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Aircraft following holder control method and system

A control method and a technology of a control system, which are applied in the field of aircraft following the gimbal control method and system, can solve the problems that the gimbal speed cannot be followed at low speed, the image pause is not smooth, and the speed is uneven at the same time, so as to achieve the problem of complex optimization control and difficult operation , Solve the effect of blurred camera image and continuous smooth image

Active Publication Date: 2022-01-28
PRODRONE TECH (SHENZHEN) CO LTD
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] In order to solve the hysteresis phenomenon of the traditional pan-tilt yaw angle following the movement of the aircraft, the speed of the pan-tilt following the course of the aircraft cannot be followed at a low speed, and the speed is uneven at the same time, and the image is blurred and the image is not smooth when the speed is too fast. The present invention Provided is a method and system for controlling an aircraft following a pan / tilt. The pan / tilt is first controlled by a ground station / remote controller yaw remote control command, and the pan / tilt performs adaptive movement according to the remote control command value and the zoom factor of the camera. The aircraft detects that the fuselage and the cloud Control the course of the aircraft to eliminate the yaw angle error between the aircraft and the gimbal, and realize the control method of the aircraft following the gimbal

Method used

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  • Aircraft following holder control method and system
  • Aircraft following holder control method and system

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Embodiment 1

[0055] Such as figure 1 and figure 2 As shown, this embodiment provides a method for controlling an aircraft following a gimbal, which is applied to an aircraft controlled by a remote controller, and the method includes the following steps:

[0056] S1. The aircraft acquires the yaw stick control signal sent by the remote controller, and forwards the yaw stick control signal to the gimbal device.

[0057] In this embodiment, before the aircraft acquires the yaw rocker control signal sent by the remote controller, it also includes: before take-off, the aircraft and the gimbal equipment mounted on it perform self-inspection, so that the aircraft and the gimbal equipment enter normal operation state. The aircraft that enters the normal working state takes off. After take-off, the preset angle difference between the aircraft and the gimbal device is 0°, and the heading of the aircraft is consistent with the yaw axis direction of the gimbal device.

[0058] It should be noted t...

Embodiment 2

[0082] Such as Figure 7 As shown, in the embodiment of the present invention, a kind of aircraft following gimbal control system is provided, which is applied to the aircraft controlled by remote controller. The aircraft controls the inner loop module 14 .

[0083] The signal receiving module 11 is used for obtaining the control signal of the yaw stick sent by the remote controller, and forwarding the control signal of the yaw stick to the pan / tilt device. In this embodiment, the signal receiving module 11 receives the yaw control command from the ground station or remote controller, that is, the yaw stick control signal, when the aircraft is flying in a normal working state. The gimbal device is mechanically controlled. The aircraft forwards the control signal of the yaw stick to the gimbal device. The gimbal device executes the speed loop closed-loop movement according to the instructions carried in the yaw stick control signal, so as to take the lead in adjusting the gimb...

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Abstract

The invention belongs to the technical field of unmanned aerial vehicle holder control, and particularly relates to an aircraft following holder control method and system. The method comprises the following steps: the aircraft obtains a course rocker control signal sent by a remote controller, and forwards the course rocker control signal to holder equipment; the holder equipment executes holder azimuth motion adjustment operation according to a course rocker control signal sent by the remote controller; an azimuth included angle between a fuselage of the aircraft and a yaw axis of the adjusted holder equipment is detected, and a rotating speed required by the current aircraft to move along with the holder equipment is calculated according to the azimuth included angle; and the aircraft adjusts the course of the aircraft according to the obtained rotating speed, eliminates the azimuth included angle between the aircraft and the holder equipment, and keeps consistent with the direction of the holder equipment. According to the invention, the linkage of the holder orientation and the aircraft course is realized, the problem that a camera image is blurred due to high-speed rotation of the image in the traditional control process is solved, and the image experience is improved.

Description

technical field [0001] The invention belongs to the technical field of aircraft pan-tilt control, and in particular relates to an aircraft follow-up pan-tilt control method and system. Background technique [0002] The aircraft gimbal is a supporting device for the aircraft to install and fix mission loads such as cameras. At present, the gimbal is mounted on drones and other aircraft equipment. When the drone is mounted on the gimbal for aerial photography, it is necessary to keep the perspective of the gimbal camera as the first aerial photography perspective. At present, the heading of the aircraft on the market and the orientation control of the gimbal or the pod are separated and independent. As a result, when the aircraft flies far away, the rotation of the gimbal is controlled, and the direction of the aircraft cannot be accurately judged after the aircraft heading. When controlling the aircraft, the rotation of the aircraft's course will drive the rotation of the gi...

Claims

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Application Information

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IPC IPC(8): B64C39/02B64D47/08
CPCB64C39/024B64D47/08B64U2101/30B64U2201/20
Inventor 黄立余哲郭桥李攀任佳豪余志勇薛源刘华斌
Owner PRODRONE TECH (SHENZHEN) CO LTD
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