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/til

Method used

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

Examples

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Example Embodiment

[0054] Example 1

[0055] like figure 1 and figure 2 As shown, this embodiment provides a aircraft follow-up control method, the method being applied to the aircraft controlled by the remote, the method comprising the steps of:

[0056] S1, the aircraft acquire the navigation rocker control signal transmitted by the remote control, and forward the aircraft to the rocker control signal to the cloud station device.

[0057] In the present embodiment, the aircraft acquires the running rocker control signal transmitted by the remote control, including: before the start, the aircraft and the cloud station mounted on it perform self-test, so that the aircraft and cloud equipment enters normal operation. state. After entering the normal operating state, the angular difference between the aircraft and the cloud station device is 0 °, and the heading of the aircraft is consistent with the yaw axial direction of the cloud table device.

[0058] It is to be specifically described that when t...

Example Embodiment

[0081] Example 2

[0082] like Figure 7 As shown, in the embodiment of the present invention, a aircraft is provided with an aircraft, which is applied to the remote controlled aircraft, which includes a signal receiving module 11, a pan / tilt control outer ring module 12, a rotational speed calculation module 13, and The aircraft controls the inner ring module 14.

[0083] The signal receiving module 11 is configured to acquire the navigation rocker control signal transmitted by the remote control, and forward the aircraft to the rocker control signal to the PTZ device. In the present embodiment, the signal receiving module 11 is aircraft control signal, which is used to the aircraft when the aircraft is operated in a normal operating state flight. Yuntai equipment mechanically controlled by the aircraft to the shared rocker control signal to the pan-Taiwan equipment, the cloud station device executes the speed loop in accordance with the command carried in the rocker control si...

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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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