Stabilization method and device for aerial gondola, computer equipment and storage medium

Abstract

The application provides a method and device for stabilizing an aerial basket, computer equipment and a storage medium. The method comprises the following steps: comparing a real-time collected rotation angle and relative position of the aerial basket with an initial rotation angle and relative position of the aerial basket to obtain a horizontal angle deviation and a position deviation vector of the aerial basket; according to the horizontal angle deviation and the position deviation vector of the aerial basket and relative positions of two propellers arranged on two sides of the aerial basket, respectively calculating rotation control components and position control components of the two propellers; calculating a synthetic control component vector corresponding to the two propellers which can control the horizontal angle deviation and the position deviation vector of the aerial basket at the same time; and adjusting thrust and direction of the two propellers according to the synthetic control component vector corresponding to the two propellers to control position stability of the aerial basket. The aerial basket can be kept stable when suspended in the air.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of basket control, in particular to a method and device for stabilizing an aerial basket, a computer device and a storage medium. BACKGROUND

[0002] In the current construction process of building robots for outer walls, the robot is usually carried by a basket, and the stability of the basket is generally achieved by pressing the basket against the wall through the thrust provided by multiple fans. However, in some construction links, the basket cannot contact the wall surface, such as when the wall surface is not completely dried in the previous process or the wall surface has a complex shape and cannot support the wall surface in a stable state.

[0003] Therefore, a new method for stabilizing an aerial basket is needed. SUMMARY

[0004] The technical problem to be solved by the present application is the stability of the basket when it is suspended.

[0005] To solve the above technical problems, the technical solution adopted by the present application is as follows: a method for stabilizing an aerial basket, comprising:

[0006] real-time collection of the rotation angle and relative position of the basket;

[0007] comparison of the rotation angle and relative position of the basket with the initial rotation angle and relative position of the basket to obtain a horizontal angle deviation and a position deviation vector of the basket;

[0008] determination of the rotation control component and the position control component of the two propellers according to the horizontal angle deviation and the position deviation vector of the basket and the relative positions of the two propellers arranged on both sides of the basket;

[0009] calculation of a combined control component vector corresponding to the two propellers that can simultaneously control the horizontal angle deviation and the position deviation vector of the basket through vector combination;

[0010] adjustment of the thrust and direction of the two propellers according to the combined control component vector corresponding to the two propellers to control the position stability of the basket.

[0011] In a specific embodiment, the real-time collection of the rotation angle and relative position of the basket is specifically as follows:

[0012] real-time collection of the rotation angle a of the basket in the z-axis direction and the relative position (x, y) in the x-y plane through the positioning device of the basket. cur cur cur

[0013] ​​​In a specific embodiment, the comparison of the rotation angle and relative position of the basket with the initial rotation angle and relative position of the basket to obtain the horizontal angle deviation and position deviation vector of the basket is specifically as follows:

[0014] By comparing the rotation angle a cur and the relative position (x cur , y cur ) of the basket in the z-axis direction with the initial rotation angle a org and the initial position (x org , y org ) of the basket, the horizontal angle deviation and position deviation vector d cur (a = a cur -a org , d cur (x Δ , y Δ ) = (x cur -x org , y cur -y org ) of the basket is obtained.

[0015] In a specific embodiment, the rotation control component and the position control component of the two propellers are respectively obtained according to the horizontal angle deviation and position deviation vector of the basket and the relative position of the propellers arranged on both sides of the basket, which is specifically as follows:

[0016] The spiral centers o1 and o2 of the two propellers are obtained.

[0017] The distances between the rotation centers o1 and o2 of the two propellers and the center of gravity of the basket are l1 and l2, two rotation control components r1 and r2 are added in the vertical direction of l1 and l2, the sizes of the two control components r1 and r2 respectively represent the sizes of the thrusts provided by the two propellers, r1 and r2 have the same size and opposite directions.

[0018] Two displacement control components d1 and d2 are added at the rotation centers o1 and o2 of the two propellers, the sizes of the two displacement control components d1 and d2 respectively represent the sizes of the thrusts provided by the two propellers, d1 and d2 have the same size and the same direction.

[0019] In a specific embodiment, the corresponding synthetic control component vector of the two propellers which can simultaneously control the horizontal angle deviation and position deviation vector of the basket is calculated through vector synthesis relationship, which is specifically as follows:

[0020] The rotation control component r1 and the displacement control component d1 are synthesized into a control component f1, and the rotation control component r2 and the displacement control component d2 are synthesized into a control component f2 through vector synthesis relationship.

[0021] In a specific embodiment, the adjusting of the thrust and direction of the two propellers according to the resultant control component vectors corresponding to the two propellers to control the position stability of the gondola specifically comprises:

[0022] The thrust size and direction of the two propellers are controlled according to the resultant control components corresponding to the two propellers by using a PID algorithm to control the angle and position stability of the gondola in the air.

[0023] In a specific embodiment, the thrust size of the two propellers is controlled by the rotation speed of the propellers, and the direction of the thrust is controlled by the servo motor connected to the propellers.

[0024] The application also provides a stabilizing device for an aerial gondola, comprising:

[0025] A gondola posture acquisition module is configured to acquire the rotation angle and relative position of the gondola in real time.

[0026] A posture deviation calculation module is configured to compare the rotation angle and relative position of the gondola with the initial rotation angle and relative position of the gondola to obtain a horizontal angle deviation and a position deviation vector of the gondola.

[0027] A control component calculation module is configured to calculate the rotation control component and the position control component of the two propellers respectively according to the horizontal angle deviation and the position deviation vector of the gondola and the relative positions of the propellers arranged on both sides of the gondola.

[0028] A control component synthesis module is configured to calculate the resultant control component vectors corresponding to the two propellers that can simultaneously control the horizontal angle deviation and the position deviation vector of the gondola by vector synthesis.

[0029] A propeller control module is configured to adjust the thrust and direction of the two propellers according to the resultant control component vectors corresponding to the two propellers to control the position stability of the gondola.

[0030] The application also provides a computer device, which comprises a memory and a processor, the memory stores a computer program, and the processor implements the stabilizing method for an aerial gondola as described above when executing the computer program.

[0031] The application also provides a storage medium, which stores a computer program, and the computer program can implement the stabilizing method for an aerial gondola as described above when executed by a processor.

[0032] The beneficial effect of the present application is that: by comparing the rotation angle and relative position of the hanging basket in real time with the rotation angle and relative position of the hanging basket in the stable state, the horizontal angle deviation and position deviation vector of the hanging basket are obtained, and the rotation control component and the position control component of the propellers on both sides of the hanging basket are calculated respectively, and through the vector synthesis relationship, the synthesis control component vector corresponding to the two propellers which can control the horizontal angle deviation and position deviation vector of the hanging basket is calculated, so as to control the stability of the hanging basket when it is suspended in the air, and improve the working quality and working efficiency of the robot on the hanging basket. BRIEF DESCRIPTION OF DRAWINGS

[0033] The specific structure of the present application will be described in detail below in combination with the drawings.

[0034] Figure 1 The flow chart of the stabilizing method of the aerial hanging basket of the embodiment of the present application is shown in the figure.

[0035] Figure 2 The block diagram of the stabilizing device of the aerial hanging basket of the embodiment of the present application is shown in the figure.

[0036] Figure 3 The overall structure diagram of the hanging basket of the embodiment of the present application is shown in the figure.

[0037] Figure 4 The local structure diagram of the hanging basket of the embodiment of the present application is shown in the figure.

[0038] Figure 5 The coordinate direction diagram of the hanging basket of the embodiment of the present application is shown in the figure.

[0039] Figure 6 The horizontal angle deviation diagram of the hanging basket of the embodiment of the present application is shown in the figure.

[0040] Figure 7 The position deviation diagram of the hanging basket of the embodiment of the present application is shown in the figure.

[0041] Figure 8 The control component diagram of the propeller of the embodiment of the present application is shown in the figure.

[0042] Figure 9 The schematic block diagram of the computer equipment of the embodiment of the present application is shown in the figure. DETAILED DESCRIPTION

[0043] The technical solutions in the embodiments of the present application will be described clearly and completely below in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0044] It should be understood that the terms "comprises" and "comprising," when used in this specification and accompanying claims, indicate the presence of the described features, integers, steps, operations, elements, and / or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and / or groups thereof.

[0045] It should also be understood that the terms used in the specification and the appended claims are intended to describe particular embodiments and do not intend to limit the present application. As used in the specification and the appended claims, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

[0046] It should be further understood that the term "and / or" used in the specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes these combinations.

[0047] The first embodiment of the present application is a method for stabilizing an aerial basket, comprising the steps of:

[0048] S11, collecting the rotation angle and relative position of the basket in real time;

[0049] S12, comparing the rotation angle and relative position of the basket with the initial rotation angle and relative position of the basket to obtain the horizontal angle deviation and position deviation vector of the basket;

[0050] S13, according to the horizontal angle deviation and position deviation vector of the basket and the relative position of the propellers arranged on both sides of the basket, respectively calculating the rotation control component and the position control component of the two propellers;

[0051] S14, calculating the combined control component vector corresponding to the two propellers that can simultaneously control the horizontal angle deviation and position deviation vector of the basket through vector combination relationship;

[0052] S15, adjusting the thrust and direction of the two propellers according to the combined control component vector corresponding to the two propellers to control the position stability of the basket.

[0053] In the technical solution, as shown in Figure 3 , Figure 4 At least one propeller is arranged on each side of the basket, and a horizontal rotation motor for adjusting the direction of the propeller is arranged below the propeller. The horizontal rotation motor is fixed on the bracket at the two ends of the basket, and a control box is arranged on the basket. As shown in Figure 5 The x-axis is defined as the length direction of the basket, the y-axis is defined as the width direction of the basket, and the z-axis is defined as the height direction of the basket. The rotation angle of the basket in the z-axis direction and the position in the x-y plane can be controlled by the two propellers that can rotate along the z-axis.

[0054] Specifically, in step S11, the real-time acquisition of the rotation angle and relative position of the suspended platform is as follows:

[0055] The positioning device of the suspended platform collects the rotation angle α of the suspended platform in the z-axis direction in real time. cur and the relative position in the xy plane (x cur y cur ).

[0056] Specifically, in step S12, the rotation angle and relative position of the suspended platform are compared with the initial rotation angle and relative position of the suspended platform to obtain the horizontal angle deviation and position deviation vectors of the suspended platform.

[0057] like Figure 6 , Figure 7 As shown, by rotating the basket by an angle α in the z-axis direction... cur and the relative position in the xy plane (x cur y cur The rotation angle α between the initial position of the basket and the basket org and initial position (x) org y org By comparison, the horizontal angle deviation and position deviation vectors of the suspended platform are obtained, where the horizontal angle deviation and position deviation vectors of the suspended platform are d cur (a=a cur -a org d cur (x Δ y Δ )=(x cur -x org y cur -y org ).

[0058] Specifically, in step S13, based on the horizontal angle deviation and position deviation vectors of the suspended platform and the relative positions of the propellers on both sides of the suspended platform, the rotation control components and position control components of the two propellers are calculated as follows: Figure 8 As shown,

[0059] Obtain the helix centers o1 and o2 of the two propellers;

[0060] The rotation centers o1 and o2 of the two propellers are distanced from the center of gravity of the basket by l1 and l2, respectively. Two rotational control components r1 and r2 are added in the vertical direction of l1 and l2. The magnitudes of the two control components r1 and r2 represent the magnitudes of the thrust provided by the two propellers, respectively. r1 and r2 are of equal magnitude but opposite direction. These two thrusts enable the basket to rotate along the z-axis. The horizontal angle deviation α can be controlled using a PID control algorithm. cur The control is set to 0.

[0061] Two displacement control components, d1 and d2, are added at the rotation centers o1 and o2 of the two propellers. The magnitudes of the two displacement control components d1 and d2 represent the magnitudes of the thrust provided by the two propellers, respectively. d1 and d2 have the same magnitude and the same direction. These two thrusts enable the basket to move along d... cur The horizontal displacement deviation d can be achieved by using a PID control algorithm to control the directional translation. cur The control is set to 0.

[0062] Specifically, in step S14, the composite control component vectors corresponding to the two propellers that can simultaneously control the horizontal angle deviation and position deviation vectors of the gondola are calculated through the vector composition relationship.

[0063] By using vector composition, rotation control component r1 and displacement control component d1 are combined to form control component f1, and rotation control component r2 and displacement control component d2 are combined to form control component f2.

[0064] Specifically, in step S15, adjusting the thrust and direction of the two propellers according to the composite control component vectors corresponding to the two propellers to control the stability of the basket's position includes:

[0065] Based on the synthetic control components corresponding to the two propellers, the PID algorithm is used to control the thrust magnitude and direction of the two propellers, thereby controlling the stability of the angle and position of the basket in the air.

[0066] Specifically, the thrust of the two propellers is controlled by the rotational speed of the propellers, and the direction of the thrust is controlled by the servo motors connected to the propellers.

[0067] The beneficial effects of this invention are as follows: by comparing the rotation angle and relative position of the basket in real time with the rotation angle and relative position of the basket in a stable state, the horizontal angle deviation and position deviation vectors of the basket are obtained. The rotation control components and position control components of the propellers on both sides of the basket are calculated respectively. Through vector synthesis relationship, the composite control component vectors corresponding to the two propellers that can simultaneously control the horizontal angle deviation and position deviation vectors of the basket are calculated. This is used to control the stability of the basket when it is suspended, thereby improving the working quality and efficiency of the robot on the basket.

[0068] like Figure 2 As shown, another embodiment of the present invention is a stabilizing device for an aerial basket, comprising:

[0069] The suspended platform attitude acquisition module 11 is used to acquire the rotation angle and relative position of the suspended platform in real time.

[0070] The attitude deviation calculation module 12 is used to compare the rotation angle and relative position of the suspended platform with the initial rotation angle and relative position of the suspended platform to obtain the horizontal angle deviation and position deviation vector of the suspended platform.

[0071] The control component calculation module 13 is used to calculate the rotation control component and position control component of the two propellers based on the horizontal angle deviation and position deviation vector of the basket and the relative position of the propellers on both sides of the basket.

[0072] The control component synthesis module 14 is used to calculate the synthesized control component vectors corresponding to the two propellers that can simultaneously control the horizontal angle deviation and position deviation vectors of the basket through the vector synthesis relationship.

[0073] The propeller control module 15 is used to adjust the thrust and direction of the two propellers according to the composite control component vectors corresponding to the two propellers, so as to control the position stability of the basket.

[0074] Specifically, the suspended platform attitude acquisition module 11 is used to acquire the rotation angle α of the suspended platform in the z-axis direction in real time through the positioning device of the suspended platform. cur and the relative position in the xy plane (x cur y cur ).

[0075] Specifically, the attitude deviation calculation module 12 is used to calculate the rotation angle α of the basket in the z-axis direction. cur and the relative position in the xy plane (x cur y cur The rotation angle α between the initial position of the basket and the basket org and initial position (x) org y org By comparison, the horizontal angle deviation and position deviation vectors of the suspended platform are obtained, where the horizontal angle deviation and position deviation vectors of the suspended platform are d cur (a=a cur -a org d cur (x Δ y Δ )=(x cur -x org y cur -y org ).

[0076] Specifically, the control component calculation module 13 is used for,

[0077] Obtain the helix centers o1 and o2 of the two propellers;

[0078] The distance between the rotation centers o1 and o2 of the two propellers and the center of gravity of the gondola is l1 and l2, and two rotation control components r1 and r2 are added in the vertical direction of l1 and l2, the sizes of the two control components r1 and r2 respectively represent the sizes of the thrusts provided by the two propellers, r1 and r2 are of the same size and opposite directions.

[0079] The rotation centers o1 and o2 of the two propellers correspondingly add two displacement control components d1 and d2; the sizes of the two displacement control components d1 and d2 respectively represent the sizes of the thrusts provided by the two propellers, d1 and d2 are of the same size and same direction.

[0080] Specifically, the control component synthesis module 14 is specifically configured to synthesize the rotation control component r1 and the displacement control component d1 into a control component f1 through vector synthesis, and synthesize the rotation control component r2 and the displacement control component d2 into a control component f2.

[0081] Specifically, the propeller control module 15 is specifically configured to control the size and direction of the thrust of the two propellers according to the corresponding synthesized control components of the two propellers, and realize the stability of the angle and position of the gondola in the air by using the PID algorithm.

[0082] Specifically, the size of the thrust of the two propellers is controlled by the rotation speed of the propeller, and the direction of the thrust is controlled by the servo motor connected with the propeller.

[0083] It should be noted that the specific implementation process of the above-mentioned gondola stabilizing device can be clearly understood by those skilled in the art, and the corresponding description in the foregoing method embodiments can be referred to. In order to describe conveniently and concisely, it will not be repeated here.

[0084] The above-mentioned gondola stabilizing device can be realized in the form of a computer program, which can run on a computer device as shown in the figure. Figure 9

[0085] Please refer to Figure 9 , Figure 9 is a schematic block diagram of a computer device provided by an embodiment of the present application. The computer device 500 can be a terminal or a server, wherein the terminal can be a smart phone, a tablet computer, a notebook computer, a desktop computer, a personal digital assistant, a wearable device and other electronic devices with communication function. The server can be a stand-alone server or a server cluster composed of multiple servers.

[0086] Refer to Figure 9 , the computer device 500 includes a processor 502, a memory and a network interface 505 connected through a system bus 501, wherein the memory can include a non-volatile storage medium 503 and an internal memory 504. ​

[0087] The non-volatile storage medium 503 can store an operating system 5031 and a computer program 5032. The computer program 5032 includes program instructions, which, when executed, can cause the processor 502 to perform a method for stabilizing a sky basket.

[0088] The processor 502 is configured to provide computing and control capabilities to support the operation of the entire computer device 500.

[0089] The non-volatile storage medium 503 provides an environment for the computer program 5032 stored therein to run, which, when executed by the processor 502, can cause the processor 502 to perform a method for stabilizing a sky basket.

[0090] The network interface 505 is configured to perform network communication with other devices. Those skilled in the art can understand that the network interface 505 can be configured to perform wired or wireless communication. Figure 9 The structure shown in FIG. 5 is only a block diagram of part of the structure related to the scheme of the present application, and does not constitute a limitation on the computer device 500 to which the scheme of the present application is applied. Specifically, the computer device 500 can include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0091] The processor 502 is configured to run the computer program 5032 stored in the memory to implement the method for stabilizing a sky basket as described above.

[0092] It should be understood that, in the embodiments of the present application, the processor 502 can be a central processing unit (CPU), and the processor 502 can also be other general-purpose processors, digital signal processors (DSP), application specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor.

[0093] Those of ordinary skill in the art can understand that all or part of the processes in the above-described embodiments of the method can be completed by a computer program instructing related hardware. The computer program includes program instructions, and the computer program can be stored in a storage medium, which is a computer-readable storage medium. The program instructions are executed by at least one processor in the computer system to implement the process steps of the above-described embodiments of the method.

[0094] Therefore, the present application also provides a storage medium. The storage medium can be a computer readable storage medium. The storage medium stores a computer program, wherein the computer program includes program instructions. The program instructions are executed by a processor to make the processor execute the stabilizing method of the aerial basket as described above.

[0095] The storage medium can be a U disk, a mobile hard disk, a read-only memory (ROM), a magnetic disk or an optical disk, and various computer readable storage media that can store program codes.

[0096] Those skilled in the art can understand that the units and algorithm steps of the examples described in combination with the embodiments disclosed herein can be realized in electronic hardware, computer software or a combination of both. In order to clearly illustrate the interchangeability of hardware and software, the components and steps of the examples have been described in the above description in general terms. Whether the functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. A person skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0097] In several embodiments provided by the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of each unit is only a logical function division, and actual implementation can have another division manner. For example, a plurality of units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0098] The steps in the method embodiments of the present application can be adjusted, combined and reduced in sequence according to actual needs. The units in the device embodiments of the present application can be combined, divided and reduced according to actual needs. In addition, each functional unit in each embodiment of the present application can be integrated in one processing unit, or each unit can exist physically, or two or more units can be integrated in one unit.

[0099] The integrated unit, if realized in the form of a software functional unit and sold or used as an independent product, can be stored in a storage medium. Based on such understanding, the technical solutions of the present application essentially or say the parts that make contributions to the prior art, or the whole or part of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for making a computer device (which can be a personal computer, a terminal or a network device, etc.) execute all or part of the steps of the methods described in the embodiments of the present application.

[0100] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited thereto, and any skilled person in the art can easily think of various equivalent modifications or replacements within the technical range disclosed by the present application, and these modifications or replacements should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method of stabilizing an aerial basket, characterized by, The method comprises the following steps: real-time acquisition of the rotation angle and relative position of the basket; comparison of the rotation angle and relative position of the basket with the initial rotation angle and relative position of the basket to obtain the horizontal angle deviation and position deviation vector of the basket; determination of the rotation control component and position control component of the two propellers according to the horizontal angle deviation and position deviation vector of the basket and the relative position of the propellers arranged on both sides of the basket; calculation of the combined control component vector of the two propellers corresponding to the horizontal angle deviation and position deviation vector of the basket through vector combination; adjustment of the thrust and direction of the two propellers according to the combined control component vector of the two propellers to control the position stability of the basket; wherein the determination of the rotation control component and position control component of the two propellers according to the horizontal angle deviation and position deviation vector of the basket and the relative position of the propellers arranged on both sides of the basket comprises the following steps: acquisition of the spiral centers o1 and o2 of the two propellers; the distances between the rotation centers o1 and o2 of the two propellers and the gravity center of the basket are l1 and l2, two rotation control components r1 and r2 are added in the vertical direction of l1 and l2, the sizes of the two control components r1 and r2 represent the sizes of the thrusts provided by the two propellers, r1 and r2 have the same size and opposite directions; two displacement control components d1 and d2 are added corresponding to the rotation centers o1 and o2 of the two propellers, the sizes of the two displacement control components d1 and d2 represent the sizes of the thrusts provided by the two propellers, d1 and d2 have the same size and direction; wherein the calculation of the combined control component vector of the two propellers corresponding to the horizontal angle deviation and position deviation vector of the basket through vector combination comprises the following steps: combination of the rotation control component r1 and the displacement control component d1 to obtain the combined control component f1, and combination of the rotation control component r2 and the displacement control component d2 to obtain the combined control component f2.

2. The method of stabilizing an aerial basket as claimed in claim 1, wherein, The real-time acquisition of the rotation angle and relative position of the basket comprises the following steps: The rotation angle a of the basket in the z-axis direction and the relative position (x, y) in the x-y plane are collected in real time by the positioning device of the basket cur . cur , cur ​ 3. The method of stabilizing an aerial basket of claim 2, wherein, The comparison of the rotation angle and relative position of the basket with the initial rotation angle and relative position of the basket to obtain the horizontal angle deviation and position deviation vector of the basket comprises the following steps: By comparing the rotation angle a of the basket in the z-axis direction cur and the relative position (x cur , y cur ) in the x-y plane with the rotation angle a org and the initial position (x org , y org ) of the basket, the horizontal angle deviation and the position deviation vector of the basket are obtained, wherein the horizontal angle deviation and the position deviation vector d cur of the basket are (a=a cur -a org , d cur (x Δ , y Δ )=(x cur -x org , y cur -y org ).

4. The method of stabilizing an aerial basket of claim 3, wherein, The adjustment of the thrust and direction of the two propellers according to the combined control component vector of the two propellers to control the position stability of the basket comprises the following steps: control of the thrust size and direction of the two propellers by using the PID algorithm according to the combined control component vector of the two propellers to control the angle and position stability of the basket in the air.

5. The method of stabilizing an aerial basket of claim 4, wherein, The thrust size of the two propellers is controlled by the rotation speed of the propeller, and the direction of the thrust is controlled by the servo motor connected with the propeller.

6. A stabilizing device for an aerial basket, characterized in that, The method comprises the following steps: a basket posture acquisition module for real-time acquisition of the rotation angle and relative position of the basket; a posture deviation calculation module for comparison of the rotation angle and relative position of the basket with the initial rotation angle and relative position of the basket to obtain the horizontal angle deviation and position deviation vector of the basket; The control component calculation module is configured to calculate rotation control components and position control components of the two propellers respectively according to the horizontal angle deviation and the position deviation vector of the hanging basket and relative positions of the propellers arranged on two sides of the hanging basket. The control component synthesis module is configured to calculate a synthetic control component vector corresponding to the two propellers that can simultaneously control the horizontal angle deviation and the position deviation vector of the hanging basket through vector synthesis. The propeller control module is configured to adjust thrust and direction of the two propellers according to the synthetic control component vector corresponding to the two propellers to control position stability of the hanging basket. The control component calculation module is specifically configured to: obtain spiral centers o1 and o2 of the two propellers; distances between rotation centers o1 and o2 of the two propellers and a gravity center of the hanging basket are l1 and l2, two rotation control components r1 and r2 are added in a vertical direction of l1 and l2, sizes of the two control components r1 and r2 respectively represent sizes of thrusts provided by the two propellers, r1 and r2 are of the same size and opposite directions; two displacement control components d1 and d2 are added corresponding to the rotation centers o1 and o2 of the two propellers, sizes of the two displacement control components d1 and d2 respectively represent sizes of the thrusts provided by the two propellers, d1 and d2 are of the same size and the same direction. The control component synthesis module is specifically configured to: through vector synthesis, the rotation control component r1 and the displacement control component d1 are synthesized into a control component f1, and the rotation control component r2 and the displacement control component d2 are synthesized into a control component f2.

7. A computer device, characterized by: The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the method for stabilizing the air hanging basket according to any one of claims 1 to 5 when executing the computer program.

8. A storage medium characterized by: The storage medium stores a computer program, and the computer program can implement the method for stabilizing the air hanging basket according to any one of claims 1 to 5 when executed by the processor.

Images