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

Abstract

A gimbal control method of a UAV, a UAV and a storage medium, the gimbal is arranged on the UAV and used for carrying a camera, the method comprises the following steps: acquiring a speed direction and a horizontal acceleration of the UAV in a flight process of the UAV (S101); and controlling the gimbal to drive the camera to rotate in a pitch direction according to the speed direction and the horizontal acceleration (S102).

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a gimbal control method for a UAV, the UAV itself, and a storage medium. Background Technology

[0002] Traditional drones feature gimbals with three-axis self-stabilization, keeping the camera horizontal to achieve a stable viewing angle. In contrast, racing drones, typically used for first-person view (FPV) flights, have their cameras fixed to the fuselage. The transmitted image is directly tied to the drone's attitude, showing its rotation and translation. This is the most direct reason for the difference between the FPV and aerial photography flight experiences.

[0003] However, both methods can only meet the needs of their respective fields. Drones are easier to control, but the footage they capture lacks a sense of motion; racing drones capture more dynamic footage, but are more difficult to operate. Summary of the Invention

[0004] Based on this, this application provides a gimbal control method for an unmanned aerial vehicle (UAV), the UAV itself, and a storage medium.

[0005] In a first aspect, this application provides a gimbal control method for an unmanned aerial vehicle (UAV), wherein the gimbal is mounted on the UAV and is used to carry a camera device, the method comprising:

[0006] During the flight of the UAV, the velocity direction and horizontal acceleration of the UAV are acquired;

[0007] Based on the velocity direction and horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.

[0008] Secondly, this application provides a gimbal control method for an unmanned aerial vehicle (UAV), wherein the gimbal is mounted on the UAV and is used to carry a camera device, the method comprising:

[0009] Obtain yaw rate and preset look-ahead time;

[0010] Based on the yaw rate 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.

[0011] Thirdly, this application provides a drone equipped with a gimbal for mounting a camera device, and the drone further includes a memory and a processor.

[0012] The memory is used to store computer programs;

[0013] The processor is configured to execute the computer program and, when executing the computer program, perform the following steps:

[0014] During the flight of the UAV, the velocity direction and horizontal acceleration of the UAV are acquired;

[0015] Based on the velocity direction and horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.

[0016] Fourthly, this application provides a drone equipped with a gimbal for mounting a camera device, and the drone further includes a memory and a processor.

[0017] The memory is used to store computer programs;

[0018] The processor is configured to execute the computer program and, when executing the computer program, perform the following steps:

[0019] Obtain yaw rate and preset look-ahead time;

[0020] Based on the yaw rate 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.

[0021] Fifthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the gimbal control method for a drone as described in the first aspect above.

[0022] In a sixth aspect, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the gimbal control method for a drone as described in the second aspect above.

[0023] This application provides a gimbal control method for a drone, the drone itself, and a storage medium. The gimbal is mounted on the drone and equipped with a camera device. In one scenario, during drone flight, the drone's velocity direction and horizontal acceleration are acquired. Based on these velocity direction and horizontal acceleration, the gimbal is controlled to rotate the camera device in the pitch direction. Because the gimbal's pitch rotation is controlled based on the velocity direction and horizontal acceleration, the image captured by the camera device reflects changes in the drone's horizontal acceleration and velocity direction, providing a novel aerial photography experience. In another scenario, the yaw rate and a preset look-ahead time are acquired. Based on these yaw rate and look-ahead time, the gimbal is controlled to rotate in the yaw direction, causing the gimbal to align the camera device towards the area the drone is about to fly to. Because the gimbal's yaw rate and preset look-ahead time are controlled to align the gimbal with the camera device towards the area the drone is about to fly to, the operator can observe the environment in advance and then further operate the drone based on the observed environment. This improves the sense of motion in the footage while reducing the risk of the drone colliding with obstacles.

[0024] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0025] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0026] Figure 1 This is a flowchart illustrating an embodiment of the gimbal control method for the UAV of this application;

[0027] Figure 2 This is a schematic diagram of the state of the drone and gimbal in the application scenario of the drone gimbal control method of this application, and a schematic diagram of the state of the drone and gimbal in the application scenario of a traditional aerial photography drone.

[0028] Figure 3 This is a flowchart illustrating another embodiment of the gimbal control method for the UAV of this application;

[0029] Figure 4 This is a flowchart illustrating yet another embodiment of the gimbal control method for the UAV of this application;

[0030] Figure 5 This is a schematic diagram of the structure of a control device in the gimbal control method for the UAV of this application;

[0031] Figure 6 This is a flowchart illustrating yet another embodiment of the gimbal control method for the UAV of this application;

[0032] Figure 7 This is a flowchart illustrating yet another embodiment of the gimbal control method for the UAV of this application;

[0033] Figure 8 This is a flowchart illustrating yet another embodiment of the gimbal control method for the UAV of this application;

[0034] Figure 9 This is a schematic diagram of an embodiment of the gimbal control method for unmanned aerial vehicles (UAVs) of this application for determining the target yaw angle of the gimbal;

[0035] Figure 10 This is a structural schematic diagram of an embodiment of the UAV of this application. Detailed Implementation

[0036] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0037] The flowchart shown in the attached diagram is for illustrative purposes only and does not necessarily include all content and operations / steps, nor does it necessarily have to be performed in the order described. For example, some operations / steps can be broken down, combined, or partially merged, so the actual execution order may change depending on the actual situation.

[0038] Traditional drones use gimbals to keep the camera horizontal for a stable viewing angle. Racing drones, on the other hand, have their cameras fixed to the fuselage, with the transmitted image directly reflecting the drone's rotation and translation. However, both methods only meet the needs of their respective fields. Drones offer simpler flight control but lack a sense of motion in their footage; racing drones produce more dynamic footage but are more difficult to control.

[0039] This application provides a gimbal control method for a drone, the drone itself, and a storage medium. The gimbal is mounted on the drone and equipped with a camera device. In one scenario, during drone flight, the drone's velocity direction and horizontal acceleration are acquired. Based on these velocity direction and horizontal acceleration, the gimbal is controlled to rotate the camera device in the pitch direction. Because the gimbal's pitch rotation is controlled based on the velocity direction and horizontal acceleration, the images captured by the camera device reflect changes in the drone's horizontal acceleration and velocity direction, providing a novel aerial photography experience. In another scenario, the yaw rate and a preset look-ahead time are acquired. Based on these yaw rate and the preset look-ahead time, the gimbal is controlled to rotate in the yaw direction, causing the gimbal to align the camera device towards the area the drone is about to fly to. Because the gimbal's yaw rate and preset look-ahead time are controlled to align the gimbal with the camera device towards the area the drone is about to fly to, the operator can observe the environment in advance, improving the sense of motion in the footage while reducing the risk of the drone colliding with obstacles.

[0040] The following detailed description of some embodiments of this application is provided in conjunction with the accompanying drawings. Unless otherwise specified, the following embodiments and features can be combined with each other.

[0041] See Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the gimbal control method for a drone according to the present application. In this embodiment, the gimbal is mounted on the drone and is used to carry a camera device. The method includes steps S101 and S102.

[0042] Step S101: During the flight of the UAV, obtain the velocity direction and horizontal acceleration of the UAV.

[0043] Step S102: Based on the velocity direction and horizontal acceleration, control the gimbal to drive the camera device to rotate in the pitch direction.

[0044] The direction of a drone's speed can typically be determined by its horizontal and vertical speeds. These speeds can be measured by speed sensors or mapped from speed commands. For example, pushing the throttle stick upwards on the remote controller corresponds to a vertically upward speed command. Similarly, simultaneously pushing the forward and throttle sticks on the remote controller corresponds to both a vertically upward speed command and a horizontally forward speed command.

[0045] The horizontal acceleration of a drone can be measured by an accelerometer or mapped from a horizontal acceleration command. For example, in one flight mode, pushing the forward stick on the remote controller corresponds to the drone accelerating forward; in this case, the stick movement corresponds to the horizontal acceleration command. Alternatively, in another flight mode, the stick movement corresponds to the horizontal velocity command; in this case, the horizontal velocity command can be differentiated and filtered to obtain the corresponding horizontal acceleration command.

[0046] Based on the stated velocity direction and horizontal acceleration, the specific method of controlling the gimbal to rotate the camera device in the pitch direction, i.e., how the stated velocity direction and horizontal acceleration affect the gimbal's rotation in the pitch direction, can be determined according to the specific application.

[0047] For example, regarding horizontal acceleration, a positive horizontal acceleration will only affect the gimbal's rotation in the pitch direction when it is a forward positive horizontal acceleration. When the drone accelerates backward, a 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. A positive horizontal acceleration will affect the angle of the gimbal's rotation in the tilt direction, and so on.

[0048] For example, when the drone's speed direction is diagonally upward, the gimbal also rotates diagonally upward (i.e., tilting upward); when the drone's speed direction is diagonally downward, the gimbal also rotates diagonally downward (i.e., tilting downward), and so on.

[0049] In this embodiment, a gimbal is mounted on a drone and equipped with a camera device. During the drone's flight, the gimbal acquires the drone's velocity direction and horizontal acceleration. Based on the velocity direction and horizontal acceleration, the gimbal is controlled to rotate the camera device in the pitch direction. Because the gimbal's pitch direction rotation is controlled based on the velocity direction and horizontal acceleration, the images captured by the camera device can reflect changes in the drone's horizontal acceleration and velocity direction, providing a novel aerial photography experience, and the flight control is relatively simple.

[0050] In one embodiment, the angle between the velocity direction and the horizontal direction is positively correlated with the gimbal's pitch angle. That is, the larger the angle between the velocity direction and the horizontal direction, the larger the gimbal's pitch angle. Specifically, when the velocity direction is upward, the larger the angle between the velocity direction and the horizontal direction, the larger the gimbal's pitch angle; when the velocity direction is downward, the larger the angle between the velocity direction and the horizontal direction, the larger the gimbal's pitch angle. If the drone's velocity direction is upward, the gimbal can cause the camera to tilt upward; if the drone's velocity direction is downward, the gimbal can cause the camera to tilt downward. In this way, the images captured by the camera can reflect changes in the drone's velocity direction, simulating an FPV (Fast-Passive View) experience. Furthermore, when the drone is flying at high speed in complex environments, the gimbal, with the camera looking upward or downward, allows the user to effectively obtain a view of targets and obstacles diagonally above or below, improving flight safety.

[0051] In one embodiment, the pitch angle of the gimbal is smaller than the angle between the velocity direction and the horizontal direction. Since the velocity direction of the drone changes significantly, if the gimbal's pitch angle were the same as the velocity direction relative to the horizontal direction, it would easily cause the gimbal to rotate frequently at large angles, resulting in a poor user experience. Therefore, to minimize the need for the gimbal to rotate frequently at large angles following the drone's velocity direction and thus avoid degrading the user experience, the gimbal's pitch angle can be made smaller than the angle between the velocity direction and the horizontal direction.

[0052] See Figure 2 The drone is climbing and flying forward, with a velocity of v and an angle θ between its velocity direction and the horizontal direction. (See also...) Figure 2 As shown on the right, Figure 2 The diagram on the right illustrates the state of the drone and gimbal in a traditional aerial photography application scenario. For a traditional aerial photography drone, the gimbal's pitch angle in the geodetic coordinate system is horizontal, at 0 degrees, and the gimbal also keeps the camera device horizontal. See also Figure 2 The left side shown Figure 2 The left side shows a schematic diagram of the state of the UAV and gimbal in this application scenario, where the gimbal's pitch angle in the geodetic coordinate system is θ', which is a function of the angle θ between the UAV's velocity direction and the horizontal direction.

[0053] In one embodiment, the horizontal acceleration includes forward horizontal acceleration, which is positively correlated with the gimbal's tilt angle. If the drone is accelerating forward, the gimbal will cause the camera to look downward; and the greater the forward acceleration, the greater the tilt angle, which can increase the visual sense of motion and bring an acceleration experience similar to that of a racing drone.

[0054] In one embodiment, the target pitch angle of the gimbal is determined, and then the gimbal is controlled to rotate the camera device in the pitch direction based on the target pitch angle. That is, step S102, controlling the gimbal to rotate the camera device in the pitch direction based on the velocity direction and horizontal acceleration, may include sub-steps S102A1 and S102A2, such as... Figure 3 As shown.

[0055] Sub-step S102A1: Determine the target pitch angle of the gimbal based on the velocity direction and horizontal acceleration.

[0056] Sub-step S102A2: Based on the target pitch angle of the gimbal, control the gimbal to drive the camera device to rotate in the pitch direction.

[0057] In one embodiment, to further refine the relationship between the velocity direction and horizontal acceleration and the target pitch angle of the gimbal, sub-step S102A1, which involves determining the target pitch angle of the gimbal based on the velocity direction and horizontal acceleration, may further include sub-steps S102A11, S102A12, and S102A13, as follows: Figure 4 As shown.

[0058] Sub-step S102A11: Determine the first target pitch angle of the gimbal based on the velocity direction.

[0059] Sub-step S102A12: Determine the second target pitch angle of the gimbal based on the horizontal acceleration.

[0060] Sub-step S102A13: Determine the target pitch angle of the gimbal based on the first target pitch angle and the second target pitch angle.

[0061] Sub-steps S102A11 and S102A12 have no sequential relationship. The first target pitch angle of the gimbal can be determined relatively accurately using the velocity direction, and the second target pitch angle can be determined relatively accurately using the horizontal acceleration. Based on the relatively accurate first and second target pitch angles, the target pitch angle of the gimbal can be determined relatively accurately. Furthermore, the contributions of the velocity direction and horizontal acceleration to the target pitch angle of the gimbal can be determined relatively accurately, and the magnitudes of the contributions of the velocity direction and horizontal acceleration to the target pitch angle of the gimbal can be adjusted relatively accurately.

[0062] 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 velocity direction and the horizontal direction and a first coefficient; the second target pitch angle of the gimbal can be equal to the product of the horizontal acceleration and a second coefficient. The first coefficient represents the contribution of the angle between the velocity direction and the horizontal direction to the first target pitch angle of the gimbal, and the second coefficient represents the contribution of the horizontal acceleration to the second target pitch angle of the gimbal. Both the first and second coefficients are adjustable.

[0063] In one embodiment, the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.

[0064] In one embodiment, in addition to controlling the pan-tilt unit to rotate the camera device in the pitch direction based on the velocity direction and horizontal acceleration, the user can also participate in adjusting and controlling the pan-tilt unit to rotate the camera device in the pitch direction via a control device. That is, the method further includes: receiving a pan-tilt angle adjustment command sent by the control device, the pan-tilt angle adjustment command including an angle adjustment command and / or an angular velocity adjustment command; at this time, step S102, controlling the pan-tilt unit to rotate the camera device in the pitch direction based on the velocity direction and horizontal acceleration, may further include: controlling the pan-tilt unit to rotate the camera device in the pitch direction based on the velocity direction, horizontal acceleration, and the pan-tilt angle adjustment command.

[0065] See Figure 5 The control device 300 is provided with a first gimbal adjustment component 31 and a second gimbal adjustment component 32. When the first gimbal adjustment component 31 is operated, the control device 300 generates an angle adjustment command for the gimbal pitch angle. When the second gimbal adjustment component 32 is operated, the control device 300 generates an angular velocity adjustment command for the gimbal pitch angle.

[0066] In this embodiment, the gimbal pitch angle adjustment command enables coarse and rapid adjustment of the gimbal pitch angle; the gimbal pitch angle angular velocity adjustment command enables fine and slow adjustment of the gimbal pitch angle. The gimbal pitch angle adjustment command and the angular velocity adjustment command can be implemented individually or in combination. When the gimbal pitch angle adjustment command and the angular velocity adjustment command are implemented in combination, the user can use the first gimbal adjustment component 31 to quickly reach the corresponding coarse pitch angle position, and then use the second gimbal adjustment component 32 to finely adjust the gimbal pitch angle, allowing the gimbal to reach the fine pitch angle position desired by the user.

[0067] The angle adjustment command for the gimbal tilt angle is used to instruct the gimbal to return to center, adjust to the maximum tilt angle, or adjust to the maximum elevation angle.

[0068] This embodiment, based on the gimbal viewing angle control according to the aforementioned speed direction and horizontal acceleration, adds a first gimbal adjustment component 31 to enable the gimbal's pitch angle to quickly switch to gimbal centering, maximum pitch angle, or maximum elevation angle. For example, users can trigger the gimbal's pitch angle to quickly adjust to vertically upward or downward via a remote control, user device app, or other control terminal, facilitating user observation of the drone's ascent or descent.

[0069] In one application, the gimbal pitch angle adjustment command can correspond to an absolute angle. The first gimbal adjustment component 31 can be configured as a switch with different positions, each position corresponding to an absolute angle. The user can adjust the switch to different positions to issue gimbal pitch angle adjustment commands with different absolute angles. For example, the switch has three positions, corresponding to the gimbal return angle, maximum pitch angle, and maximum elevation angle, respectively. Specifically, the switch can be set vertically. When the user adjusts the switch to the top position, it indicates adjustment to the maximum elevation angle; when the user adjusts the switch to the middle position, it indicates gimbal return to center; and when the user adjusts the switch to the bottom position, it indicates adjustment to the maximum pitch angle. For example, if a user wearing glasses wants to control the drone to land, they don't need to remove their glasses; they only need to operate the switch to adjust the gimbal to the maximum pitch angle, thereby observing the environment below the drone and achieving drone landing.

[0070] In one embodiment, step S102, which involves controlling the gimbal to rotate the camera device in the pitch direction based on the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command, may further include sub-steps S102B1 and S102B2, such as... Figure 6 As shown.

[0071] Sub-step S102B1: Determine the target pitch angle of the gimbal based on the velocity direction, horizontal acceleration, and gimbal pitch angle adjustment command.

[0072] Sub-step S102B2: Based on the target pitch angle of the gimbal, control the gimbal to drive the camera device to rotate in the pitch direction.

[0073] In one embodiment, sub-step S102B1, which involves determining the target pitch angle of the gimbal based on the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command, may further include sub-steps S102B11, S102B12, S102B13, and S102B14, as follows: Figure 7 As shown.

[0074] Sub-step S102B11: Determine the first target pitch angle of the gimbal based on the velocity direction.

[0075] Sub-step S102B12: Determine the second target pitch angle of the gimbal based on the horizontal acceleration.

[0076] Sub-step S102B13: Determine the third target pitch angle of the gimbal according to the gimbal pitch angle adjustment command.

[0077] Sub-step S102B14: Determine the target pitch angle of the gimbal based on the first target pitch angle, the second target pitch angle, and the third target pitch angle.

[0078] Sub-steps S102B11, S102B12, and S102B13 have no sequential relationship. The first target pitch angle of the gimbal can be determined relatively accurately using the velocity direction, the second target pitch angle can be determined relatively accurately using the horizontal acceleration, and the third target pitch angle can be determined relatively accurately using the gimbal pitch angle adjustment command. Based on the relatively accurate first, second, and third target pitch angles, the target pitch angle of the gimbal can be determined relatively accurately. Furthermore, the contributions of the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command to the target pitch angle of the gimbal can be determined relatively accurately, and the magnitudes of these contributions can be adjusted relatively accurately.

[0079] 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 velocity direction and the horizontal direction and a first coefficient; the second target pitch angle of the gimbal can be equal to the product of the horizontal acceleration and a second coefficient; the third target pitch angle of the gimbal can be equal to the pitch angle determined in the gimbal pitch angle adjustment command, which includes an angle adjustment command and / or an angular velocity adjustment command. The first coefficient can represent the contribution of the angle between the velocity direction and the horizontal direction to the first target pitch angle of the gimbal, and the second coefficient can represent the contribution of the horizontal acceleration to the second target pitch angle of the gimbal. The first and second coefficients are adjustable. This embodiment superimposes the first target pitch angle and the second target pitch angle of the gimbal on the pitch angle determined in the gimbal pitch angle adjustment command (i.e., the third target pitch angle of the gimbal); therefore, it can not only perform automatic angle adjustment, but also allow users to manually adjust it, providing a more free viewing experience; during drone takeoff and landing, the third target pitch angle can be manually adjusted, which will greatly improve the safety of drone takeoff and landing.

[0080] 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.

[0081] For example, in one application, the target pitch angle can be calculated as follows:

[0082] final_pitch=k1*arc tan(horiz_vel,vert_vel)+k2*horiz_acceleration_cmd+pitch gim_ctrl

[0083] Where `final_pitch` represents the target pitch angle of the gimbal, `k1*arc tan(horiz_vel,vert_vel)` represents the first target pitch angle of the gimbal, where `k1` represents the first coefficient, `arc tan(horiz_vel,vert_vel)` represents the angle between the velocity direction and the horizontal direction, `k2*horiz_acceleration_cmd` represents the second target pitch angle of the gimbal, where `k2` represents the second coefficient, `horiz_acceleration_cmd` represents the horizontal acceleration in the horizontal acceleration command, and `pitch`... gim_ctrl This indicates the third target pitch angle of the gimbal. The above application uses the third target pitch angle of the gimbal, determined according to the user's gimbal pitch angle adjustment command, as the gimbal reference angle. Based on this gimbal reference angle, the first target pitch angle of the gimbal, determined according to the velocity direction, and the second target pitch angle of the gimbal, determined according to the horizontal acceleration, are superimposed. Therefore, it can not only implement automatic angle adjustment, but also allow users to adjust manually, providing a more free viewing experience.

[0084] 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 does not change with the movement of the UAV itself, this embodiment uses the geodetic coordinate system as the coordinate system for the target pitch angle of the gimbal. The target pitch angle of the gimbal is the target pitch angle 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 changes or jitter in the coordinate system (for example, the body coordinate system will shake due to the shaking of the UAV). The image captured by the camera device will not change or shake due to changes or jitter in the coordinate system. Therefore, it can isolate the aircraft's attitude jitter and bring a more maneuverable and immersive flight visual experience.

[0085] In one embodiment, the method further includes: when the horizontal acceleration of the drone is zero, controlling the gimbal to rotate the camera device in the pitch direction to a preset default angle. This embodiment pre-sets a preset default angle. When the drone is flying at a constant speed, the gimbal is controlled to rotate in the pitch direction to the preset default angle, so that the user can view the image captured by the camera device at the preset default angle. For example, this preset default angle keeps the camera device in a horizontal position.

[0086] In FPV flight, if the drone turns its yaw angle at high speed, it is easy to encounter a problem in complex scenarios where the yaw angle changes too quickly, causing an obstacle to suddenly appear in front of it after turning the yaw angle, resulting in a collision and crash.

[0087] To avoid the problem of drones colliding and crashing due to yaw angle changes, in one embodiment, the method further includes steps S201 and S202, as follows: Figure 8 As shown.

[0088] Step S201: Obtain the yaw rate and preset look-ahead time.

[0089] Step S202: Based on the yaw rate and the preset look-ahead time, control the gimbal to rotate in the yaw direction so that the gimbal drives the camera device toward the area where the UAV is about to fly.

[0090] By controlling the gimbal to rotate in the yaw direction based on the yaw angular velocity and preset look-ahead time, the gimbal drives the camera device toward the area where the drone is about to fly. This allows the operator to observe the environment in advance and then operate the drone based on the observed environment. This not only improves the sense of motion in the video but also reduces the risk of the drone colliding with obstacles.

[0091] In practical applications, the target yaw angle of the gimbal can be pre-calculated: When the UAV makes a high-speed turn in the yaw direction, based on the current yaw angle of the UAV or gimbal, the yaw angular velocity is used to predict the target yaw angle of the gimbal over a short time interval Δt. The calculation of the target yaw angle of the gimbal can be as follows:

[0092] final_yaw=current_yaw+ω·Δt

[0093] Where 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 rate, and Δt represents the preset look-ahead time.

[0094] It should be noted that the current yaw angle of the drone or gimbal can be the yaw angle measured during the drone's flight, or it can be mapped from a yaw angle command. For example, when a user pushes the yaw control stick on the remote controller, it corresponds to a command in the yaw direction.

[0095] like Figure 9 As shown, the UAV's current heading angle is ψ, and it has a yaw rate ω. Figure 9 On the left, at this point, the yaw angle of a typical drone's gimbal in the geodetic coordinate system is ψ (i.e., ... Figure 9 The angle between the dashed line on the left and the straight line OM), after the gimbal rotates the camera device in the yaw direction by ψ, the corresponding field of view is shown as arc AB. Figure 9 On the right, in this embodiment, the target yaw angle of the gimbal is ψ + ωΔt (i.e., Figure 9 The angle between the right-hand dashed line and the straight line ON represents the yaw angle of the drone when it is rotating at high speed in the yaw direction (i.e., high-speed yaw). This is achieved by predicting a short time Δt (i.e., the preset look-ahead time) using the drone's yaw rate ω, and turning the yaw angle to ψ+ωΔt in advance. After the gimbal drives the camera to rotate ψ+ωΔt in the yaw direction, the corresponding field of view is shown as arc CD. Clearly, when the drone is flying forward at high speed and turning, the user can see the field of view corresponding to the future Δt time in advance, preventing the user from missing obstacles outside the field of view and avoiding situations where the user only discovers obstacles after the drone has turned, leading to insufficient avoidance. Therefore, this improves flight safety and provides the user with a greater degree of maneuverability during turns.

[0096] In one embodiment, step S201, obtaining the yaw rate, may include: obtaining the yaw rate when the forward horizontal speed of the UAV is greater than a speed threshold and the yaw rate is greater than an angular velocity threshold.

[0097] The yaw rate includes either the yaw rate of the UAV or the yaw rate of the gimbal. In one flight mode, such as FPV flight mode, the gimbal drives the camera's yaw attitude to follow the UAV's yaw attitude; in this case, the yaw rate can be either the UAV's yaw rate or the gimbal's yaw rate. In other flight modes, the gimbal drives the camera's attitude not necessarily to follow the UAV's attitude; in this case, the yaw rate can be either the UAV's yaw rate.

[0098] This application also provides another method for controlling the gimbal of a drone, such as... Figure 8 As shown. It should be noted that the gimbal control method for a drone in another embodiment of this application is basically the same as the gimbal control method for the drone in the above-described case, the difference being that the method in this embodiment uses... Figure 8The process method shown is the main method. For details of another type of UAV gimbal control method in this application, please refer to the relevant content of the above-mentioned UAV gimbal control method, which will not be repeated here.

[0099] The gimbal is mounted on the drone and is used to carry a camera device. The method includes steps S201 and S202.

[0100] Step S201: Obtain the yaw rate and preset look-ahead time.

[0101] Step S202: Based on the yaw rate and the preset look-ahead time, control the gimbal to rotate in the yaw direction so that the gimbal drives the camera device toward the area where the UAV is about to fly.

[0102] This embodiment of the application acquires the yaw rate and a preset look-ahead time; based on the yaw rate and the preset look-ahead time, it controls the gimbal to rotate in the yaw direction, so that the gimbal drives the camera device toward the area where the drone is about to fly. Since controlling the gimbal to rotate in the yaw direction based on the yaw rate and the preset look-ahead time allows the gimbal to drive the camera device toward the area where the drone is about to fly, it predicts the angle of the gimbal in the yaw direction a short time in advance based on the yaw rate, controls the gimbal to rotate in the yaw direction and drives the camera device toward the area where the drone is about to fly. Therefore, it can provide the operator with advance observation of the environment after the drone turns its yaw angle. Subsequently, based on the observed environment, the operator can adjust the drone accordingly when obstacles are observed. This also reduces the risk of collision and crash after the drone turns its yaw angle, similar to experiencing a racing drone, and the flight control is relatively simple.

[0103] The step of obtaining the yaw rate includes: obtaining the yaw rate when the forward horizontal speed of the UAV is greater than a speed threshold and the yaw rate is greater than an angular velocity threshold.

[0104] The yaw rate includes the yaw rate of the UAV or the yaw rate of the gimbal.

[0105] The method further includes: acquiring the speed direction and horizontal acceleration of the UAV during its flight; and controlling the gimbal to rotate the camera device in the pitch direction based on the speed direction and horizontal acceleration.

[0106] The angle between the velocity direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.

[0107] Wherein, the pitch angle of the gimbal is smaller than the angle between the velocity direction and the horizontal direction.

[0108] The horizontal acceleration includes forward horizontal acceleration, which is positively correlated with the tilt angle of the gimbal.

[0109] The step of controlling the gimbal to rotate the camera device in the pitch direction based on the velocity direction and horizontal acceleration includes: determining the target pitch angle of the gimbal based on the velocity direction and horizontal acceleration; and controlling the gimbal to rotate the camera device in the pitch direction based on the target pitch angle of the gimbal.

[0110] The step of determining the target pitch angle of the gimbal based on the velocity direction and horizontal acceleration includes: determining a first target pitch angle of the gimbal based on the velocity direction; determining a second target pitch angle of the gimbal based on the horizontal acceleration; and determining the target pitch angle of the gimbal based on the first target pitch angle and the second target pitch angle.

[0111] Wherein, the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.

[0112] The method further includes: receiving a gimbal tilt angle adjustment command sent by a control device, the gimbal tilt angle adjustment command including an angle adjustment command and / or an angular velocity adjustment command; controlling the gimbal to drive the camera device to rotate in the tilt direction according to the velocity direction and horizontal acceleration includes: controlling the gimbal to drive the camera device to rotate in the tilt direction according to the velocity direction, horizontal acceleration and the gimbal tilt angle adjustment command.

[0113] The control device is equipped with a first gimbal adjustment component and a second gimbal adjustment component. When the first gimbal adjustment component is operated, the control device generates an angle adjustment command for the gimbal pitch angle. When the second gimbal adjustment component is operated, the control device generates an angular velocity adjustment command.

[0114] The angle adjustment command for the gimbal tilt angle is used to instruct the gimbal to return to center, adjust to the maximum tilt angle, or adjust to the maximum elevation angle.

[0115] The step of controlling the gimbal to rotate the camera device in the pitch direction based on the velocity direction, horizontal acceleration, and gimbal pitch angle adjustment command includes: determining the target pitch angle of the gimbal based on the velocity direction, horizontal acceleration, and gimbal pitch angle adjustment command; and controlling the gimbal to rotate the camera device in the pitch direction based on the target pitch angle of the gimbal.

[0116] The step of determining the target pitch angle of the gimbal based on the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command includes: determining a first target pitch angle of the gimbal based on the velocity direction; determining a second target pitch angle of the gimbal based on the horizontal acceleration; determining a third target pitch angle of the gimbal based on the gimbal pitch angle adjustment command; and determining the target pitch angle of the gimbal based on the first target pitch angle, the second target pitch angle, and the third target pitch angle.

[0117] 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.

[0118] The target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.

[0119] The method further includes: when the horizontal acceleration of the drone is zero, controlling the gimbal to rotate the camera device in the pitch direction to a preset default angle.

[0120] See Figure 10 , Figure 10 This is a structural schematic diagram of an embodiment of the UAV of this application. It should be noted that the UAV of this embodiment can execute the steps in the gimbal control method of the UAV in the first case described above. For a detailed description of the relevant content, please refer to the relevant content of the gimbal control method of the UAV in the first case described above, which will not be repeated here.

[0121] The drone 100 is equipped with a gimbal 3, which is used to carry a camera device. The drone 100 also includes a memory 1 and a processor 2. The processor 2 is connected to the memory 1 via a bus and is connected to the gimbal 3.

[0122] The processor 2 can be a microcontroller unit, a central processing unit, or a digital signal processor, etc.

[0123] Among them, memory 1 can be a Flash chip, read-only memory, disk, optical disk, USB flash drive, or portable hard drive, etc.

[0124] The memory 1 is used to store computer programs; the processor 2 is used to execute the computer programs and, when executing the computer programs, performs the following steps:

[0125] During the flight of the UAV, the speed direction and horizontal acceleration of the UAV are acquired; based on the speed direction and horizontal acceleration, the gimbal is controlled to drive the camera device to rotate in the pitch direction.

[0126] The angle between the velocity direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.

[0127] Wherein, the pitch angle of the gimbal is smaller than the angle between the velocity direction and the horizontal direction.

[0128] The horizontal acceleration includes forward horizontal acceleration, which is positively correlated with the tilt angle of the gimbal.

[0129] When the processor executes the computer program, it performs the following steps: determining the target pitch angle of the gimbal based on the velocity direction and horizontal acceleration; and controlling the gimbal to rotate the camera device in the pitch direction based on the target pitch angle of the gimbal.

[0130] When the processor executes the computer program, it performs the following steps: determining a first target pitch angle of the gimbal based on the velocity direction; determining a second target pitch angle of the gimbal based on the horizontal acceleration; and determining a target pitch angle of the gimbal based on the first target pitch angle and the second target pitch angle.

[0131] Wherein, the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.

[0132] When the processor executes the computer program, it performs the following steps: receiving a gimbal tilt angle adjustment command sent by the control device, the gimbal tilt angle adjustment command including an angle adjustment command and / or an angular velocity adjustment command; and controlling the gimbal to drive the camera device to rotate in the tilt direction according to the velocity direction, horizontal acceleration and the gimbal tilt angle adjustment command.

[0133] The control device is equipped with a first gimbal adjustment component and a second gimbal adjustment component. When the first gimbal adjustment component is operated, the control device generates an angle adjustment command for the gimbal pitch angle. When the second gimbal adjustment component is operated, the control device generates an angular velocity adjustment command.

[0134] The angle adjustment command for the gimbal tilt angle is used to instruct the gimbal to return to center, adjust to the maximum tilt angle, or adjust to the maximum elevation angle.

[0135] When the processor executes the computer program, it performs the following steps: determining the target pitch angle of the gimbal based on the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command; and controlling the gimbal to rotate the camera device in the pitch direction based on the target pitch angle of the gimbal.

[0136] When the processor executes the computer program, it performs the following steps: determining a first target pitch angle of the gimbal based on the velocity direction; determining a second target pitch angle of the gimbal based on the horizontal acceleration; determining a third target pitch angle of the gimbal based on the gimbal pitch angle adjustment command; and determining a target pitch angle of the gimbal based on the first target pitch angle, the second target pitch angle, and the third target pitch angle.

[0137] 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.

[0138] The target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.

[0139] When the processor executes the computer program, it performs the following steps: when the horizontal acceleration of the drone is zero, it controls the gimbal to rotate the camera device in the pitch direction to a preset default angle.

[0140] When the processor executes the computer program, it performs the following steps: acquiring the yaw rate and a preset look-ahead time; and controlling the gimbal to rotate in the yaw direction based on the yaw rate and the preset look-ahead time, so that the gimbal drives the camera device toward the area where the UAV is about to fly.

[0141] When the processor executes the computer program, it performs the following steps: when the forward horizontal speed of the UAV is greater than a speed threshold and the yaw angular velocity is greater than an angular velocity threshold, it acquires the yaw angular velocity.

[0142] The yaw rate includes the yaw rate of the UAV or the yaw rate of the gimbal.

[0143] This application embodiment also provides another type of drone. It should be noted that the other drone in this embodiment can perform the steps in the gimbal control method of the drone in the other case described above. For a detailed description of the relevant content, please refer to the relevant content of the gimbal control method of the drone in the other case described above, which will not be repeated here.

[0144] The drone is equipped with a gimbal for mounting a camera device. The drone also includes a memory and a processor. The processor and memory are connected via a bus, and the processor is connected to the gimbal.

[0145] The processor can be a microcontroller unit, a central processing unit, or a digital signal processor, etc.

[0146] The storage device can be a Flash chip, read-only memory, disk, optical disk, USB flash drive, or portable hard drive, etc.

[0147] The memory is used to store computer programs; the processor is used to execute the computer programs and, when executing the computer programs, performs the following steps:

[0148] The yaw rate and preset look-ahead time are obtained; based on the yaw rate and 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 UAV is about to fly.

[0149] When the processor executes the computer program, it performs the following steps: when the forward horizontal speed of the UAV is greater than a speed threshold and the yaw angular velocity is greater than an angular velocity threshold, it acquires the yaw angular velocity.

[0150] The yaw rate includes the yaw rate of the UAV or the yaw rate of the gimbal.

[0151] When the processor executes the computer program, it performs the following steps: during the flight of the UAV, it acquires the speed direction and horizontal acceleration of the UAV; based on the speed direction and horizontal acceleration, it controls the gimbal to drive the camera device to rotate in the pitch direction.

[0152] The angle between the velocity direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.

[0153] Wherein, the pitch angle of the gimbal is smaller than the angle between the velocity direction and the horizontal direction.

[0154] The horizontal acceleration includes forward horizontal acceleration, which is positively correlated with the tilt angle of the gimbal.

[0155] When the processor executes the computer program, it performs the following steps: determining the target pitch angle of the gimbal based on the velocity direction and horizontal acceleration; and controlling the gimbal to rotate the camera device in the pitch direction based on the target pitch angle of the gimbal.

[0156] When the processor executes the computer program, it performs the following steps: determining a first target pitch angle of the gimbal based on the velocity direction; determining a second target pitch angle of the gimbal based on the horizontal acceleration; and determining a target pitch angle of the gimbal based on the first target pitch angle and the second target pitch angle.

[0157] Wherein, the target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.

[0158] When the processor executes the computer program, it performs the following steps: receiving a gimbal tilt angle adjustment command sent by the control device, the gimbal tilt angle adjustment command including an angle adjustment command and / or an angular velocity adjustment command; and controlling the gimbal to drive the camera device to rotate in the tilt direction according to the velocity direction, horizontal acceleration and the gimbal tilt angle adjustment command.

[0159] The control device is equipped with a first gimbal adjustment component and a second gimbal adjustment component. When the first gimbal adjustment component is operated, the control device generates an angle adjustment command for the gimbal pitch angle. When the second gimbal adjustment component is operated, the control device generates an angular velocity adjustment command.

[0160] The angle adjustment command for the gimbal tilt angle is used to instruct the gimbal to return to center, adjust to the maximum tilt angle, or adjust to the maximum elevation angle.

[0161] When the processor executes the computer program, it performs the following steps: determining the target pitch angle of the gimbal based on the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command; and controlling the gimbal to rotate the camera device in the pitch direction based on the target pitch angle of the gimbal.

[0162] When the processor executes the computer program, it performs the following steps: determining a first target pitch angle of the gimbal based on the velocity direction; determining a second target pitch angle of the gimbal based on the horizontal acceleration; determining a third target pitch angle of the gimbal based on the gimbal pitch angle adjustment command; and determining a target pitch angle of the gimbal based on the first target pitch angle, the second target pitch angle, and the third target pitch angle.

[0163] 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.

[0164] The target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.

[0165] When the processor executes the computer program, it performs the following steps: when the horizontal acceleration of the drone is zero, it controls the gimbal to rotate the camera device in the pitch direction to a preset default angle.

[0166] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the gimbal control method for a drone as described in any of the first scenarios above. For detailed explanations of related content, please refer to the aforementioned related content section, which will not be repeated here.

[0167] The computer-readable storage medium can be an internal storage unit of the drone in the first scenario described above, such as a hard drive or memory. Alternatively, it can be an external storage device, such as an external hard drive, smart memory card, secure digital card, flash memory card, etc.

[0168] This application also provides another computer-readable storage medium storing a computer program that, when executed by a processor, causes the processor to implement the gimbal control method for the UAV as described in any of the other cases above. For detailed explanations of related content, please refer to the aforementioned related content section, which will not be repeated here.

[0169] The computer-readable storage medium can be an internal storage unit of the drone, such as a hard drive or memory, as described in another scenario. Alternatively, it can be an external storage device, such as a pluggable hard drive, smart memory card, secure digital card, flash memory card, etc.

[0170] It should be understood that the terminology used in this application specification is for the purpose of describing particular embodiments only and is not intended to limit the application.

[0171] It should also be understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0172] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and such modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A gimbal control method for an unmanned aerial vehicle (UAV), characterized in that, The gimbal is mounted on the drone and is used to carry a camera device. The method includes: During the flight of the UAV, the velocity direction and / or horizontal acceleration of the UAV are acquired; Based on the velocity direction and / or horizontal acceleration, control the gimbal to drive the camera device to rotate in the pitch direction; In response to the velocity direction being upward relative to the horizontal direction, the camera device looks upward relative to the horizontal direction; In response to the forward direction of the horizontal acceleration, the camera device looks downward relative to the horizontal direction.

2. The method according to claim 1, characterized in that, The angle between the velocity direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.

3. The method according to claim 2, characterized in that, The pitch angle of the gimbal is smaller than the angle between the velocity direction and the horizontal direction.

4. The method according to claim 1, characterized in that, The horizontal acceleration includes forward horizontal acceleration, which is positively correlated with the tilt angle of the gimbal.

5. The method according to claim 1, characterized in that, The step of controlling the pan-tilt unit to rotate the camera device in the pitch direction based on the velocity direction and horizontal acceleration includes: The target pitch angle of the gimbal is determined based on the velocity direction and horizontal acceleration. Based on the target pitch angle of the gimbal, control the gimbal to drive the camera device to rotate in the pitch direction.

6. The method according to claim 5, characterized in that, Determining the target pitch angle of the gimbal based on the velocity direction and horizontal acceleration includes: The first target pitch angle of the gimbal is determined based on the velocity direction; The second target pitch angle of the gimbal is determined based on the horizontal acceleration. The target pitch angle of the gimbal is determined based on the first target pitch angle and the second target pitch angle.

7. The method according to claim 6, characterized in that, The target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.

8. The method according to claim 1, characterized in that, The method further includes: Receives a gimbal pitch angle adjustment command sent by a control device, wherein the gimbal pitch angle adjustment command includes an angle adjustment command and / or an angular velocity adjustment command for the gimbal pitch angle; The step of controlling the gimbal to rotate the camera device in the pitch direction based on the velocity direction and horizontal acceleration includes: controlling the gimbal to rotate the camera device in the pitch direction based on the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command.

9. The method according to claim 8, characterized in that, The control device is equipped with a first gimbal adjustment component and a second gimbal adjustment component. When the first gimbal adjustment component is operated, the control device generates an angle adjustment command for the gimbal pitch angle. When the second gimbal adjustment component is operated, the control device generates an angular velocity adjustment command.

10. The method according to claim 8, characterized in that, The angle adjustment command for the gimbal tilt angle is used to instruct the gimbal to return to center, adjust to the maximum tilt angle, or adjust to the maximum elevation angle.

11. The method according to claim 8, characterized in that, The step of controlling the gimbal to rotate the camera device in the pitch direction based on the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command includes: The target pitch angle of the gimbal is determined based on the velocity direction, horizontal acceleration, and gimbal pitch angle adjustment command. Based on the target pitch angle of the gimbal, control the gimbal to drive the camera device to rotate in the pitch direction.

12. The method according to claim 11, characterized in that, Determining the target pitch angle of the gimbal based on the velocity direction, horizontal acceleration, and the gimbal pitch angle adjustment command includes: The first target pitch angle of the gimbal is determined based on the velocity direction; The second target pitch angle of the gimbal is determined based on the horizontal acceleration. The third target pitch angle of the gimbal is determined according to the gimbal pitch angle adjustment command; The target pitch angle of the gimbal is determined based on the first target pitch angle, the second target pitch angle, and the third target pitch angle.

13. The method according to claim 12, characterized in that, 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.

14. The method according to claim 6 or 12, characterized in that, The target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.

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

16. The method according to claim 1, characterized in that, The method further includes: Obtain yaw rate and preset look-ahead time; Based on the yaw rate 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.

17. The method according to claim 16, characterized in that, The acquisition of yaw rate includes: The yaw rate is obtained when the forward horizontal speed of the UAV is greater than the speed threshold and the yaw rate is greater than the angular velocity threshold.

18. The method according to claim 16, characterized in that, The yaw rate includes the yaw rate of the UAV or the yaw rate of the gimbal.

19. An unmanned aerial vehicle (UAV), characterized in that, The drone is equipped with a gimbal for mounting a camera device, and the drone also includes a memory and a processor. The memory is used to store computer programs; The processor is configured to execute the computer program and, when executing the computer program, perform the following steps: During the flight of the UAV, the velocity direction and / or horizontal acceleration of the UAV are acquired; Based on the velocity direction and / or horizontal acceleration, control the gimbal to drive the camera device to rotate in the pitch direction; In response to the velocity direction being upward relative to the horizontal direction, the camera device looks upward relative to the horizontal direction; In response to the forward direction of the horizontal acceleration, the camera device looks downward relative to the horizontal direction.

20. The UAV according to claim 19, characterized in that, The angle between the velocity direction and the horizontal direction is positively correlated with the pitch angle of the gimbal.

21. The UAV according to claim 20, characterized in that, The pitch angle of the gimbal is smaller than the angle between the velocity direction and the horizontal direction.

22. The UAV according to claim 19, characterized in that, The horizontal acceleration includes forward horizontal acceleration, which is positively correlated with the tilt angle of the gimbal.

23. The UAV according to claim 19, characterized in that, When the processor executes the computer program, it performs the following steps: The target pitch angle of the gimbal is determined based on the velocity direction and horizontal acceleration. Based on the target pitch angle of the gimbal, control the gimbal to drive the camera device to rotate in the pitch direction.

24. The UAV according to claim 23, characterized in that, When the processor executes the computer program, it performs the following steps: The first target pitch angle of the gimbal is determined based on the velocity direction; The second target pitch angle of the gimbal is determined based on the horizontal acceleration. The target pitch angle of the gimbal is determined based on the first target pitch angle and the second target pitch angle.

25. The UAV according to claim 24, characterized in that, The target pitch angle is equal to the sum of the first target pitch angle and the second target pitch angle.

26. The UAV according to claim 19, characterized in that, When the processor executes the computer program, it performs the following steps: Receives a gimbal pitch angle adjustment command sent by a control device, wherein the gimbal pitch angle adjustment command includes an angle adjustment command and / or an angular velocity adjustment command for the gimbal pitch angle; Based on the velocity direction, horizontal acceleration, and the gimbal tilt angle adjustment command, the gimbal is controlled to drive the camera device to rotate in the tilt direction.

27. The UAV according to claim 26, characterized in that, The control device is equipped with a first gimbal adjustment component and a second gimbal adjustment component. When the first gimbal adjustment component is operated, the control device generates an angle adjustment command for the gimbal pitch angle. When the second gimbal adjustment component is operated, the control device generates an angular velocity adjustment command.

28. The UAV according to claim 26, characterized in that, The angle adjustment command for the gimbal tilt angle is used to instruct the gimbal to return to center, adjust to the maximum tilt angle, or adjust to the maximum elevation angle.

29. The UAV according to claim 26, characterized in that, When the processor executes the computer program, it performs the following steps: The target pitch angle of the gimbal is determined based on the velocity direction, horizontal acceleration, and gimbal pitch angle adjustment command. Based on the target pitch angle of the gimbal, control the gimbal to drive the camera device to rotate in the pitch direction.

30. The UAV according to claim 29, characterized in that, When the processor executes the computer program, it performs the following steps: The first target pitch angle of the gimbal is determined based on the velocity direction; The second target pitch angle of the gimbal is determined based on the horizontal acceleration. The third target pitch angle of the gimbal is determined according to the gimbal pitch angle adjustment command; The target pitch angle of the gimbal is determined based on the first target pitch angle, the second target pitch angle, and the third target pitch angle.

31. The UAV according to claim 30, characterized in that, 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.

32. The UAV according to claim 24 or 30, characterized in that, The target pitch angle of the gimbal is the target pitch angle in the geodetic coordinate system.

33. The UAV according to claim 19, characterized in that, When the processor executes the computer program, it performs the following steps: When the horizontal acceleration of the drone is zero, the gimbal is controlled to rotate the camera device in the pitch direction to a preset default angle.

34. The UAV according to claim 19, characterized in that, When the processor executes the computer program, it performs the following steps: Obtain yaw rate and preset look-ahead time; Based on the yaw rate 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.

35. The UAV according to claim 34, characterized in that, When the processor executes the computer program, it performs the following steps: The yaw rate is obtained when the forward horizontal speed of the UAV is greater than the speed threshold and the yaw rate is greater than the angular velocity threshold.

36. The UAV according to claim 34, characterized in that, The yaw rate includes the yaw rate of the UAV or the yaw rate of the gimbal.

37. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, causes the processor to implement the gimbal control method for a drone as described in any one of claims 1-18.

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