WO2022193317A1

WO2022193317A1 - Method for controlling gimbal of unmanned aerial vehicle, and unmanned aerial vehicle and storage medium

Info

Publication number: WO2022193317A1
Application number: PCT/CN2021/081891
Authority: WO
Inventors: 段武阳; 谢振生
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2021-03-19
Filing date: 2021-03-19
Publication date: 2022-09-22
Also published as: CN116723981A

Abstract

A method for controlling a gimbal of an unmanned aerial vehicle, and an unmanned aerial vehicle and a storage medium. A gimbal is arranged on an unmanned aerial vehicle, and is used for carrying a photographic apparatus. The method comprises: acquiring the velocity direction and the horizontal acceleration of an unmanned aerial vehicle during the flight process of the unmanned aerial vehicle (S101); and according to the velocity direction and the horizontal acceleration, controlling a gimbal to drive a photographic apparatus to rotate in the pitching direction (S102).

Description

PTZ control method of unmanned aerial vehicle, unmanned aerial vehicle and storage medium

technical field

The present application relates to the technical field of unmanned aerial vehicles, and in particular, to a pan-tilt control method of an unmanned aerial vehicle, an unmanned aerial vehicle and a storage medium.

Background technique

The gimbal of the traditional aerial camera has a three-axis self-stabilization function, which keeps the attitude of the camera device horizontal to obtain a stable viewing angle. Different from the aerial camera strategy, in general, the first-person perspective (FPV, First Person View) flight of the traversing aircraft, the camera device and the fuselage are kept fixed, and the image transmission screen is bound to the attitude of the drone body, and the image transmission screen will be It will directly reflect the rotation and translation of the drone body; this is also the most direct reason for the difference between the FPV flight experience and the aerial photography flight experience.

However, both ways can only meet the needs of their respective fields. The flight control of the aerial camera is simpler, but the captured images lack a sense of movement; the images captured by the traverse aircraft are more sporty, but the control is difficult.

SUMMARY OF THE INVENTION

Based on this, the present application provides a pan-tilt control method for an unmanned aerial vehicle, an unmanned aerial vehicle and a storage medium.

In a first aspect, the present application provides a method for controlling a pan/tilt of an unmanned aerial vehicle, wherein the pan/tilt is arranged on the drone for carrying a camera device, and the method includes:

During the flight of the UAV, obtain the speed direction and horizontal acceleration of the UAV;

According to the speed direction and the horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.

In a second aspect, the present application provides a pan-tilt control method for an unmanned aerial vehicle, wherein the pan-tilt is arranged on the unmanned aerial vehicle for carrying a camera device, and the method includes:

Get yaw rate and preset look-ahead time;

According to the yaw angular velocity and the preset look-ahead time, the gimbal is controlled to rotate in the yaw direction, so that the gimbal drives the camera device toward the area where the drone is about to fly.

In a third aspect, the present application provides an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a gimbal, and the gimbal is used for carrying a camera device, and the unmanned aerial vehicle further comprises: a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

In a fourth aspect, the application provides an unmanned aerial vehicle, the unmanned aerial vehicle is provided with a gimbal, and the gimbal is used for carrying a camera device, and the unmanned aerial vehicle further comprises: a memory and a processor;

the memory is used to store computer programs;

Get yaw rate and preset look-ahead time;

In a fifth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor enables the processor to implement the above-mentioned method in the first aspect. Man-machine PTZ control method.

In a sixth aspect, the present application provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor enables the processor to implement the above-mentioned method in the second aspect. Man-machine PTZ control method.

The embodiments of the present application provide a pan-tilt control method for an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium. The pan-tilt head is set on the unmanned aerial vehicle and is equipped with a camera device. One case is: during the flight of the unmanned aerial vehicle , obtain the speed direction and horizontal acceleration of the UAV; according to the speed direction and horizontal acceleration, control the pan/tilt to drive the camera device to rotate in the pitch direction. Since the gimbal is controlled to rotate in the pitch direction according to the speed direction and horizontal acceleration, the images captured by the camera device can reflect the changes in the horizontal acceleration and speed direction of the UAV, and have a brand-new aerial photography experience. Another situation is: acquiring the yaw angular velocity and the preset look-ahead time; controlling the gimbal to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time, so that the gimbal drives the camera device towards the area where the drone is about to fly. Since the gimbal is controlled to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time, the gimbal drives the camera to the area where the drone is about to fly, so that the operator can observe the environment in advance, and then further follow the observed environment. Operating the drone can improve the sense of motion of the picture while reducing the risk of the drone colliding with obstacles.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not limiting of the present application.

Description of drawings

In order to explain the technical solutions of the embodiments of the present application more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. For those of ordinary skill, other drawings can also be obtained from these drawings without any creative effort.

1 is a schematic flowchart of an embodiment of a pan-tilt control method for an unmanned aerial vehicle of the present application;

Fig. 2 is a schematic diagram of the state of the drone and the pan-tilt under the application scenario of the pan-tilt control method of the drone of the present application and the schematic diagram of the state of the drone and the pan-tilt of the traditional aerial photography machine in this application scenario;

3 is a schematic flowchart of another embodiment of a pan-tilt control method for an unmanned aerial vehicle of the present application;

4 is a schematic flowchart of another embodiment of a pan-tilt control method for an unmanned aerial vehicle of the present application;

5 is a schematic structural diagram of an embodiment of a control device in the pan-tilt control method of an unmanned aerial vehicle of the present application;

6 is a schematic flowchart of another embodiment of a pan-tilt control method for an unmanned aerial vehicle of the present application;

7 is a schematic flowchart of another embodiment of a pan-tilt control method for an unmanned aerial vehicle of the present application;

8 is a schematic flowchart of another embodiment of a pan-tilt control method for an unmanned aerial vehicle of the present application;

9 is a schematic diagram of an embodiment of determining the target yaw angle of the PTZ in the PTZ control method of the UAV of the present application;

FIG. 10 is a schematic structural diagram of an embodiment of the UAV of the present application.

Detailed ways

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

The flowcharts shown in the figures are for illustration only, and do not necessarily include all contents and operations/steps, nor do they have to be performed in the order described. For example, some operations/steps can also be decomposed, combined or partially combined, so the actual execution order may be changed according to the actual situation.

The traditional aerial camera uses the gimbal to keep the attitude of the camera device horizontal to obtain a stable viewing angle. The camera device and the fuselage of the traversing aircraft are kept firmly connected, and the image transmission screen is bound to the posture of the drone body. The image transmission screen directly reflects the rotation and translation of the drone body. However, both ways can only meet the needs of their respective fields. The flight control of the aerial camera is simpler, but the captured images lack a sense of movement; the images captured by the traverse aircraft are more sporty, but the control is difficult.

The embodiments of the present application provide a pan-tilt control method for an unmanned aerial vehicle, an unmanned aerial vehicle, and a storage medium. The pan-tilt head is set on the unmanned aerial vehicle and is equipped with a camera device. One case is: during the flight of the unmanned aerial vehicle , obtain the speed direction and horizontal acceleration of the UAV; according to the speed direction and horizontal acceleration, control the pan/tilt to drive the camera device to rotate in the pitch direction. Since the gimbal is controlled to rotate in the pitch direction according to the speed direction and horizontal acceleration, the images captured by the camera device can reflect the changes in the horizontal acceleration and speed direction of the UAV, and have a brand-new aerial photography experience. Another situation is: acquiring the yaw angular velocity and the preset look-ahead time; controlling the gimbal to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time, so that the gimbal drives the camera device towards the area where the drone is about to fly. Since the gimbal is controlled to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time, the gimbal drives the camera device toward the area where the drone is about to fly, so the operator can observe the environment in advance, improving the sense of motion of the picture at the same time. It also reduces the risk of the drone colliding with obstacles.

Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and features in the embodiments may be combined with each other without conflict.

Referring to FIG. 1 , FIG. 1 is a schematic flowchart of an embodiment of a pan/tilt control method for an unmanned aerial vehicle of the present application. In this embodiment, the pan/tilt head is set on the unmanned aerial vehicle for carrying a camera device, and the method includes: step S101 and step S102.

Step S101: During the flight of the UAV, obtain the speed direction and horizontal acceleration of the UAV.

Step S102: Control the gimbal to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration.

The speed direction of the UAV can usually be determined by the horizontal and vertical speed of the UAV. The horizontal speed and vertical speed of the UAV can be obtained by measuring the speed sensor, or by mapping the speed command. For example, when the user pushes the accelerator lever of the remote controller upwards, it can correspond to the upward speed command in the vertical direction. For another example, when the user pushes the forward joystick and the accelerator joystick of the remote controller at the same time, the vertical upward speed command and the horizontal forward speed command may be corresponding.

The horizontal acceleration of the UAV can be obtained by measuring the acceleration sensor, or by mapping the horizontal acceleration command. For example, in one flight mode, the user pushes the forward joystick of the remote control, which corresponds to the forward acceleration of the aircraft, and the amount of the forward joystick corresponds to the horizontal acceleration command; or in another flight mode, the forward joystick The rod amount corresponds to the horizontal speed command. At this time, the horizontal speed command can be differentiated and filtered to correspond to the horizontal acceleration command.

According to the speed direction and horizontal acceleration, how to control the gimbal to drive the camera device to rotate in the pitch direction, that is, how the speed direction and the horizontal acceleration affect the gimbal to rotate in the pitch direction can be determined according to specific practical applications .

For example: for horizontal acceleration, only when the horizontal acceleration is a forward positive horizontal acceleration, the positive horizontal acceleration will affect the rotation of the gimbal in the pitch direction, the drone accelerates backward, and the horizontal acceleration is a backward negative value During horizontal acceleration, the negative horizontal acceleration will not affect the gimbal's rotation in the pitch direction. When the horizontal acceleration is zero, it will not affect the gimbal's rotation in the pitch direction. Positive horizontal acceleration will affect the gimbal's rotation angle in the pitch direction, etc. .

For another example, when the speed direction of the UAV is obliquely upward, the gimbal also rotates obliquely upward (ie, the elevation direction) with the camera device. Rotate diagonally downward (ie, in the downward direction), and so on.

The gimbal in the embodiment of the present application is arranged on the drone and is equipped with a camera device. During the flight of the drone, the speed direction and horizontal acceleration of the drone are obtained; according to the speed direction and horizontal acceleration, the control system is controlled. The pan/tilt drives the camera device to rotate in the pitch direction. Since the gimbal is controlled to rotate in the pitch direction according to the speed direction and horizontal acceleration, the images captured by the camera device can reflect the changes in the horizontal acceleration and speed direction of the UAV, with a brand-new aerial photography experience, and the flight control is relatively simple.

In one embodiment, the included angle between the speed direction and the horizontal direction is positively correlated with the pitch angle of the gimbal. That is, the greater the included angle between the speed direction and the horizontal direction, the greater the pitch angle of the gimbal. Among them, when the speed direction is upward, the greater the included angle between the speed direction and the horizontal direction, the greater the elevation angle of the gimbal; when the speed direction is downward, the greater the included angle between the speed direction and the horizontal direction, the greater the gimbal's The greater the depression angle. If the speed direction of the drone is upward, the gimbal can drive the camera device to look up; if the speed direction of the drone is downward, the gimbal can drive the camera device to look down. In this way, the camera device can be made to look up. The captured images reflect the changes in the speed and direction of the UAV, which can simulate the FPV experience; in addition, when the UAV is flying at high speed in a complex environment, the gimbal looks up or down with the camera device, so that the user can effectively obtain the oblique upward or oblique view. The target field of view and obstacle conditions below can improve flight safety.

In one embodiment, the pitch angle of the gimbal is smaller than the included angle between the speed direction and the horizontal direction. Since the speed and direction of the UAV changes greatly, if the pitch angle of the gimbal is the angle between the speed direction and the horizontal direction, it is easy to make the gimbal frequently rotate at a large angle, and the user experience is not good. Therefore, in order to avoid the gimbal as much as possible Follow the speed direction of the drone to frequently rotate at a large angle to avoid reducing the user experience, and the pitch angle of the gimbal can be made smaller than the angle between the speed direction and the horizontal direction.

Referring to Figure 2, the UAV is climbing upward and flying forward, the body speed is v, and the angle between the speed direction and the horizontal direction is θ. Referring to the right side shown in Figure 2, the right side shown in Figure 2 is a schematic diagram of the state of the UAV and the gimbal in the application scenario of the traditional aerial camera. For the traditional aerial camera, the gimbal at this time is in the geodetic coordinate system. The pitch angle is kept horizontal, which is 0, and the camera device driven by the gimbal at this time is also kept horizontal. Referring to the left side shown in FIG. 2 , the left side shown in FIG. 2 is a schematic diagram of the state of the drone and the PTZ in the application scenario of the PTZ control method of the unmanned aerial vehicle of the present application, and the PTZ at this time is in the geodetic coordinates The pitch angle under the system is θ', and θ' is a function of the included angle θ between the speed direction of the drone and the horizontal direction.

In one embodiment, the horizontal acceleration includes a forward horizontal acceleration, and the forward horizontal acceleration is positively correlated with the depression angle of the gimbal. If the drone is in a state of forward acceleration, the gimbal will drive the camera to look down; and the greater the forward acceleration, the greater the depression angle, which can increase the visual sense of motion and bring an acceleration experience similar to that of a traversing aircraft. .

In one embodiment, the target pitch angle of the pan/tilt is determined, and then the pan/tilt is controlled to drive the camera device to rotate in the pitch direction according to the target pitch angle of the pan/tilt. That is, step S102, according to the speed direction and the horizontal acceleration, controlling the pan/tilt to drive the camera device to rotate in the pitch direction, may include: sub-step S102A1 and sub-step S102A2, as shown in Figure 3.

Sub-step S102A1: Determine the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration.

Sub-step S102A2: controlling the pan/tilt to drive the camera device to rotate in the pitch direction according to the target pitch angle of the pan/tilt.

In one embodiment, in order to further refine the relationship between the speed direction and the horizontal acceleration and the target pitch angle of the gimbal, sub-step S102A1, the The target pitch angle may further include: sub-step S102A11, sub-step S102A12 and sub-step S102A13, as shown in FIG. 4 .

Sub-step S102A11: Determine the first target pitch angle of the gimbal according to the speed direction.

Sub-step S102A12: Determine a second target pitch angle of the gimbal according to the horizontal acceleration.

Sub-step S102A13: Determine the target pitch angle of the gimbal according to the first target pitch angle and the second target pitch angle.

The sub-step S102A11 and the sub-step S102A12 have no sequence relationship. The first target pitch angle of the gimbal can be more accurately determined by the speed direction, and the second target pitch angle of the gimbal can be determined more accurately through the horizontal acceleration. According to the more accurate first target pitch angle and The second target pitch angle can more accurately determine the target pitch angle of the gimbal; and can more accurately determine the respective contributions of the speed direction and the horizontal acceleration to the target pitch angle of the gimbal; can be adjusted more accurately The size of the respective contributions of the velocity direction and the horizontal acceleration to the target pitch angle of the gimbal.

For example: in a practical application, the first target pitch angle of the gimbal can be equal to the product of the angle between the speed direction and the horizontal direction and the first coefficient; the second target pitch angle of the gimbal can be equal to the horizontal acceleration and the second coefficient. product. The first coefficient may represent the contribution of the angle between the speed direction and the horizontal direction to the first target pitch angle of the gimbal, and the second coefficient may represent the contribution of the horizontal acceleration to the second target pitch angle of the gimbal. The first coefficient and the second coefficient can be adjusted.

In one embodiment, the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.

In one embodiment, in addition to controlling the pan/tilt to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration, the user is also allowed to participate in the adjustment and control of the pan/tilt via the control device. The camera is rotated in the tilt direction. That is, the method further includes: receiving a gimbal pitch angle adjustment instruction sent by the control device, and the gimbal pitch angle adjustment instruction includes an angle adjustment instruction and/or an angular velocity adjustment instruction of the gimbal pitch angle; at this time, in step S102, the The step of controlling the pan/tilt to drive the camera to rotate in the pitch direction according to the speed direction and the horizontal acceleration may further include: controlling the pan/tilt tilt angle adjustment instruction according to the speed direction and the horizontal acceleration and the pan/tilt angle adjustment instruction. The pan/tilt drives the camera device to rotate in the pitch direction.

5, the control device 300 is provided with a first pan-tilt adjustment part 31 and a second pan-tilt adjustment part 32, and the control device 300 generates the pan-tilt when the first pan-tilt adjustment part 31 is operated The angle adjustment instruction of the pitch angle, the control device 300 generates the angular velocity adjustment instruction of the pitch angle of the gimbal when the second pan/tilt adjustment part 32 is operated.

In this embodiment, the angle adjustment command of the gimbal pitch angle can realize rough adjustment and rapid adjustment of the gimbal pitch angle; the angular velocity adjustment command of the gimbal pitch angle can realize fine adjustment and slow adjustment of the gimbal pitch angle. The angle adjustment command and angular velocity adjustment command of the gimbal pitch angle can be implemented separately or in combination. When the angle adjustment command of the gimbal pitch angle and the angular velocity adjustment command are implemented in combination, the user can make the gimbal quickly reach the corresponding rough pitch angle position through the first gimbal adjustment part 31 , and then adjust the gimbal through the second gimbal adjustment part 32 The pitch angle of the gimbal is fine-tuned to make the gimbal reach the precise pitch angle position that the user wants to reach.

Wherein, the angle adjustment instruction of the pitch angle of the gimbal is used to instruct the gimbal to return to the center, adjust to the maximum depression angle or adjust to the maximum elevation angle.

In this embodiment, on the basis of controlling the viewing angle of the gimbal according to the speed direction and horizontal acceleration, a first gimbal adjusting component 31 is added to realize the function of quickly switching the pitch angle of the gimbal to the center of the gimbal, the maximum depression angle or the maximum elevation angle. For example, the user can trigger the pitch angle of the gimbal to quickly adjust vertically up or down through the remote control, the app of the user device, or other control terminals, which is convenient for the user to observe the drone climbing or landing.

In an application, the angle adjustment command of the pitch angle of the gimbal can correspond to an absolute angle, and the first gimbal adjustment part 31 can be set as a switch with different gears, each gear can correspond to an absolute angle, and the user can Adjust the switch in different gears, so as to issue the angle adjustment command of the gimbal pitch angle with different absolute angles. For example, the switch has three gears, which correspond to the centering angle of the gimbal, the maximum depression angle, and the maximum elevation angle. Specifically, the switch can be set vertically. When the user adjusts the switch to the uppermost gear, it indicates that the adjustment is indicated. To the maximum elevation angle, when the user adjusts the switch to the middle gear, it indicates that the gimbal is instructed to return to the center; when the user adjusts the switch to the lowest gear, it indicates to adjust to the maximum depression angle. For example, when a user wears glasses to experience flying, and wants to control the drone to land, he can adjust the gimbal to the maximum depression angle by simply operating the switch without taking off the glasses, and then observe the environment below the drone. The man-machine landed.

In one embodiment, in step S102, the step of controlling the gimbal to drive the camera to rotate in the pitch direction according to the speed direction and the horizontal acceleration and the pitch angle adjustment instruction of the gimbal may further include: a sub-step S102B1 and sub-step S102B2, as shown in FIG. 6 .

Sub-step S102B1: Determine the target pitch angle of the gimbal according to the speed direction and horizontal acceleration and the gimbal pitch angle adjustment instruction.

Sub-step S102B2: According to the target pitch angle of the gimbal, control the gimbal to drive the camera device to rotate in the pitch direction.

In one embodiment, sub-step S102B1, the determining the target pitch angle of the gimbal according to the speed direction and horizontal acceleration and the gimbal pitch angle adjustment instruction, may further include: sub-step S102B11, sub-step S102B12, sub-step S102B13 and sub-step S102B14, as shown in FIG. 7 .

Sub-step S102B11: Determine the first target pitch angle of the gimbal according to the speed direction.

Sub-step S102B12: Determine a second target pitch angle of the gimbal according to the horizontal acceleration.

Sub-step S102B13: Determine a third target pitch angle of the gimbal according to the gimbal pitch angle adjustment instruction.

Sub-step S102B14: Determine the target pitch angle of the gimbal according to the first target pitch angle, the second target pitch angle, and the third target pitch angle.

The sub-step S102B11, the sub-step S102B12 and the sub-step S102B13 have no sequence relationship. The first target pitch angle of the gimbal can be more accurately determined by the speed direction, the second target pitch angle of the gimbal can be more accurately determined by the horizontal acceleration, and the pitch angle adjustment command of the gimbal can be more accurate. The third target pitch angle of the gimbal is determined accurately, and the target of the gimbal can be more accurately determined according to the relatively accurate first target pitch angle, the second target pitch angle and the third target pitch angle. Pitch angle; and can more accurately determine the speed direction and horizontal acceleration and the gimbal pitch angle adjustment command to their respective contributions to the gimbal's target pitch angle; can more accurately adjust the speed direction and horizontal acceleration and gimbal pitch angle adjustment command The size of the respective contributions to the target pitch angle of the gimbal.

For example: in a practical application, the first target pitch angle of the gimbal can be equal to the product of the angle between the speed direction and the horizontal direction and the first coefficient; the second target pitch angle of the gimbal can be equal to the horizontal acceleration and the second coefficient. Product; the third target pitch angle of the gimbal may be equal to the pitch angle determined in the gimbal pitch angle adjustment instruction, and the gimbal pitch angle adjustment instruction includes an angle adjustment instruction and/or an angular velocity adjustment instruction of the gimbal pitch angle. The first coefficient may represent the contribution of the angle between the speed direction and the horizontal direction to the first target pitch angle of the gimbal, and the second coefficient may represent the contribution of the horizontal acceleration to the second target pitch angle of the gimbal. The first coefficient and the second coefficient can be adjusted. In this embodiment, the first target pitch angle of the gimbal and the second target pitch angle of the gimbal are superimposed on the basis of the pitch angle determined in the pitch angle adjustment command of the gimbal (that is, the third target pitch angle of the gimbal); Therefore, it can not only do automatic angle adjustment, but also allow users to manually adjust it to provide a more free viewing angle experience; when the drone takes off and land, the pitch angle of the third target can be manually adjusted, which will greatly improve the take-off and landing of the drone security.

In one embodiment, the target pitch angle is equal to the sum of the first target pitch angle, the second target pitch angle, and the third target pitch angle.

For example, in an application, the calculation method of the target pitch angle pitch can be:

final_pitch=k ₁ *arc tan(horiz_vel,vert_vel)+k ₂ *horiz_acceleration_cmd+pitch _{gim_ctrl}

Among them, final_pitch represents the target pitch angle of the gimbal, k ₁ *arc tan(horiz_vel, vert_vel) represents the first target pitch angle of the gimbal, k ₁ represents the first coefficient, arc tan(horiz_vel, vert_vel) represents the speed direction and the horizontal The included angle of the directions, k ₂ *horiz_acceleration_cmd represents the second target pitch angle of the gimbal, k ₂ represents the second coefficient, horiz_acceleration_cmd represents the horizontal acceleration in the horizontal acceleration command, and pitch _{gim_ctrl} represents the third target pitch angle of the gimbal. The above application uses the third target pitch angle of the gimbal determined according to the gimbal pitch angle adjustment command issued by the user as the gimbal reference angle, and superimposes the first target of the gimbal determined according to the speed direction on the basis of the gimbal reference angle. The pitch angle and the second target pitch angle of the gimbal determined according to the horizontal acceleration can not only implement automatic angle adjustment, but also allow users to adjust manually, which can provide a more free viewing angle experience.

In one embodiment, the target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system. Since the geodetic coordinate system will not change with the movement state of the drone itself, in this embodiment, the geodetic coordinate system is used as the coordinate system of the target pitch angle of the gimbal, and the target pitch angle of the gimbal is the target pitch in the geodetic coordinate system. In this way, the target pitch angle of the gimbal is relatively stable, and will not change or shake due to the change or shake of the coordinate system (for example, the coordinate system of the body will shake due to the shake of the drone), and the picture captured by the camera will not be affected by the coordinate system. Therefore, it can isolate the aircraft attitude vibration and bring a more maneuverable and immersive flight visual experience.

In one embodiment, the method further includes: when the horizontal acceleration of the drone is zero, controlling the gimbal to drive the camera device to rotate to a preset default angle in the pitch direction. In this embodiment, a preset default angle is preset, and when the drone flies at a constant speed, the gimbal is controlled to rotate to the preset default angle in the pitch direction. In this way, the user can watch the image captured by the camera device under the preset default angle of the gimbal. . Exemplarily, the preset default angle makes the camera device in a horizontal state.

During FPV flight, if the UAV turns the yaw angle at a high speed, it is easy to encounter the yaw angle changing too fast in complex scenes, resulting in the sudden appearance of obstacles in front of the aircraft after turning the yaw angle, and the problem of collision and bombing of the aircraft occurs.

In order to avoid the problem that the drone collides with the drone when the yaw angle is turned, in an embodiment, the method further includes: step S201 and step S202, as shown in FIG. 8 .

Step S201: Acquire the yaw angular velocity and the preset look-ahead time.

Step S202: Control the gimbal to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time, so that the gimbal drives the camera device toward the area where the drone is about to fly.

Since the gimbal is controlled to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time, the gimbal drives the camera to the area where the drone is about to fly, so that the operator can observe the environment in advance, and then further follow the observed environment. Operating the drone can improve the sense of motion of the picture while reducing the risk of the drone colliding with obstacles.

In specific applications, the target yaw angle yaw of the gimbal can be pre-calculated: when the UAV turns at high speed in the yaw direction, based on the current yaw angle of the UAV or gimbal, the yaw angle speed is used for a short period of time. Δt predicts that the target yaw angle Yaw angle of the gimbal can be calculated as:

final_yaw=current_yaw+ω·Δt

Among them, final_yaw represents the target yaw angle of the gimbal, current_yaw represents the current yaw angle of the drone or gimbal, ω represents the yaw angular velocity, and Δt represents the preset look-ahead time.

It should be noted that the current yaw angle of the UAV or gimbal can be the yaw angle measured by the UAV during the flight, or it can be obtained by mapping the yaw angle command. For example, when the user pushes the yaw joystick of the remote control, the command in the yaw direction can be corresponding.

As shown in Figure 9, the current heading angle of the UAV is ψ and has a yaw angular velocity ω. On the left side of Figure 9, the yaw angle yaw of the gimbal of the general aerial camera in the geodetic coordinate system is ψ (that is, the angle between the dotted line on the left side of Figure 9 and the straight line OM). After turning ψ in the heading direction, the corresponding field of view is shown as arc AB. On the right side of Figure 9, the target yaw angle yaw of the gimbal in this embodiment is ψ+ωΔt (that is, the angle between the dotted line on the right side of Figure 9 and the straight line ON), that is, when the drone is flying at high speed, it moves to the yaw direction When rotating (that is, turning yaw at a high speed), use the yaw angular velocity ω of the drone to predict for a short period of time Δt (that is, the preset look-ahead time), and turn the yaw angle to ψ+ωΔt in advance. After turning ψ+ωΔt in the yaw direction, the corresponding field of view is shown in the arc CD; obviously, when the UAV flies forward and turns at high speed, the user can observe the field of view corresponding to the future Δt time in advance, so as to avoid the field of vision. There are obstacles outside that cannot be seen, so as to avoid the situation where the user finds the obstacle after the UAV turns, and the user cannot avoid it. Therefore, it can improve the flight safety and give the user a greater turning maneuverability experience.

In one embodiment, in step S201, the obtaining the yaw angular velocity may include: obtaining the yaw angular velocity when the forward horizontal velocity of the UAV is greater than a speed threshold and the yaw angular velocity is greater than an angular velocity threshold.

Wherein, the yaw angular velocity includes the yaw angular velocity of the UAV or the yaw angular velocity of the gimbal. In a flight mode, such as FPV flight mode, the gimbal drives the yaw attitude of the camera device to follow the yaw attitude of the UAV. At this time, the yaw angular velocity can be either the yaw angular velocity of the UAV or any Describe the yaw angular velocity of the gimbal. In other flight modes, the attitude of the camera device driven by the gimbal does not necessarily follow the attitude of the drone, and the yaw angular velocity in this case may be the yaw angular velocity of the drone.

The embodiment of the present application further provides a pan-tilt control method of the drone in another situation, as shown in FIG. 8 . It should be noted that the content of the pan-tilt control method of the UAV in another case of the embodiment of the present application is basically the same as that of the pan-tilt control method of the UAV in the above-mentioned case. The difference is that the method of this embodiment is shown in FIG. 8 . The flow method shown is the body method. For the specific details of the pan-tilt control method of the UAV in another case of the embodiment of the present application, please refer to the relevant content of the pan-tilt control method of the UAV in the above case, which will not be repeated here.

The pan/tilt is set on the drone for carrying a camera device, and the method includes steps S201 and S202.

Step S201: Acquire the yaw angular velocity and the preset look-ahead time.

In this embodiment of the present application, the yaw angular velocity and the preset look-ahead time are obtained; according to the yaw angular velocity and the preset look-ahead time, the gimbal is controlled to rotate in the yaw direction, so that the gimbal drives the camera device toward the desired direction. The area in which the drone is about to fly. Since the gimbal is controlled to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time, the gimbal drives the camera to the area where the drone is about to fly. The angle of the direction, control the gimbal to rotate in the yaw direction and drive the camera device to face the area where the drone is about to fly in the yaw direction, so it can provide the operator with the environment to observe the yaw angle of the drone in advance. The observed environment can adjust the UAV accordingly when an obstacle is observed, and it can also reduce the risk of the UAV colliding and bombing the aircraft after turning the yaw angle when experiencing a flying experience similar to that of a crossing aircraft, and the flight control is relatively simple.

The acquiring the yaw angular velocity includes: acquiring the yaw angular velocity when the forward horizontal velocity of the UAV is greater than a speed threshold and the yaw angular velocity is greater than an angular velocity threshold.

Wherein, the yaw angular velocity includes the yaw angular velocity of the UAV or the yaw angular velocity of the gimbal.

Wherein, the method further includes: during the flight of the drone, acquiring the speed direction and horizontal acceleration of the drone; controlling the pan/tilt to drive the camera device according to the speed direction and the horizontal acceleration Rotate in the pitch direction.

Wherein, the included angle between the speed direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.

Wherein, the pitch angle of the gimbal is smaller than the angle between the speed direction and the horizontal direction.

Wherein, the horizontal acceleration includes a forward horizontal acceleration, and the forward horizontal acceleration is positively correlated with the depression angle of the gimbal.

Wherein, controlling the gimbal to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration includes: determining the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration; The target pitch angle of the gimbal is controlled, and the gimbal is controlled to drive the camera device to rotate in the pitch direction.

Wherein, determining the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration includes: determining a first target pitch angle of the gimbal according to the speed direction; determining the gimbal according to the horizontal acceleration The second target pitch angle of the gimbal; the target pitch angle of the gimbal is determined according to the first target pitch angle and the second target pitch angle.

Wherein, the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.

Wherein, the method further includes: receiving a pan/tilt pitch angle adjustment instruction sent by a control device, where the pan/tilt pitch angle adjustment instruction includes an angle adjustment instruction and/or an angular velocity adjustment instruction for the pan/tilt pitch angle; direction and horizontal acceleration, and controlling the gimbal to drive the camera device to rotate in the pitch direction, including: controlling the gimbal to drive the camera device according to the speed direction and horizontal acceleration and the adjustment command of the gimbal pitch angle Rotate in the pitch direction.

Wherein, the control device is provided with a first pan-tilt adjustment part and a second pan-tilt adjustment part, and when the first pan-tilt adjustment part is operated, the control device generates an angle adjustment instruction for the pitch angle of the pan-tilt, The control device generates the angular velocity adjustment command when the second pan/tilt adjustment member is operated.

Wherein, the controlling the pan/tilt to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration and the pitch angle adjustment instruction of the pan/tilt head includes: according to the speed direction and the horizontal acceleration and the The gimbal pitch angle adjustment command determines the target pitch angle of the gimbal; and according to the target pitch angle of the gimbal, the gimbal is controlled to drive the camera device to rotate in the pitch direction.

Wherein, determining the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration and the gimbal pitch angle adjustment instruction includes: determining a first target pitch angle of the gimbal according to the speed direction ; Determine the second target pitch angle of the pan-tilt according to the horizontal acceleration; Determine the third target pitch angle of the pan-tilt according to the pan-tilt pitch angle adjustment instruction; According to the first target pitch angle, the The second target pitch angle and the third target pitch angle determine the target pitch angle of the gimbal.

Wherein, the target pitch angle is equal to the sum of the first target pitch angle, the second target pitch angle and the third target pitch angle.

Wherein, the target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.

Wherein, the method further includes: when the horizontal acceleration of the drone is zero, controlling the pan/tilt to drive the camera device to rotate to a preset default angle in the pitch direction.

Referring to FIG. 10, FIG. 10 is a schematic structural diagram of an embodiment of an unmanned aerial vehicle of the present application. It should be noted that the unmanned aerial vehicle of this embodiment can execute the steps in the method for controlling the pan/tilt of the unmanned aerial vehicle in the first case above. , for a detailed description of the relevant content, please refer to the relevant content of the PTZ control method of the drone in the first case above, which will not be repeated here.

The drone 100 is provided with a pan-tilt 3, which is used for carrying a camera device, and the drone 100 further includes: a memory 1 and a processor 2; the processor 2 and the memory 1 are connected through a bus to process the Controller 2 is connected to PTZ 3.

The processor 2 may be a microcontroller unit, a central processing unit, a digital signal processor, or the like.

Wherein, the memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

The memory 1 is used to store a computer program; the processor 2 is used to execute the computer program and implement the following steps when executing the computer program:

During the flight of the drone, the speed direction and the horizontal acceleration of the drone are obtained; according to the speed direction and the horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.

Wherein, when executing the computer program, the processor implements the following steps: determining the target pitch angle of the pan/tilt according to the speed direction and the horizontal acceleration; controlling the pan/tilt according to the target pitch angle of the pan/tilt The pan/tilt drives the camera device to rotate in the pitch direction.

When executing the computer program, the processor implements the following steps: determining a first target pitch angle of the gimbal according to the speed direction; determining a second target pitch of the gimbal according to the horizontal acceleration The target pitch angle of the gimbal is determined according to the first target pitch angle and the second target pitch angle.

Wherein, when executing the computer program, the processor implements the following steps: receiving a pan/tilt pitch angle adjustment instruction sent by a control device, where the pan/tilt pitch angle adjustment instruction includes an angle adjustment instruction for the pan/tilt pitch angle and/or An angular velocity adjustment command; according to the speed direction and horizontal acceleration and the gimbal pitch angle adjustment command, the gimbal is controlled to drive the camera device to rotate in the pitch direction.

Wherein, when executing the computer program, the processor implements the following steps: determining the target pitch angle of the pan/tilt according to the speed direction and horizontal acceleration and the pan/tilt pitch angle adjustment instruction; The target pitch angle of the stage is controlled, and the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.

When executing the computer program, the processor implements the following steps: determining a first target pitch angle of the gimbal according to the speed direction; determining a second target pitch of the gimbal according to the horizontal acceleration determine the third target pitch angle of the gimbal according to the pitch angle adjustment instruction of the gimbal; determine the third target pitch angle according to the first target pitch angle, the second target pitch angle and the third target pitch angle Describe the target pitch angle of the gimbal.

Wherein, when executing the computer program, the processor implements the following steps: when the horizontal acceleration of the drone is zero, controlling the pan/tilt to drive the camera device to rotate to a preset default angle in the pitch direction .

Wherein, when executing the computer program, the processor implements the following steps: acquiring a yaw angular velocity and a preset look-ahead time; controlling the gimbal to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time , so that the gimbal drives the camera device toward the area where the drone is about to fly.

Wherein, when the processor executes the computer program, the following steps are implemented: when the forward horizontal speed of the UAV is greater than the speed threshold and the yaw angular speed is greater than the angular velocity threshold, acquiring the yaw angular velocity.

The embodiment of the present application further provides another unmanned aerial vehicle. It should be noted that the other unmanned aerial vehicle of this embodiment can perform the steps in the above-mentioned other case of the unmanned aerial vehicle's pan-tilt control method. The related content For a detailed description, please refer to the related content of the PTZ control method of the UAV in the above-mentioned other situation, which will not be repeated here.

The drone is provided with a pan/tilt, and the pan/tilt is used for carrying a camera device, and the drone further includes: a memory and a processor; the processor and the memory are connected through a bus, and the processor is connected with the pan/tilt.

Wherein, the processor may be a microcontroller unit, a central processing unit or a digital signal processor, and so on.

Wherein, the memory may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.

The memory is used to store a computer program; the processor is used to execute the computer program and when executing the computer program, implement the following steps:

Obtain the yaw angular velocity and the preset look-ahead time; control the gimbal to rotate in the yaw direction according to the yaw angular velocity and the preset look-ahead time, so that the gimbal drives the camera device toward the drone area to be flown.

Wherein, when executing the computer program, the processor implements the following steps: during the flight of the UAV, acquiring the speed direction and the horizontal acceleration of the UAV; according to the speed direction and the horizontal acceleration, The pan/tilt is controlled to drive the camera device to rotate in the pitch direction.

The present application also provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, causes the processor to implement the above-mentioned any one of the first case. The PTZ control method of the UAV described above. For a detailed description of the relevant content, please refer to the above-mentioned relevant content section, which will not be repeated here.

Wherein, the computer-readable storage medium may be the internal storage unit of the drone in the first case above, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

The present application also provides another computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, causes the processor to implement any one of the above-mentioned other cases. The PTZ control method of the UAV described above. For a detailed description of the relevant content, please refer to the above-mentioned relevant content section, which will not be repeated here.

Wherein, the computer-readable storage medium may be an internal storage unit of the UAV in the above-mentioned other case, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device, such as an equipped plug-in hard disk, smart memory card, secure digital card, flash memory card, and the like.

It should be understood that the terms used in the specification of the present application are only for the purpose of describing particular embodiments and are not intended to limit the present application.

It will also be understood that, as used in this specification and the appended claims, the term "and/or" refers to and including any and all possible combinations of one or more of the associated listed items.

The above are only specific embodiments of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of various equivalents within the technical scope disclosed in the present application. Modifications or substitutions shall be covered by the protection scope of this application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims

A pan-tilt control method for an unmanned aerial vehicle, characterized in that the pan-tilt is arranged on the unmanned aerial vehicle for carrying a camera device, and the method comprises:

During the flight of the UAV, obtain the speed direction and horizontal acceleration of the UAV;

According to the speed direction and the horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.
The method according to claim 1, wherein the included angle between the speed direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.
The method according to claim 2, wherein the pitch angle of the gimbal is smaller than the included angle between the speed direction and the horizontal direction.
The method according to claim 1, wherein the horizontal acceleration comprises a forward horizontal acceleration, and the forward horizontal acceleration is positively correlated with the depression angle of the gimbal.
The method according to claim 1, wherein the controlling the gimbal to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration, comprising:

Determine the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration;

According to the target pitch angle of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The method according to claim 5, wherein the determining the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration comprises:

determining the first target pitch angle of the gimbal according to the speed direction;

determining a second target pitch angle of the gimbal according to the horizontal acceleration;

The target pitch angle of the gimbal is determined according to the first target pitch angle and the second target pitch angle.
The method according to claim 6, wherein the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.
The method according to claim 1, wherein the method further comprises:

receiving a gimbal pitch angle adjustment instruction sent by the control device, where the gimbal pitch angle adjustment instruction includes an angle adjustment instruction and/or an angular velocity adjustment instruction of the gimbal pitch angle;

The controlling the cloud platform to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration includes: controlling the cloud platform according to the speed direction and the horizontal acceleration and the command for adjusting the pitch angle of the cloud platform. The stage drives the camera device to rotate in the pitch direction.
The method according to claim 8, wherein the control device is provided with a first pan-tilt adjusting part and a second pan-tilt adjusting part, and the control device generates when the first pan-tilt adjusting part is operated The angle adjustment instruction of the pitch angle of the pan/tilt head, and the control device generates the angular velocity adjustment instruction when the second pan/tilt head adjusting part is operated.
The method according to claim 8, wherein the angle adjustment instruction of the pitch angle of the gimbal is used to instruct the gimbal to return to the center, adjust to the maximum depression angle or adjust to the maximum elevation angle.
The method according to claim 8, wherein the controlling the gimbal to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration and the gimbal pitch angle adjustment instruction, comprising:

Determine the target pitch angle of the gimbal according to the speed direction and horizontal acceleration and the gimbal pitch angle adjustment instruction;

According to the target pitch angle of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The method according to claim 11, wherein the determining the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration and the gimbal pitch angle adjustment instruction comprises:

determining the first target pitch angle of the gimbal according to the speed direction;

determining a second target pitch angle of the gimbal according to the horizontal acceleration;

Determine the third target pitch angle of the gimbal according to the gimbal pitch angle adjustment instruction;

The target pitch angle of the gimbal is determined according to the first target pitch angle, the second target pitch angle, and the third target pitch angle.
The method of claim 12, wherein the target pitch angle is equal to the sum of the first target pitch angle, the second target pitch angle, and the third target pitch angle.
The method according to claim 6 or 12, wherein the target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.
The method according to claim 1, wherein the method further comprises:

When the horizontal acceleration of the drone is zero, the gimbal is controlled to drive the camera device to rotate to a preset default angle in the pitch direction.
The method according to claim 1, wherein the method further comprises:

Get the yaw rate and the preset look-ahead time;

According to the yaw angular velocity and the preset look-ahead time, the gimbal is controlled to rotate in the yaw direction, so that the gimbal drives the camera device toward the area where the drone is about to fly.
The method according to claim 16, wherein the acquiring the yaw angular velocity comprises:

The yaw angular velocity is acquired when the forward horizontal velocity of the UAV is greater than the velocity threshold and the yaw angular velocity is greater than the angular velocity threshold.
The method according to claim 16, wherein the yaw angular velocity comprises the yaw angular velocity of the unmanned aerial vehicle or the yaw angular velocity of the gimbal.
A pan-tilt control method for an unmanned aerial vehicle, characterized in that the pan-tilt is arranged on the unmanned aerial vehicle for carrying a camera device, and the method comprises:

Get the yaw rate and the preset look-ahead time;

According to the yaw angular velocity and the preset look-ahead time, the gimbal is controlled to rotate in the yaw direction, so that the gimbal drives the camera device toward the area where the drone is about to fly.
The method according to claim 19, wherein the acquiring the yaw angular velocity comprises:

The yaw angular velocity is acquired when the forward horizontal velocity of the UAV is greater than the velocity threshold and the yaw angular velocity is greater than the angular velocity threshold.
The method according to claim 20, wherein the yaw angular velocity comprises the yaw angular velocity of the drone or the yaw angular velocity of the gimbal.
The method of claim 19, wherein the method further comprises:

During the flight of the UAV, obtain the speed direction and horizontal acceleration of the UAV;

According to the speed direction and the horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.
The method according to claim 22, wherein the included angle between the speed direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.
The method according to claim 23, wherein the pitch angle of the gimbal is smaller than the included angle between the speed direction and the horizontal direction.
The method according to claim 22, wherein the horizontal acceleration comprises a forward horizontal acceleration, and the forward horizontal acceleration is positively correlated with the depression angle of the gimbal.
The method according to claim 22, wherein the controlling the gimbal to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration, comprising:

Determine the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration;

According to the target pitch angle of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The method according to claim 26, wherein the determining the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration comprises:

determining the first target pitch angle of the gimbal according to the speed direction;

determining a second target pitch angle of the gimbal according to the horizontal acceleration;

The target pitch angle of the gimbal is determined according to the first target pitch angle and the second target pitch angle.
The method of claim 27, wherein the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.
The method of claim 22, wherein the method further comprises:

receiving a gimbal pitch angle adjustment instruction sent by the control device, where the gimbal pitch angle adjustment instruction includes an angle adjustment instruction and/or an angular velocity adjustment instruction of the gimbal pitch angle;

The controlling the cloud platform to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration includes: controlling the cloud platform according to the speed direction and the horizontal acceleration and the command for adjusting the pitch angle of the cloud platform. The stage drives the camera device to rotate in the pitch direction.
29. The method of claim 29, wherein the control device is provided with a first pan-tilt adjustment part and a second pan-tilt-adjustment part, and the control device generates when the first pan-tilt adjustment part is operated The angle adjustment instruction of the pitch angle of the pan/tilt head, and the control device generates the angular velocity adjustment instruction when the second pan/tilt head adjusting part is operated.
The method according to claim 29, wherein the angle adjustment instruction of the pitch angle of the gimbal is used to instruct the gimbal to return to the center, adjust to the maximum depression angle, or adjust to the maximum elevation angle.
The method according to claim 29, wherein the controlling the gimbal to drive the camera device to rotate in the pitch direction according to the speed direction and the horizontal acceleration and the gimbal pitch angle adjustment instruction, comprising:

Determine the target pitch angle of the gimbal according to the speed direction and horizontal acceleration and the gimbal pitch angle adjustment instruction;

According to the target pitch angle of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The method according to claim 32, wherein the determining the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration and the gimbal pitch angle adjustment instruction comprises:

determining the first target pitch angle of the gimbal according to the speed direction;

determining a second target pitch angle of the gimbal according to the horizontal acceleration;

Determine the third target pitch angle of the gimbal according to the gimbal pitch angle adjustment instruction;

The target pitch angle of the gimbal is determined according to the first target pitch angle, the second target pitch angle, and the third target pitch angle.
The method of claim 33, wherein the target pitch angle is equal to the sum of the first target pitch angle, the second target pitch angle, and the third target pitch angle.
The method according to claim 27 or 33, wherein the target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.
The method of claim 22, wherein the method further comprises:

When the horizontal acceleration of the drone is zero, the gimbal is controlled to drive the camera device to rotate to a preset default angle in the pitch direction.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is provided with a gimbal, and the gimbal is used for carrying a camera device, and the unmanned aerial vehicle further comprises: a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

During the flight of the UAV, obtain the speed direction and horizontal acceleration of the UAV;

According to the speed direction and the horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.
The drone according to claim 37, wherein the angle between the speed direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.
The drone according to claim 38, wherein the pitch angle of the gimbal is smaller than the included angle between the speed direction and the horizontal direction.
The drone of claim 37, wherein the horizontal acceleration comprises a forward horizontal acceleration, and the forward horizontal acceleration is positively correlated with the depression angle of the gimbal.
The unmanned aerial vehicle according to claim 37, wherein the processor implements the following steps when executing the computer program:

Determine the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration;

According to the target pitch angle of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The unmanned aerial vehicle according to claim 41, wherein, when the processor executes the computer program, the following steps are implemented:

determining the first target pitch angle of the gimbal according to the speed direction;

determining a second target pitch angle of the gimbal according to the horizontal acceleration;

The target pitch angle of the gimbal is determined according to the first target pitch angle and the second target pitch angle.
The UAV of claim 42, wherein the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.
The unmanned aerial vehicle according to claim 37, wherein the processor implements the following steps when executing the computer program:

receiving a gimbal pitch angle adjustment instruction sent by the control device, where the gimbal pitch angle adjustment instruction includes an angle adjustment instruction and/or an angular velocity adjustment instruction of the gimbal pitch angle;

According to the speed direction and horizontal acceleration and the pitch angle adjustment instruction of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The unmanned aerial vehicle of claim 44, wherein the control device is provided with a first pan-tilt adjustment part and a second pan-tilt adjustment part, and the control device is operated when the first pan-tilt adjustment part is operated The device generates an angle adjustment instruction for the pitch angle of the pan/tilt head, and the control device generates the angular velocity adjustment instruction when the second pan/tilt adjustment member is operated.
The drone according to claim 44, wherein the angle adjustment instruction of the pitch angle of the gimbal is used to instruct the gimbal to return to the center, adjust to the maximum depression angle or adjust to the maximum elevation angle.
The unmanned aerial vehicle of claim 44, wherein the processor implements the following steps when executing the computer program:

Determine the target pitch angle of the gimbal according to the speed direction and horizontal acceleration and the gimbal pitch angle adjustment instruction;

According to the target pitch angle of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The unmanned aerial vehicle according to claim 47, wherein the processor implements the following steps when executing the computer program:

determining the first target pitch angle of the gimbal according to the speed direction;

determining a second target pitch angle of the gimbal according to the horizontal acceleration;

Determine the third target pitch angle of the gimbal according to the gimbal pitch angle adjustment instruction;

The target pitch angle of the gimbal is determined according to the first target pitch angle, the second target pitch angle, and the third target pitch angle.
The UAV of claim 48, wherein the target pitch angle is equal to the sum of the first target pitch angle, the second target pitch angle, and the third target pitch angle.
The unmanned aerial vehicle according to claim 42 or 48, wherein the target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.
The unmanned aerial vehicle according to claim 37, wherein the processor implements the following steps when executing the computer program:

When the horizontal acceleration of the drone is zero, the gimbal is controlled to drive the camera device to rotate to a preset default angle in the pitch direction.
The unmanned aerial vehicle according to claim 37, wherein the processor implements the following steps when executing the computer program:

Get yaw rate and preset look-ahead time;

According to the yaw angular velocity and the preset look-ahead time, the gimbal is controlled to rotate in the yaw direction, so that the gimbal drives the camera device toward the area where the drone is about to fly.
The drone according to claim 52, wherein the processor implements the following steps when executing the computer program:

The yaw angular velocity is acquired when the forward horizontal velocity of the UAV is greater than the velocity threshold and the yaw angular velocity is greater than the angular velocity threshold.
The drone according to claim 52, wherein the yaw angular velocity comprises the yaw angular velocity of the drone or the yaw angular velocity of the gimbal.
An unmanned aerial vehicle, characterized in that the unmanned aerial vehicle is provided with a gimbal, and the gimbal is used for carrying a camera device, and the unmanned aerial vehicle further comprises: a memory and a processor;

the memory is used to store computer programs;

The processor is configured to execute the computer program and implement the following steps when executing the computer program:

Get yaw rate and preset look-ahead time;

According to the yaw angular velocity and the preset look-ahead time, the gimbal is controlled to rotate in the yaw direction, so that the gimbal drives the camera device toward the area where the drone is about to fly.
The unmanned aerial vehicle of claim 55, wherein the processor implements the following steps when executing the computer program:

The yaw angular velocity is acquired when the forward horizontal velocity of the UAV is greater than the velocity threshold and the yaw angular velocity is greater than the angular velocity threshold.
The drone according to claim 56, wherein the yaw angular velocity comprises the yaw angular velocity of the drone or the yaw angular velocity of the gimbal.
The unmanned aerial vehicle of claim 55, wherein the processor implements the following steps when executing the computer program:

During the flight of the UAV, obtain the speed direction and horizontal acceleration of the UAV;

According to the speed direction and the horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.
The drone according to claim 58, wherein the included angle between the speed direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.
The drone according to claim 59, wherein the pitch angle of the gimbal is smaller than the included angle between the speed direction and the horizontal direction.
The unmanned aerial vehicle of claim 58, wherein the horizontal acceleration comprises a forward horizontal acceleration, and the forward horizontal acceleration is positively correlated with the depression angle of the gimbal.
The unmanned aerial vehicle of claim 58, wherein the processor implements the following steps when executing the computer program:

Determine the target pitch angle of the gimbal according to the speed direction and the horizontal acceleration;

According to the target pitch angle of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The unmanned aerial vehicle according to claim 62, wherein the processor implements the following steps when executing the computer program:

determining the first target pitch angle of the gimbal according to the speed direction;

determining a second target pitch angle of the gimbal according to the horizontal acceleration;

The target pitch angle of the gimbal is determined according to the first target pitch angle and the second target pitch angle.
The drone of claim 63, wherein the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.
The unmanned aerial vehicle of claim 58, wherein the processor implements the following steps when executing the computer program:

receiving a gimbal pitch angle adjustment instruction sent by the control device, where the gimbal pitch angle adjustment instruction includes an angle adjustment instruction and/or an angular velocity adjustment instruction of the gimbal pitch angle;

According to the speed direction and horizontal acceleration and the pitch angle adjustment instruction of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The unmanned aerial vehicle of claim 65, wherein the control device is provided with a first pan-tilt adjustment part and a second pan-tilt adjustment part, and the control device is operated when the first pan-tilt adjustment part is operated The device generates an angle adjustment instruction for the pitch angle of the pan/tilt head, and the control device generates the angular velocity adjustment instruction when the second pan/tilt adjustment member is operated.
The drone according to claim 65, wherein the angle adjustment instruction of the pitch angle of the gimbal is used to instruct the gimbal to return to the center, adjust to the maximum depression angle or adjust to the maximum elevation angle.
The unmanned aerial vehicle according to claim 65, wherein, when the processor executes the computer program, the following steps are implemented:

Determine the target pitch angle of the gimbal according to the speed direction and horizontal acceleration and the gimbal pitch angle adjustment instruction;

According to the target pitch angle of the pan/tilt, the pan/tilt is controlled to drive the camera device to rotate in the pitch direction.
The unmanned aerial vehicle according to claim 68, wherein the processor implements the following steps when executing the computer program:

determining the first target pitch angle of the gimbal according to the speed direction;

determining a second target pitch angle of the gimbal according to the horizontal acceleration;

Determine the third target pitch angle of the gimbal according to the gimbal pitch angle adjustment instruction;

The target pitch angle of the gimbal is determined according to the first target pitch angle, the second target pitch angle, and the third target pitch angle.
The drone of claim 69, wherein the target pitch angle is equal to the sum of the first target pitch angle, the second target pitch angle, and the third target pitch angle.
The unmanned aerial vehicle according to claim 63 or 69, wherein the target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.
The unmanned aerial vehicle of claim 58, wherein the processor implements the following steps when executing the computer program:

When the horizontal acceleration of the drone is zero, the gimbal is controlled to drive the camera device to rotate to a preset default angle in the pitch direction.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the process according to any one of claims 1-18 The PTZ control method of the drone.
A computer-readable storage medium, characterized in that, the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the process according to any one of claims 19-36 The PTZ control method of the drone.