Hanging platform movement control method and device, electronic equipment and storage medium
The drone drives the suspension platform to move, uses sensors to monitor and calculate errors in real time, and controls the motor drive. This solves the problems of the traditional rope suspension system's inability to move flexibly and low control accuracy when moving laterally underground, and achieves high-precision and flexible underground operations. The platform moves.
Patent Information
- Application Number
- CN202411381161.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-30
- Publication Date
- 2025-01-24
Smart Images
Figure CN119356165A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the field of automatic control technology, and in particular to a method, device, electronic equipment and storage medium for controlling movement of a suspension platform. Background Art
[0002] Conventional rope suspension systems can usually only be raised and lowered in the vertical direction in the well.
[0003] However, when the traditional rope suspension system moves laterally underground, it is easily affected by the environment and the underground space. The underground environment is usually highly dangerous, such as unstable geological conditions, gas accumulation, flooding and other problems. The traditional rope suspension lifting system has safety hazards such as rope breakage, falling of suspended objects, and operational errors, which may cause harm to workers and equipment. The underground space is usually narrow, and the traditional rope suspension system may be subject to space restrictions and cannot meet specific lifting and translation requirements or cannot perform flexible movements. In addition, the traditional rope suspension system is relatively complex to operate in the underground environment and has low control accuracy. Summary of the invention
[0004] In view of this, it is necessary to provide a suspension platform movement control method, device, electronic equipment and storage medium to solve the technical problems of the inability of the suspension platform to move flexibly and the low control accuracy when moving horizontally in an underground environment.
[0005] In order to solve the above problems, the present invention provides a suspension platform movement control method for controlling a drone to drive the suspension platform to move to a target position, comprising: Obtain the target attitude, target position, and real-time attitude and real-time position of the suspension platform when it moves; Determine a position error and an attitude error based on the target attitude and target position and the real-time attitude and real-time position of the suspension platform; Based on the position error and the attitude error, drive control instructions for multiple motors are determined, and in response to the drive control instructions, the drone is controlled to drive the suspension platform to move to a target position, and the suspension platform is controlled to maintain a hovering state.
[0006] In a possible implementation, the step of obtaining the real-time posture and real-time position of the suspended platform when it moves includes: Obtaining the real-time position of the suspended platform when it moves through a position sensor, wherein the position sensor includes a laser sensor and a GPS; The real-time attitude of the suspension platform when it moves is obtained through an attitude sensor, wherein the real-time attitude includes a roll angle, a pitch angle and a yaw angle, and the attitude sensor includes a gyroscope sensor and an accelerometer.
[0007] In a possible implementation, the plurality of motors include a first motor, a second motor, a third motor, and a fourth motor, the first motor, the second motor, and the third motor correspond one-to-one to three equally divided points of the platform, and the fourth motor is located in the drone; and determining the position error and the attitude error based on the target attitude and the target position and the real-time attitude and the real-time position of the suspension platform includes: Calculating position errors of the first motor, the second motor, the third motor, and the fourth motor based on the target position and the real-time position of the suspension platform; An attitude error is calculated based on the target attitude and the real-time attitude of the suspension platform, wherein the attitude error includes a roll angle error, a pitch angle error, and a yaw angle error.
[0008] In a possible implementation, the calculation formula for the position error of the first motor is: , in, is the position error of the first encoder motor, Targeted Axis coordinates, Targeted Axis coordinates, is the angle of the first suspension point in the suspension platform; The calculation formula of the position error of the second motor is: , in, is the position error of the second encoder motor, is the angle of the second suspension point in the suspension platform; The calculation formula of the position error of the third motor is: , in, is the position error of the second encoder motor, is the angle of the third suspension point in the suspension platform; The calculation formula of the position error of the fourth motor is: , in, is the position error of the second encoder motor.
[0009] In a possible implementation, determining the drive control instructions of the plurality of motors based on the position error and the attitude error includes: Acquire the position and posture of the suspension platform during the movement, and determine whether the suspension platform is in a horizontal state with the target and whether it has reached the target position based on the position and posture of the suspension platform; When the suspension platform and the target are not in a horizontal state, voltage signals of the first motor, the second motor and the third motor are determined based on position errors and attitude errors of the first motor, the second motor and the third motor, respectively, and speeds of the first motor, the second motor and the third motor are determined based on the voltage signals of the first motor, the second motor and the third motor; When the suspension platform does not reach the target position, the voltage signal of the fourth motor is determined based on the position error and attitude error of the fourth motor, and the speed and angle of the drone are determined based on the voltage signal of the fourth motor.
[0010] In a possible implementation, the step of responding to the driving control instruction and controlling the drone to drive the suspension platform to move to a target position includes: Controlling the suspension platform to lift and lower based on the speed of the first motor, the second motor and the third motor; The moving trajectory of the suspension platform is determined, and the suspension platform is controlled to move along the moving trajectory based on the speed and angle of the drone until the suspension platform moves to a target position.
[0011] In a possible implementation, controlling the suspension platform to maintain a suspended state includes: When the suspension platform moves to the target position, the position, posture, height and environmental factors of the suspension platform are acquired in real time, wherein the environmental factors at least include the magnitude and direction of wind force; Determine the position deviation and attitude deviation between the suspension platform and the target position based on the position, attitude, height and environmental factors of the suspension platform; The speed and angle of the UAV are determined based on the position deviation and the attitude deviation, and the suspension platform is controlled to hover to a target position based on the speed and angle of the UAV.
[0012] On the other hand, the present invention also provides a suspension platform movement control device for controlling the drone to drive the suspension platform to move to a target position, comprising: A data acquisition module is used to obtain the target posture, target position, and the real-time posture and real-time position of the suspension platform when it moves; An error determination module, for determining a position error and an attitude error based on the target attitude and target position and the real-time attitude and real-time position of the suspension platform; The mobile control module is used to determine the drive control instructions of multiple motors based on the position error and the attitude error, respond to the drive control instructions to control the drone to drive the suspension platform to move to the target position, and control the suspension platform to maintain a hovering state.
[0013] In another aspect, the present invention further provides an electronic device, comprising: a processor and a memory; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the suspension platform movement control method as described above are implemented.
[0014] On the other hand, the present invention also provides a computer-readable storage medium, which stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the suspension platform movement control method as described above.
[0015] The beneficial effects of the present invention are as follows: based on the position error and the attitude error, the drive control instructions of multiple motors are determined, and in response to the drive control instructions, the drone is controlled to drive the suspension platform to move to the target position, and the suspension platform is controlled to maintain a hovering state. Through continuous measurement, estimation, calculation, and execution, the drone can drive the suspension platform to translate at any angle underground, thereby improving flexibility, and ultimately making the suspension platform hover accurately at the target position and maintain balance, thereby improving control accuracy and stability. BRIEF DESCRIPTION OF THE DRAWINGS
[0016] Figure 1 A flow chart of an embodiment of the suspension platform movement control method provided by the present invention; Figure 2 A flow chart of an embodiment of step S103 of the suspension platform movement control method provided by the present invention; Figure 3 A flow chart of another embodiment of step S103 of the suspension platform movement control method provided by the present invention; Figure 4 A flow chart of another embodiment of step S103 of the suspension platform movement control method provided by the present invention; Figure 5 A schematic structural diagram of an embodiment of a suspension platform movement control device provided by the present invention; Figure 6 A schematic structural diagram of an embodiment of an electronic device provided by the present invention. DETAILED DESCRIPTION
[0017] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.
[0018] The present invention discloses a suspension platform movement control method, device, electronic device and storage medium, which can be used in a computer. The method, device or computer-readable storage medium involved in the present invention can be integrated with the above-mentioned device or can be relatively independent.
[0019] A specific embodiment of the present invention discloses a method for controlling movement of a suspended platform, which can be executed by a computer, and specifically by one or more processors of the computer. Figure 1 is a flow chart of the suspension platform movement control method provided by an embodiment of the present invention, please refer to Figure 1 The suspension platform movement control method is used to control the UAV to drive the suspension platform to move to a target position, including: S101, obtaining a target posture, a target position, and a real-time posture and real-time position of the suspension platform when it moves; S102, determining a position error and a posture error based on the target posture and the target position and the real-time posture and the real-time position of the suspension platform; S103, determining drive control instructions for multiple motors based on the position error and the attitude error, controlling the drone to drive the suspension platform to move to the target position in response to the drive control instructions, and controlling the suspension platform to maintain a hovering state.
[0020] Among them, the suspension platform is suspended under the manhole cover by three ropes of equal length, and the first motor, the second motor and the third motor under the manhole cover are suspended in parallel with three ropes of equal length, and the platform is connected by three ropes, and the three ropes correspond to three equally divided points of the platform one by one. The radius of the platform is 10 cm. With the platform as the center, the suspension point of the first motor is positioned at 0 scale, the suspension point of the second motor is at 120° scale, and the suspension point of the third motor is at 240° scale. The four-blade UAV is installed under the suspension platform and fixedly connected to the suspension platform. The nose of the UAV is fixed corresponding to the 0 scale. The attitude sensor is installed on the four-blade UAV to obtain the attitude information of the UAV, and the position sensor is installed on the UAV to obtain the position information. The laser ranging sensor and the ultrasonic sensor are installed on the suspension platform to obtain the relative position information between the suspension platform and the UAV. The distance sensor is installed on the UAV and the suspension platform to obtain the position information of the target position and the suspension platform. The four-blade UAV drives the suspension platform to move by the fourth motor.
[0021] Compared with the prior art, the method for controlling the movement of a suspension platform provided in this embodiment obtains the target attitude, target position, and the real-time attitude and real-time position of the suspension platform when it moves, determines the position error and attitude error based on the target attitude and target position as well as the real-time attitude and real-time position of the suspension platform, determines the drive control instructions of multiple motors based on the position error and attitude error, controls the drone to drive the suspension platform to move to the target position in response to the drive control instructions, and controls the suspension platform to maintain a hovering state, so that the drone maintains a stable flight attitude, and realizes that the drone drives the suspension platform to translate at any angle at the bottom of the well, thereby improving flexibility, allowing the suspension platform to accurately hover at the target position and maintain balance, thereby improving control accuracy and stability.
[0022] In some embodiments, in step S101, the target posture and target position are obtained, and the target position is , the target’s posture is The target angle is , the translation distance of the suspension platform is , the target position is calculated as: , , in, is the translation distance, is the target angle; To obtain the posture and position of the suspension platform in real time during the movement, first define the coordinate system, determine the center of the platform as the origin (0,0), the X-axis as the origin pointing to the 0 scale, the Y-axis perpendicular to the X-axis, and determine the coordinates of the suspension points. The coordinates of the first motor suspension point are (0,0) and the second motor suspension point are , the coordinates of the third motor suspension point are The real-time position of the suspended platform when it moves is obtained through the position sensor, where the position sensor includes a laser sensor and GPS. The actual position of the platform is estimated through the laser sensors in six directions, that is, the initial position of the platform is , the real-time posture of the suspended platform when it moves through the posture sensor, and the initial posture of the platform is The real-time attitude includes roll angle roll, pitch angle pitch and yaw angle yaw. The attitude sensor includes a gyroscope sensor and an accelerometer. The position data of the suspension platform and the target position are obtained through the distance sensor, wherein the distance sensor includes an infrared sensor. The laser sensor data and gyroscope data in six directions are obtained, and the laser sensor data and gyroscope data are filtered and calibrated to remove noise and outliers to ensure the quality of the data. After obtaining the position and attitude of the suspension platform, a state equation model is established, and the preprocessed sensor data is brought into the state equation. The extended Kalman filter algorithm is used for state estimation to integrate the measurement information of the laser ranging and the gyroscope. The model is used to predict the state at the next moment, and the state equation is corrected according to the measurement value to obtain a more accurate position and attitude estimation.
[0023] In some embodiments, in step S102, the position error is determined based on the target posture and target position and the real-time posture and real-time position of the suspension platform. And attitude error , the dynamics of its position error is: , , , in, , , is the location of the platform, , , The location of the target; The dynamics of its attitude error is: , , , in, , , are the roll angle, pitch angle and yaw angle of the suspension platform respectively, , , are the roll angle, pitch angle and yaw angle of the target respectively; The position errors of the first motor, the second motor, the third motor and the fourth motor are calculated based on the target position and the real-time position of the suspension platform. The attitude error is calculated based on the target attitude and the real-time attitude of the suspension platform. The attitude error includes the roll angle error, the pitch angle error and the yaw angle error. The position error of the first motor is the distance error from the suspension point of the first motor to the target position, that is, the distance between the target position and the first suspension point of the platform is calculated, and then 1 meter is subtracted (1 meter is the distance from the target position to the manhole cover). The position error of the second motor is the distance error from the suspension point of the second motor to the target position. The position error of the third motor is the distance error from the suspension point of the third motor to the target position. The position error of the fourth motor is the distance error between the drone and the target position. The calculation formula of the position error of the first motor is: , in, is the position error of the first encoder motor, Targeted Axis coordinates, Targeted Axis coordinates, is the angle of the first suspension point in the suspension platform, is 0 degrees; The calculation formula for the position error of the second motor is: , in, is the position error of the second encoder motor, is the angle of the second suspension point in the suspension platform, is 120 degrees; The calculation formula for the position error of the third motor is: , in, is the position error of the second encoder motor, is the angle of the third suspension point in the suspension platform, 240 degrees; The calculation formula for the position error of the fourth motor is: , in, is the position error of the second encoder motor.
[0024] In some embodiments, in step S103, the drive control instructions of the plurality of motors are determined based on the position error and the posture error. Figure 2 ,include: S201, obtaining the position and posture of the suspension platform during the movement, and determining whether the suspension platform and the target are in a horizontal state and whether the target position has been reached based on the position and posture of the suspension platform; S202, when the suspension platform and the target are not in a horizontal state, determining voltage signals of the first motor, the second motor and the third motor respectively based on position errors and attitude errors of the first motor, the second motor and the third motor, and determining speeds of the first motor, the second motor and the third motor based on the voltage signals of the first motor, the second motor and the third motor; S203: When the suspension platform has not reached the target position, determine the speed and angle of the drone based on the position error and attitude error of the fourth motor. In some embodiments, in step S201, the angular velocity and acceleration data of the suspension platform during movement are acquired in real time through gyroscope and accelerometer sensors, and the current posture (roll, pitch, yaw) of the suspension platform is estimated through the Kalman filter algorithm, and the estimated current posture is compared with the expected posture to determine whether the suspension platform is in a horizontal state; the movement trajectory of the suspension platform, that is, the expected path, is determined according to the target position and the position of the suspension platform, and the position and speed data of the suspension platform are acquired in real time, and the current position data is compared with the expected path to determine whether the suspension platform has reached the target position, and the GPS complex sensor is used to improve the positioning accuracy. At the same time, a laser radar or camera sensor is used to acquire point cloud or image data of the surrounding environment of the suspension platform in real time, and a point cloud clustering and boundary extraction algorithm is used to identify surrounding obstacles from the sensor data, and the obstacle information is compared with the geometric model of the suspension platform itself for collision detection calculation to determine whether there is a collision risk.
[0025] In some embodiments, in step S202, when the suspension platform and the target are not in a horizontal state, the voltage signals of the first motor, the second motor and the third motor are determined based on the position errors and attitude errors of the first motor, the second motor and the third motor, that is, the position errors of the first motor, the second motor and the third motor are input into the PID control algorithm, and the voltage signal of the first motor is determined by adjusting the proportional, integral and differential parameters of the PID control algorithm. , the voltage signal of the second motor And the voltage signal of the third motor , based on the voltage signals of the first motor, the second motor and the third motor, the states of the first motor, the second motor and the third motor are updated to determine the speeds of the first motor, the second motor and the third motor, and the calculation formula of the voltage signal of the first motor is: , The calculation formula of the voltage signal of the second motor is: , The calculation formula of the voltage signal of the third motor is: , in, ~ To control the gain, it is obtained through debugging.
[0026] In some embodiments, in step S203, when the suspension platform does not reach the target position, the voltage signal of the fourth motor is determined based on the position error and attitude error of the fourth motor, the position error of the fourth motor and the attitude error between the suspension platform and the target are input into the PID control algorithm, and the voltage signal of the fourth motor is determined by adjusting the proportional, integral and differential parameters of the PID control algorithm, and the roll angle error is adjusted by the PID control algorithm to achieve the control of the roll angle, and the calculation formula of the roll angle control amount output by the PID control algorithm is: , in, is the proportional parameter of the roll angle, is the integral parameter of the roll angle, is the differential parameter of the roll angle, is the error of the current roll angle, is the integral term of the error, is the differential term of the error; The pitch angle error is adjusted by the PID control algorithm to achieve the control of the pitch angle. The calculation formula of the pitch angle control quantity output by the PID control algorithm is: , in, is the proportional parameter of the pitch angle, is the integral parameter of the pitch angle, is the differential parameter of the pitch angle, is the error of the current pitch angle, is the integral term of the error, is the differential term of the error; The yaw angle error is adjusted by the PID control algorithm to achieve the control of the yaw angle. The calculation formula of the yaw angle control quantity output by the PID control algorithm is: , in, is the proportional parameter of the yaw angle, is the integral parameter of the yaw angle, is the differential parameter of the yaw angle, is the error of the current yaw angle, is the integral term of the error, is the differential term of the error; The PID control algorithm can be used to adjust the attitude of the suspension according to the errors of different attitude angles. The PID controller is an attitude control algorithm that can achieve precise control of the attitude angle of the suspension platform by adjusting the proportional, integral and differential parameters. The speed and angle of the drone are determined based on the voltage signal of the fourth motor. The calculation formula of the voltage signal of the fourth motor is: , in, - To control the gain.
[0027] In some embodiments, see Figure 3 , responding to the driving control instruction to control the UAV to drive the suspension platform to move to the target position, including: S301, controlling the suspension platform to rise and fall based on the speed of the first motor, the second motor, and the third motor; S302: Determine the moving trajectory of the suspension platform, and control the suspension platform to move along the moving trajectory based on the speed and angle of the drone until the suspension platform moves to the target position.
[0028] In some embodiments, in step S301, the lifting speed of the suspension platform is adjusted in real time based on the speeds of the first motor, the second motor and the third motor, and the height difference between the suspension platform and the target is adjusted in real time through the lifting speed of the suspension platform, so that the height of the suspension platform is kept consistent with the target position.
[0029] In some embodiments, in step S302, the moving trajectory of the suspension platform is determined according to the position of the suspension platform and the position of the target, and the moving speed of the suspension platform and the roll angle, pitch angle and yaw angle of the suspension platform are adjusted in real time based on the speed and angle of the drone. That is, when the suspension platform deviates from the moving trajectory during the movement, the roll angle, pitch angle and yaw angle of the suspension platform are adjusted in real time according to the angle of the drone, so that the suspension platform moves along the moving trajectory and keeps the suspension platform in a horizontal state. When there is a risk of collision during the movement of the suspension platform, the speed and angle of the drone are adjusted through the driving control instructions, and the suspension platform is controlled to avoid obstacles so that the suspension platform moves in a safe environment. The moving speed and angle of the suspension platform are adjusted in real time according to the speed and angle of the drone, so that the suspension platform moves safely and stably to the target position.
[0030] In some embodiments, see Figure 4 , control the suspended platform to maintain a hovering state, including: S401, when the suspension platform moves to the target position, obtaining the position, posture, height and environmental factors of the suspension platform in real time, wherein the environmental factors at least include the magnitude and direction of wind force; S402, determining a position deviation and a posture deviation between the suspension platform and the target position based on the position, posture, height and environmental factors of the suspension platform; S403: Determine the speed and angle of the UAV based on the position deviation and the attitude deviation, and control the suspension platform to hover to the target position based on the speed and angle of the UAV.
[0031] In some embodiments, in step S401, when the suspension platform moves to the target position, the stable hovering conditions are determined. After the suspension platform reaches the target position, the stable hovering conditions are defined, and the hovering conditions are: the suspension platform maintains a fixed height in the vertical direction and remains motionless in the horizontal direction; the state of the suspension platform is monitored in real time, and the position, posture, height and environmental factors of the suspension platform are obtained in real time, wherein the environmental factors include at least the size and direction of the wind.
[0032] In some embodiments, in step S402, the position deviation and attitude deviation of the suspension platform from the target position are determined based on the position, attitude, height and environmental factors of the suspension platform, that is, the deviation of the current suspension platform from the target position in the vertical and horizontal directions is calculated, including the position deviation and attitude deviation.
[0033] In some embodiments, in step S403, the speed and angle of the UAV are determined based on the position deviation and the attitude deviation, that is, based on the error calculation result, the PID control algorithm is used to calculate the control amount of the roll angle, pitch angle and yaw angle that need to be applied to the UAV to keep the platform in a balanced state, and the suspended platform is controlled to hover to the target position based on the speed and angle of the UAV, that is, the calculated control amount is sent to the control system of the UAV, and the UAV is driven to perform corresponding adjustment operations to maintain the balance state of the disc; the state of the disc and the influence of the surrounding environment are continuously monitored, and the control strategy is continuously adjusted according to the feedback information to ensure that the disc is hovering stably, and the attitude control of the UAV is adjusted according to the real-time feedback information to keep the suspended platform in a balanced state above the target position and respond to external interference factors in a timely manner.
[0034] By controlling the roll, pitch and yaw angles of the drone to maintain the balance of the suspension platform and offset the effects of external factors such as gravity and wind, the platform can be ensured to hover stably above the target position. The drone can effectively maintain the platform in a hovering state above the target position, achieve stable control, and improve flexibility and stability.
[0035] In order to better implement the suspension platform movement control method in the embodiment of the present invention, based on the suspension platform movement control method, correspondingly, Figure 5As shown, the embodiment of the present invention further provides a suspension platform movement control device, which is used to control the drone to drive the suspension platform to move to a target position. The suspension platform movement control device 500 includes: The data acquisition module 501 is used to obtain the target posture, target position, and the real-time posture and real-time position of the suspension platform when it moves; An error determination module 502 is used to determine a position error and a posture error based on a target posture and a target position and a real-time posture and a real-time position of the suspension platform; The mobile control module 503 is used to determine the drive control instructions of multiple motors based on the position error and the attitude error, respond to the drive control instructions to control the drone to drive the suspension platform to move to the target position, and control the suspension platform to maintain a hovering state.
[0036] like Figure 6 As shown, based on the suspension platform movement control method, the present invention also provides an electronic device 600, which can be a computing device such as a mobile terminal, a desktop computer, a notebook, a palm computer, and a server. The electronic device 600 includes a processor 601, a memory 602, and a display 603. Figure 6 Only some components of the electronic device 600 are shown, but it should be understood that it is not required to implement all of the components shown, and more or fewer components may be implemented instead.
[0037] In some embodiments, the memory 602 may be an internal storage unit of the electronic device 600, such as a hard disk or memory of the electronic device 600. In other embodiments, the memory 602 may also be an external storage device of the electronic device 600, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 600. Further, the memory 602 may also include both an internal storage unit of the electronic device 600 and an external storage device. The memory 602 is used to store application software and various types of data installed in the electronic device 600, such as program codes installed in the electronic device 600. The memory 602 may also be used to temporarily store data that has been output or is to be output. In one embodiment, a suspension platform movement control program is stored in the memory 602, and the suspension platform movement control program can be executed by the processor 601, thereby realizing the suspension platform movement control method of each embodiment of the present invention.
[0038] In some embodiments, the processor 601 may be a central processing unit (CPU), a microprocessor or other data processing chip, used to run program codes or process data stored in the memory 602, such as a suspension platform movement control method.
[0039] In some embodiments, the display 603 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, an OLED (Organic Light-Emitting Diode) touch device, etc. The display 603 is used to display identification information of the suspension platform movement control program and to display a visual user interface. The components 601-603 of the electronic device 600 communicate with each other through a system bus.
[0040] In some embodiments, when the processor 601 executes the suspension platform movement control program in the memory 602, the various steps in the suspension platform movement control method described in the above embodiments are implemented. Since the suspension platform movement control method has been described in detail above, it will not be repeated here.
[0041] Correspondingly, an embodiment of the present application also provides a computer-readable storage medium, which is used to store computer-readable programs or instructions. When the program or instructions are executed by a processor, it can implement the steps or functions of the suspension platform movement control method provided in the above-mentioned method embodiments.
[0042] In summary, the suspension platform movement control method, device, electronic device and storage medium provided by the present invention are used to control an unmanned aerial vehicle to drive the suspension platform to move to a target position, obtain the target attitude, target position, and the real-time attitude and real-time position of the suspension platform when moving, and determine the position error and attitude error based on the target attitude and target position and the real-time attitude and real-time position of the suspension platform; determine the drive control instructions of multiple motors based on the position error and attitude error, control the unmanned aerial vehicle to drive the suspension platform to move to the target position in response to the drive control instructions, and control the suspension platform to maintain a hovering state, thereby improving control accuracy, flexibility and stability.
[0043] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.
[0044] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.
Claims
1. A method for controlling the movement of a suspended platform, characterized in that: Used to control the drone to drive the suspension platform to move to the target location, including: Obtain target attitude, target position, and real-time attitude and real-time position of the suspension platform when it moves; Determine a position error and an attitude error based on the target attitude and target position and the real-time attitude and real-time position of the suspension platform; Based on the position error and the attitude error, drive control instructions for multiple motors are determined, and in response to the drive control instructions, the drone is controlled to drive the suspension platform to move to a target position, and the suspension platform is controlled to maintain a hovering state.
2. The suspension platform movement control method according to claim 1, characterized in that: The obtaining of the real-time posture and real-time position of the suspension platform when it moves includes: Obtaining the real-time position of the suspended platform when it moves through a position sensor, wherein the position sensor includes a laser sensor and a GPS; The real-time attitude of the suspension platform when it moves is obtained through an attitude sensor, wherein the real-time attitude includes a roll angle, a pitch angle and a yaw angle, and the attitude sensor includes a gyroscope sensor and an accelerometer.
3. The method for controlling the movement of a suspension platform according to claim 2, characterized in that: The multiple motors include a first motor, a second motor, a third motor and a fourth motor, the first motor, the second motor and the third motor correspond to three equally divided points of the platform one by one, and the fourth motor is located in the drone; The determining of the position error and the attitude error based on the target attitude and the target position and the real-time attitude and the real-time position of the suspension platform comprises: Calculating position errors of the first motor, the second motor, the third motor, and the fourth motor based on the target position and the real-time position of the suspension platform; An attitude error is calculated based on the target attitude and the real-time attitude of the suspension platform, wherein the attitude error includes a roll angle error, a pitch angle error, and a yaw angle error.
4. The method for controlling the movement of a suspension platform according to claim 3, characterized in that: The calculation formula of the position error of the first motor is: ， in, is the position error of the first encoder motor, Targeted Axis coordinates, Targeted Axis coordinates, is the angle of the first suspension point in the suspension platform; The calculation formula of the position error of the second motor is: ， in, is the position error of the second encoder motor, is the angle of the second suspension point in the suspension platform; The calculation formula of the position error of the third motor is: ， in, is the position error of the second encoder motor, is the angle of the third suspension point in the suspension platform; The calculation formula of the position error of the fourth motor is: ， in, is the position error of the second encoder motor.
5. The suspension platform movement control method according to claim 3, characterized in that: The step of determining the drive control instructions for the plurality of motors based on the position error and the attitude error comprises: Acquire the position and posture of the suspension platform during the movement, and determine whether the suspension platform is in a horizontal state with the target and whether it has reached the target position based on the position and posture of the suspension platform; When the suspension platform and the target are not in a horizontal state, voltage signals of the first motor, the second motor and the third motor are determined based on position errors and attitude errors of the first motor, the second motor and the third motor, respectively, and speeds of the first motor, the second motor and the third motor are determined based on the voltage signals of the first motor, the second motor and the third motor; When the suspension platform does not reach the target position, the voltage signal of the fourth motor is determined based on the position error and attitude error of the fourth motor, and the speed and angle of the drone are determined based on the voltage signal of the fourth motor.
6. The method for controlling the movement of a suspension platform according to claim 5, characterized in that: The step of responding to the driving control instruction and controlling the drone to drive the suspension platform to move to the target position includes: Controlling the suspension platform to lift and lower based on the speed of the first motor, the second motor and the third motor; The moving trajectory of the suspension platform is determined, and the suspension platform is controlled to move along the moving trajectory based on the speed and angle of the drone until the suspension platform moves to a target position.
7. The method for controlling the movement of a suspension platform according to claim 6, characterized in that: The controlling the suspension platform to maintain a suspended state comprises: When the suspension platform moves to the target position, the position, posture, height and environmental factors of the suspension platform are acquired in real time, wherein the environmental factors at least include the magnitude and direction of wind force; Determine the position deviation and attitude deviation between the suspension platform and the target position based on the position, attitude, height and environmental factors of the suspension platform; The speed and angle of the UAV are determined based on the position deviation and the attitude deviation, and the suspension platform is controlled to hover to a target position based on the speed and angle of the UAV.
8. A suspension platform movement control device, characterized in that: Used to control the drone to drive the suspension platform to move to the target location, including: A data acquisition module is used to obtain the target posture, target position, and the real-time posture and real-time position of the suspension platform when it moves; An error determination module, for determining a position error and an attitude error based on the target attitude and target position and the real-time attitude and real-time position of the suspension platform; The mobile control module is used to determine the drive control instructions of multiple motors based on the position error and the attitude error, respond to the drive control instructions to control the drone to drive the suspension platform to move to the target position, and control the suspension platform to maintain a hovering state.
9. An electronic device, characterized in that: including memory and processor; The memory stores a computer-readable program executable by the processor; When the processor executes the computer-readable program, the steps in the suspension platform movement control method as described in any one of claims 1-7 are implemented.
10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores one or more programs, and the one or more programs can be executed by one or more processors to implement the steps in the suspension platform movement control method as described in any one of claims 1-7.