop controller C1 and the attitude angular velocity loop controller C2, so that under the action of the external disturbance d, the target attitude angle Rfc to the ground is as close as possible to the ground measurement attitude angle.
  • the error e is as small as possible to ensure that the relative angle between the gimbal and the support mechanism remains unchanged, and the gimbal closely follows the attitude of the support mechanism to adjust the attitude.
  • the above-mentioned stabilization mode and following mode are implemented by a PID (Proportion Integration Differentiation, proportional integral derivative) algorithm, thereby ensuring the control accuracy and response speed. That is to say, in the stabilization mode, the gimbal has strong stabilization performance, that is, the control accuracy during stabilization is high. At the same time, in the follow mode, the gimbal closely follows the adjustment of the support mechanism.
  • PID Proportion Integration Differentiation, proportional integral derivative
  • the PID control framework is similar to the stabilization mode, except that the target-to-ground attitude of the stabilization mode is not measured in real time, while the target-to-ground attitude of the following mode shown in Figure 13 is not measured in real time.
  • the attitude is the measured ground attitude of the support mechanism measured in real time. Therefore, when designing the PID in the following mode shown in FIG. 13 , only a few adjustments need to be made to the control framework of the PID in the stabilization mode, which reduces the production labor cost of the movable platform.
  • the movable platform When the movable platform is powered on, for example, when powered on according to the power-on command issued by the user, the gimbal will enter the follow mode. Then, the movable platform acquires the motion mode selection instruction, and triggers the step of detecting the motion mode currently in which the movable platform is located.
  • the selection instruction may indicate that the user expects the movable platform to be in the first motion mode, then the movable platform is controlled to be in the first motion mode, and the gimbal is placed in the stabilization mode.
  • the user can also issue a selection instruction, and the selection instruction issued this time can indicate that the user expects the movable platform to be in the second motion mode, then controls the movable platform to be in the second motion mode, and makes the gimbal in the stabilization mode.
  • the user can issue a selection instruction again, and the reissued selection instruction can indicate that the user expects the movable platform to be in the third motion mode, and then controls the movable platform to be in the third motion mode.
  • the reason why the movable platform is in the third motion mode is In response to the user's input instruction, the step of controlling the PTZ to enter the follow mode is triggered.
  • the measured ground attitude of the load in the control stabilization mode is the target ground attitude corresponding to the target relative attitude angle of the load and the support mechanism in the follow mode.
  • the user can issue the selection instruction again, and the selection instruction issued again can indicate that the user expects the movable platform to be in the fourth motion mode, then controls the movable platform to be in the fourth motion mode, and makes the pan/tilt head in the follow mode.
  • the movable platform continues to move.
  • the movable platform will automatically switch from the fourth motion mode to the third motion mode. At this time, keep the gimbal in the first motion mode.
  • the gimbal is controlled to be in stabilization mode.
  • the measured ground attitude of the load in the control stabilization mode is the target ground attitude corresponding to the target relative attitude angle of the load and the support mechanism in the follow mode.
  • the step of triggering and detecting the motion mode that the movable platform is currently in is stopped.
  • the movable platform is an aircraft, the movable platform will also land according to the landing command.
  • the gimbal is controlled to be in the stabilization mode, and the step of triggering the detection of the current motion mode of the movable platform is stopped during the landing process. until the movable platform has landed.
  • This embodiment also provides a computer-readable storage medium, where the computer-readable storage medium stores executable instructions, and when executed by one or more processors, the executable instructions can cause one or more processors to execute any of the above A control method of a movable platform.
  • the computer-readable storage medium may also be referred to as a memory, and the executable instructions may also be referred to as a program.
  • the processor may perform various appropriate actions and processes according to programs stored in read only memory (ROM) or loaded into random access memory (RAM).
  • a processor may include, for example, a general-purpose microprocessor (eg, a CPU), an instruction set processor and/or a related chipset, and/or a special-purpose microprocessor (eg, an application specific integrated circuit (ASIC)), among others.
  • the processor may also include onboard memory for caching purposes.
  • the processor may comprise a single processing unit or multiple processing units for performing different actions of the method flow according to this embodiment.
  • the processor, ROM, and RAM are connected to each other through a bus.
  • the processor performs various operations of the method flow according to the present embodiment by executing programs in the ROM and/or RAM. Note that programs may also be stored in one or more memories other than ROM and RAM.
  • the processor may also perform various operations of the method flow according to the present embodiment by executing programs stored in one or more memories.
  • the apparatus to which the computer-readable storage medium is applied may further include an input/output (I/O) interface, which is also connected to the bus.
  • the device employing the computer-readable storage medium may also include one or more of the following components connected to the I/O interface: an input portion including a keyboard, a mouse, etc.; an input portion such as a cathode ray tube (CRT), a liquid crystal display (LCD) ), etc., and an output section for speakers, etc.; a storage section including a hard disk, etc.; and a communication section including a network interface card such as a LAN card, a modem, and the like.
  • the communication section performs communication processing via a network such as the Internet.
  • Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc., are mounted on the drive as needed, so that the computer program read therefrom is installed into the storage section as needed.
  • the method flow according to this embodiment can be implemented as a computer software program.
  • the present embodiment includes a computer program product comprising a computer program carried on a computer-readable storage medium, the computer program containing program code for performing the method shown in the flowchart.
  • the computer program may be downloaded and installed from a network via the communication portion, and/or installed from a removable medium.
  • the above-described functions defined in the system of the present embodiment are executed.
  • computer readable storage media may include, but are not limited to, non-volatile or volatile storage media such as random access memory (RAM), static RAM, dynamic RAM, read only memory (ROM), programmable ROM , Erasable Programmable ROM, Electrically Erasable Programmable ROM, Flash Memory, Secure Digital (SD) Card, etc.
  • RAM random access memory
  • ROM read only memory
  • programmable ROM Erasable Programmable ROM
  • Flash Memory Flash Memory
  • SD Secure Digital
  • This embodiment also provides a control device for a movable platform, where the movable platform includes a pan-tilt for carrying loads and a support mechanism for supporting the pan-tilt.
  • the control device includes a memory and a processor.
  • the memory is used to store the executable instructions
  • the processor is used to execute the executable instructions stored in the memory, so as to perform the following operations: obtain the current motion mode of the movable platform, wherein the movable platform has multiple motion modes, and different motion modes
  • the control methods of the movable platforms are different; according to the current motion mode of the movable platform, it is determined that the gimbal enters the corresponding gimbal mode.
  • follow mode used to keep the relative attitude of the load and support mechanism stable.
  • control device may be located on the movable platform, or may be independent of the movable platform and be communicatively connected with the movable platform.
  • the movable platform may also include a positioning device and a detection device, the positioning device is used to obtain the position information of the movable platform, and the detection device is used to detect the surrounding obstacle information of the movable platform; in different motion modes, the positioning device and/or the detection device The usage status of the mobile platform is different, so that the movable platform has different control methods.
  • the plurality of motion modes may include a first motion mode.
  • the use state of the positioning device is turned on, and the use state of the detection device is to turn on the surrounding obstacle information for the movable platform in the first motion mode.
  • the processor may further perform the following operation: when the current motion mode of the movable platform is the first motion mode, determine that the pan/tilt head enters the stabilization mode.
  • the plurality of motion modes include a second motion mode.
  • the use state of the positioning device is turned on, and the use state of the detection device is to turn on the surrounding obstacle information for the movable platform in the first party.
  • the function of upward visual obstacle avoidance is turned off, and the surrounding obstacle information is used for the visual obstacle avoidance function of the movable platform in the second direction.
  • the processor also performs the following operation: when the current motion mode of the movable platform is the second motion mode, it is determined that the pan-tilt head enters the stabilization mode.
  • the plurality of motion modes include a third motion mode.
  • the use state of the positioning device is to close the function of the position information for controlling the position of the movable platform, and the use state of the detection device is to close the surrounding
  • the obstacle information is used for the visual obstacle avoidance function of the movable platform in the first direction and the second direction.
  • the processor also performs the following operation: when the current motion mode of the movable platform is the third motion mode, it is determined that the pan-tilt head enters the follow mode.
  • the processor may also perform the following operations: determine the reason why the movable platform is in the third motion mode; when the result of the judgment indicates that the reason why the movable platform is in the third motion mode is in response to the user When the input command is entered, the step of determining that the gimbal enters the follow mode is triggered.
  • the processor may also perform the following operations: when the result of the judgment indicates that the movable platform is in the third movement mode because the movable platform is automatically switched from the last movement mode to the third movement mode, determine that the gimbal remains in the last movement mode Corresponding stabilization mode or follow mode.
  • the positioning means may comprise a global positioning system, and the detection means may comprise a visual positioning system.
  • the triggering condition for the movable platform to automatically switch from the previous motion mode to the third motion mode may include a decrease in reliability of detection information of the global positioning system and the visual positioning system.
  • the processor may further perform the following operation: when the signal of the global positioning system is lower than a preset signal threshold, the reliability of determining the detection information of the global positioning system is reduced.
  • the processor may further perform the following operation: when the illumination around the movable platform is lower than the preset brightness threshold, the reliability of determining the detection information of the visual positioning system is reduced.
  • the plurality of motion modes include a fourth motion mode.
  • the use state of the positioning device is turned on, and the use state of the detection device is to turn off the surrounding obstacle information for the movable platform to operate in the fourth motion mode.
  • the processor may also perform the following operation: when the current motion mode of the movable platform is the fourth motion mode, control the pan/tilt to enter the follow mode.
  • the first direction may include a vertical direction
  • the second direction may include a horizontal direction
  • the processor may also perform the following operation: when the movable platform performs a motion operation according to the preset control instruction, control the pan/tilt to be in a stabilization mode.
  • the processor may further perform the following operation: stop triggering the step of acquiring the current motion mode of the movable platform during the process of the movable platform performing the motion operation according to the preset control instruction.
  • the movable platform may include an aircraft, and the preset control command may include a return home command or a landing command.
  • the processor can also perform the following operations: when the movable platform is powered on, it controls the PTZ to enter the follow mode.
  • the processor may further perform the following operation: stop triggering the step of detecting the motion mode currently in which the movable platform is located during the period from when the movable platform is powered on to when the set condition is satisfied.
  • the setting conditions may include: the time period after the movable platform is powered on reaches a time period threshold; or the movable platform obtains an instruction for selecting a motion mode.
  • the processor can also perform the following operations: control the measured ground attitude of the load in the stabilization mode to be the target ground attitude corresponding to the target relative attitude angle of the load and the support mechanism in the follow mode .
  • the processor can also perform the following operations: control the measured relative attitude angle of the load and the support mechanism in the follow mode to the target relative attitude angle corresponding to the target ground attitude of the load in the stabilization mode .
  • the processor can also perform the following operations: determine the target relative attitude angle between the load and the support mechanism; obtain the measured relative attitude angle between the load and the support mechanism; control the gimbal according to the target relative attitude angle and the measured relative attitude angle , to keep the relative posture of the load and the support mechanism stable.
  • the processor may also perform the following operations: determine the target relative attitude angular velocity between the load and the support mechanism according to the target relative attitude angle and the measured relative attitude angle; obtain the measured relative attitude angular velocity between the load and the support mechanism; according to the target relative attitude angular velocity and the measured relative attitude angular velocity; The attitude angular velocity determines the control torque of the motor of the gimbal; the motor is controlled according to the control torque to keep the relative attitude of the load and the support mechanism stable.
  • the processor may also perform the following operations: acquire external disturbances to the gimbal, which can change the position and/or attitude of the gimbal; determine the control torque according to the target relative attitude angular velocity, the measured relative attitude angular velocity, and the external disturbance.
  • the processor can also perform the following operations: determine the ground target attitude angle of the load; obtain the ground measurement attitude angle of the load; control the gimbal according to the ground target attitude angle and the load ground measurement attitude angle , to keep the relative posture of the load and the support mechanism stable.
  • the ground target attitude angle of the load can be determined by the ground measurement attitude angle of the support mechanism.
  • the processor may also perform the following operations: determine the ground target angular velocity of the load according to the ground target attitude angle and the ground measurement attitude angle of the load; obtain the ground measurement angular velocity of the load; determine the cloud according to the ground target angular velocity and the ground measurement angular velocity Control torque of the motor of the platform; control the motor according to the control torque to keep the relative posture of the load and the support mechanism stable.
  • the processor may also perform the following operations: acquire external disturbances to the gimbal, which can change the position and/or attitude of the gimbal; determine the control torque according to the target angular velocity on the ground, the measured angular velocity on the ground, and the external disturbance.
  • This embodiment also provides a movable platform, and the movable platform includes a pan-tilt for carrying loads and a support mechanism for supporting the pan-tilt.
  • the removable platform also includes memory and a processor.
  • Memory is used to store executable instructions.
  • the processor is configured to execute the executable instructions stored in the memory, so as to perform the following operations: obtain the current motion mode of the movable platform, wherein the movable platform has multiple motion modes, and the control modes of the movable platform under different motion modes Different; according to the current motion mode of the movable platform, it is determined that the gimbal enters the corresponding gimbal mode.
  • the gimbal mode includes a stabilization mode for maintaining the stability of the load's attitude towards the ground, and a stabilization mode for maintaining the load and supporting mechanism. The relative attitude of the following mode is stable.
  • the movable platform may also include a positioning device and a detection device, the positioning device is used to obtain the position information of the movable platform, and the detection device is used to detect the surrounding obstacle information of the movable platform; in different motion modes, the positioning device and/or the detection device The usage status of the mobile platform is different, so that the movable platform has different control methods.
  • the plurality of motion modes may include a first motion mode.
  • the use state of the positioning device is turned on, and the use state of the detection device is to turn on the surrounding obstacle information for the movable platform in the first motion mode.
  • the processor may further perform the following operation: when the current motion mode of the movable platform is the first motion mode, determine that the pan/tilt head enters the stabilization mode.
  • the plurality of motion modes may include a second motion mode.
  • the use state of the positioning device is turned on, and the use state of the detection device is to turn on the surrounding obstacle information for the movable platform in the first motion mode.
  • the function of visual obstacle avoidance in the direction is turned off, and the surrounding obstacle information is used for the visual obstacle avoidance function of the movable platform in the second direction.
  • the processor may further perform the following operation: when the current motion mode of the movable platform is the second motion mode, determine that the pan/tilt head enters the stabilization mode.
  • the plurality of motion modes may include a third motion mode.
  • the use state of the positioning device is to turn off the function of the position information for controlling the position of the movable platform
  • the use state of the detection device is to turn off
  • the surrounding obstacle information is used for the visual obstacle avoidance function of the movable platform in the first direction and the second direction.
  • the processor also performs the following operation: when the current motion mode of the movable platform is the third motion mode, it is determined that the pan-tilt head enters the follow mode.
  • the processor may also perform the following operations: determine the reason why the movable platform is in the third motion mode; when the result of the judgment indicates that the reason why the movable platform is in the third motion mode is in response to the user When the input command is entered, the step of determining that the gimbal enters the follow mode is triggered.
  • the processor may also perform the following operations: when the result of the judgment indicates that the movable platform is in the third movement mode because the movable platform is automatically switched from the last movement mode to the third movement mode, determine that the gimbal remains in the last movement mode Corresponding stabilization mode or follow mode.
  • the positioning means may comprise a global positioning system, and the detection means may comprise a visual positioning system.
  • the triggering condition for the movable platform to automatically switch from the previous motion mode to the third motion mode may include a decrease in reliability of detection information of the global positioning system and the visual positioning system.
  • the processor may further perform the following operation: when the signal of the global positioning system is lower than a preset signal threshold, the reliability of determining the detection information of the global positioning system is reduced.
  • the processor may further perform the following operation: when the illumination around the movable platform is lower than the preset brightness threshold, the reliability of determining the detection information of the visual positioning system is reduced.
  • the plurality of motion modes may include a fourth motion mode.
  • the use state of the positioning device is turned on, and the use state of the detection device is to turn off the surrounding obstacle information for the movable platform to operate in the fourth motion mode.
  • the processor may also perform the following operation: when the current motion mode of the movable platform is the fourth motion mode, it is determined that the pan-tilt head enters the follow mode.
  • the first direction may include a vertical direction
  • the second direction may include a horizontal direction
  • the processor may also perform the following operation: when the movable platform performs a motion operation according to the preset control instruction, control the pan/tilt to be in a stabilization mode.
  • the processor may further perform the following operation: stop the step of triggering and detecting the motion mode that the movable platform is currently in during the process that the movable platform performs the motion operation according to the preset control instruction.
  • the movable platform may include an aircraft, and the preset control command may include a return home command or a landing command.
  • the processor can also perform the following operations: when the movable platform is powered on, it controls the PTZ to enter the follow mode.
  • the processor may further perform the following operation: stop triggering the step of detecting the motion mode currently in which the movable platform is located during the period from when the movable platform is powered on to when the set condition is satisfied.
  • the setting conditions may include: the time period after the movable platform is powered on reaches a time period threshold, or the movable platform obtains a motion mode selection instruction.
  • the processor can also perform the following operations: control the measured ground attitude of the load in the stabilization mode to be the target ground attitude corresponding to the target relative attitude angle of the load and the support mechanism in the follow mode .
  • the processor can also perform the following operations: control the measured relative attitude angle of the load and the support mechanism in the follow mode to the target relative attitude angle corresponding to the target ground attitude of the load in the stabilization mode .
  • the processor can also perform the following operations: determine the target relative attitude angle between the load and the support mechanism; obtain the measured relative attitude angle between the load and the support mechanism; control the gimbal according to the target relative attitude angle and the measured relative attitude angle , to keep the relative posture of the load and the support mechanism stable.
  • the processor may also perform the following operations: determine the target relative attitude angular velocity between the load and the support mechanism according to the target relative attitude angle and the measured relative attitude angle; obtain the measured relative attitude angular velocity between the load and the support mechanism; according to the target relative attitude angular velocity and the measured relative attitude angular velocity; The attitude angular velocity determines the control torque of the motor of the gimbal; the motor is controlled according to the control torque to keep the relative attitude of the load and the support mechanism stable.
  • the processor may also perform the following operations: acquire external disturbances to the gimbal, which can change the position and/or attitude of the gimbal; determine the control torque according to the target relative attitude angular velocity, the measured relative attitude angular velocity, and the external disturbance.
  • the processor can also perform the following operations: determine the ground target attitude angle of the load; obtain the ground measurement attitude angle of the load; control the gimbal according to the ground target attitude angle and the load ground measurement attitude angle , to keep the relative posture of the load and the support mechanism stable.
  • the ground target attitude angle of the load can be determined by the ground measurement attitude angle of the support mechanism.
  • the processor may also perform the following operations: determine the ground target angular velocity of the load according to the ground target attitude angle and the ground measurement attitude angle of the load; obtain the ground measurement angular velocity of the load; determine the cloud according to the ground target angular velocity and the ground measurement angular velocity Control torque of the motor of the platform; control the motor according to the control torque to keep the relative posture of the load and the support mechanism stable.
  • the processor may also perform the following operations: acquire external disturbances to the gimbal, which can change the position and/or attitude of the gimbal; determine the control torque according to the target angular velocity on the ground, the measured angular velocity on the ground, and the external disturbance.
  • This embodiment also provides a movable platform assembly, and the movable platform assembly includes a movable platform and a remote control terminal.
  • the movable platform is any of the above-mentioned movable platforms, and the remote control terminal is communicatively connected to the movable platform for controlling the movable platform, wherein the movement mode of the movable platform can be switched through the remote control terminal.
  • the remote control terminal may include a remote control or smart terminal of a mobile platform, such as a mobile phone, tablet, computer, smart bracelet, VR glasses, handle, etc., which can be switched by physical components (such as buttons or joysticks) or virtual buttons. Movement mode of the mobile platform.
  • the movable platform is an unmanned aerial vehicle
  • the P, S, M, and A gears described above can be switched by the user manually operating the remote control terminal, and the A gear can also be automatically entered by the movable platform.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Studio Devices (AREA)

Abstract

Procédé de commande pour une plateforme mobile, support de stockage lisible par ordinateur, dispositif de commande pour une plateforme mobile, plateforme mobile et ensemble plateforme mobile. Le procédé de commande consiste : à acquérir un mode de déplacement actuel d'une plateforme mobile, la plateforme mobile présentant une pluralité de modes de déplacement, la plateforme mobile dans différents modes de commande présentant différents genres de commande, et la plateforme mobile comprenant un cardan destiné à charger une charge et un mécanisme de support destiné à supporter le cardan ; et à déterminer, en fonction du mode de déplacement actuel de la plateforme mobile, que le cardan entre dans un mode de cardan correspondant, le mode de cardan comportant un mode de stabilisation destiné à maintenir la posture de la charge par rapport au sol stabilisé, et un mode suivant destiné à maintenir la posture de la charge par rapport au mécanisme de support stabilisé. Le procédé réduit la difficulté de fonctionnement de la plateforme mobile, et si le mode de déplacement actuel de la plateforme mobile est différent, les genres de commande du cardan pour la posture de la charge peuvent satisfaire aux exigences de différents modes de déplacement.
PCT/CN2020/139528 2020-12-25 2020-12-25 Plateforme mobile et procédé de commande et dispositif associé WO2022134036A1 (fr)

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PCT/CN2020/139528 WO2022134036A1 (fr) 2020-12-25 2020-12-25 Plateforme mobile et procédé de commande et dispositif associé
CN202080073976.5A CN114641746A (zh) 2020-12-25 2020-12-25 可移动平台及其控制方法、装置

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CN115686053B (zh) * 2023-01-04 2023-04-18 北京航科京工科技有限责任公司 负载姿态调节装置及方法

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