A three-axis stabilization pod for unmanned aerial vehicles and a control method and device thereof

Abstract

The embodiment of the present invention discloses a three-axis stabilization pod for unmanned aerial vehicles and a control method and device thereof, which mainly include a heading mechanism, a rolling mechanism, a pitching mechanism, a cabin mechanism, and a main processor. The heading mechanism includes a heading control board, the rolling mechanism includes a rolling control board, and the pitching mechanism includes a pitching control board; the heading control board includes a heading motor, a heading controller, a heading encoder, and a heading motor driving chip; the rolling control board includes a rolling motor, a rolling encoder, and a rolling motor driving chip; the pitching control board includes a pitch motor, a pitch controller, a pitch encoder, a pitch motor driving chip, and a sensor module. The heading mechanism, the rolling mechanism, and the pitching mechanism work together to achieve stable control of the three axes, maintain the stability of the equipment in the cabin and the clarity of the captured image, achieve stable performance in a complex flight environment, and provide strong support for the unmanned aerial vehicle shooting, monitoring and other tasks.

Description

Technical Field

[0001] The present invention relates to the technical field of unmanned aerial vehicle control, and in particular to a three-axis stabilization pod for an unmanned aerial vehicle and a control method and device thereof. Background Art

[0002] At present, unmanned aircraft, referred to as "drones", are unmanned aircraft that are controlled by radio remote control equipment and self-contained program control devices. There is no cockpit on the aircraft, but it is equipped with autopilots, program control devices and other equipment. Personnel on the ground, on ships or at the mother aircraft remote control station use radar and other equipment to track, locate, remotely control, telemeter and transmit digitally.

[0003] With the rapid development of drone technology, drones are increasingly used in aerial photography, monitoring, search and rescue, and other fields. To obtain images through drones in flight, it is necessary to ensure the stability and image quality of the flight process. As a key component of drones, the stability and accuracy of the gimbal pod directly affect the shooting and observation effects of drones. Most existing gimbal pods use traditional mechanical structures and control algorithms, which have problems such as insufficient stability, low control accuracy, and weak anti-interference ability. Summary of the invention

[0004] In view of the above-mentioned defects, an embodiment of the present invention discloses a three-axis stabilization pod for an unmanned aerial vehicle and a control method and device thereof, which improve the stability and accuracy of the unmanned aerial vehicle.

[0005] The first aspect of the embodiment of the present invention discloses a three-axis stabilization pod for unmanned aerial vehicles, including a heading mechanism, a roll mechanism, a pitch mechanism, a cabin mechanism, and a main processor, wherein the heading mechanism includes a heading control board, the roll mechanism includes a roll control board, the pitch mechanism includes a pitch control board, the heading control board includes a heading motor, a heading controller, a heading encoder, and a heading motor driver chip; the roll control board includes a roll motor, a roll encoder, and a roll motor driver chip, and the pitch control board includes a pitch motor, a pitch controller, a pitch encoder, a pitch motor driver chip, and a sensor module; the heading mechanism is installed above the roll mechanism, and the roll mechanism includes a roll control board, a pitch control board, a pitch motor driver chip, and a sensor module. The structure is installed above the pitch mechanism, and the cabin mechanism is connected to the roll mechanism; the heading motor drive chip, the roll motor drive chip, and the pitch motor drive chip are all connected to the main processor, the heading motor drive chip is connected to the heading motor and the heading controller, the roll motor drive chip is connected to the roll motor, the sensor module and the pitch encoder are both connected to the pitch controller, and the pitch motor drive chip is also connected to the pitch controller; the heading encoder and the heading motor drive chip are both connected to the heading controller; the heading control board communicates with the main processor, the roll control board communicates with the heading control board, and the pitch control board communicates with the roll control board

[0006] As an optional embodiment, in the first aspect of the embodiment of the present invention, the heading mechanism also includes an upper fixed plate, a shock-absorbing ball, a lower fixed plate, a heading connecting arm, a slip ring and a heading arm housing, the heading control plate is mounted on the upper fixed plate, the upper fixed plate is connected to the lower fixed plate, the shock-absorbing ball is fixed between the upper fixed plate and the lower fixed plate, the heading connecting arm is connected to the heading arm housing, the heading motor is mounted in a accommodating cavity formed by the heading connecting arm and the heading arm housing, the heading motor is mounted on the lower fixed plate through the heading connecting arm, and the slip ring is connected to the heading motor.

[0007] As an optional embodiment, in the first aspect of the embodiment of the present invention, the roll mechanism also includes a roll connecting arm and a roll shell, the roll connecting arm and the roll shell are connected to form a accommodating space, the roll motor and the roll control board are installed in the accommodating space, the roll control board is located above the roll motor, and the roll connecting arm is connected to the heading connecting arm.

[0008] As an optional embodiment, in the first aspect of the embodiment of the present invention, the pitch mechanism also includes a left machine arm, a right machine arm, a left motor arm, a right motor arm and a bearing, the pitch motor is installed on the right machine arm, the pitch control plate is fixed on the right machine arm, the left motor arm is fixed to one side of the roll connecting arm, the left motor arm and the left machine arm are connected by the bearing, and the right motor arm and the right machine arm are connected.

[0009] As an optional embodiment, in the first aspect of the embodiment of the present invention, the cabin mechanism includes a cabin rear cover, a pod right sheet metal, a pod left sheet metal, a glass module, a cabin front cover, a heat sink, and a dual-optical movement module. The cabin front cover and the cabin rear cover are connected, and the dual-optical movement module is installed between the cabin front cover and the cabin rear cover through the pod left sheet metal and the pod right sheet metal. The heat sink is installed on the dual-optical movement module. A through hole is opened on the cabin front cover, and the glass module is installed on the through hole, and the position of the glass module corresponds to that of the dual-optical movement module. After the cabin front cover and the cabin rear cover are connected, they are connected to the roll mechanism and the pitch mechanism.

[0010] As an optional implementation, in the first aspect of the embodiment of the present invention, the glass module includes transparent glass and germanium glass, the through hole includes a first through hole and a second through hole, the transparent glass is installed on the first through hole, and the germanium glass is installed on the second through hole.

[0011] As an optional implementation, in the first aspect of the embodiment of the present invention, the dual-optical movement module includes a high-definition module, a switch board, an infrared module and an FPC cable, the high-definition module is connected to the switch board, the infrared module is connected to the FPC cable, and the switch board and the FPC cable are connected to the main processor.

[0012] A second aspect of an embodiment of the present invention discloses a method for controlling a three-axis stabilization pod of an unmanned aerial vehicle, comprising:

[0013] Collect three-axis attitude angle data, three-axis acceleration data and three-axis angular velocity data through the sensor module;

[0014] Calculate the control data of the heading motor, the rolling motor and the pitch motor according to the three-axis attitude angle data, the three-axis acceleration data and the three-axis angular velocity data;

[0015] Based on the control data, control waveforms are output to the heading motor drive chip, the rolling motor drive chip and the pitch motor drive chip respectively.

[0016] As an optional implementation manner, in the second aspect of the embodiment of the present invention, it also includes:

[0017] Detect whether there is a reference attitude angle, and when the reference attitude angle is not stored, write the preset reference attitude angle, and calibrate the pod data; the pod data includes gyroscope data, motor data, and motor mechanical angle data.

[0018] A second aspect of an embodiment of the present invention discloses a three-axis stabilization pod control device for an unmanned aerial vehicle.

[0019] Data acquisition module: used to collect three-axis attitude angle data, three-axis acceleration data and three-axis angular velocity data through the sensor module;

[0020] Data processing module: used to calculate the control data of the heading motor, the rolling motor and the pitch motor according to the three-axis attitude angle data, the three-axis acceleration data and the three-axis angular velocity data;

[0021] Motor control module: used to output control waveforms to the heading motor drive chip, the roll motor drive chip and the pitch motor drive chip respectively based on the control data.

[0022] A fourth aspect of an embodiment of the present invention discloses an electronic device, comprising: a memory storing executable program code; a processor coupled to the memory; the processor calls the executable program code stored in the memory to execute the unmanned aerial vehicle three-axis stabilization pod control method disclosed in the second aspect of the embodiment of the present invention.

[0023] A fifth aspect of an embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute the method for controlling a three-axis stabilization pod of a drone disclosed in the second aspect of an embodiment of the present invention.

[0024] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0025] In an embodiment of the present invention, a three-axis stabilization pod for an unmanned aerial vehicle is provided, which mainly includes a heading mechanism, a roll mechanism, a pitch mechanism, a cabin mechanism, and a main processor. The heading mechanism includes a heading control board, the roll mechanism includes a roll control board, and the pitch mechanism includes a pitch control board; specifically, the heading control board includes a heading motor, a heading controller, a heading encoder, and a heading motor driver chip, the roll control board includes a roll motor, a roll encoder, and a roll motor driver chip, and the pitch control board includes a pitch motor, a pitch controller, a pitch encoder, a pitch motor driver chip, and a sensor module. Through the structure provided in the embodiment, the heading mechanism, the roll mechanism, and the pitch mechanism work in coordination, respectively. The three-axis pod can achieve stable control in three axes. The three-axis pod can remain stable during the flight of the UAV. Even in complex flight environments such as wind shear and airflow disturbances, it can maintain the stability of the equipment in the pod and the clarity of the captured image through precise control and feedback mechanisms, achieving stable performance in complex flight environments. It can rotate 360 ​​degrees without dead angles for all-round shooting, providing strong support for UAV shooting, monitoring and other tasks. The motor driver chips on each control board are connected to the motor, controller, and encoder to form a closed-loop control system to achieve precise control. No controller is set in the roll control board, which reduces costs and avoids communication delays. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0027] Figure 1 It is a schematic diagram of the disassembled structure of a three-axis stabilization pod for a UAV provided by an embodiment of the present invention;

[0028] Figure 2 It is a module structure diagram of a three-axis stabilization pod for a UAV provided by an embodiment of the present invention;

[0029] Figure 3 It is a hardware structure diagram of a three-axis stabilization pod for a UAV provided by an embodiment of the present invention;

[0030] Figure 4 It is a method flow diagram of a method for controlling a three-axis stabilization pod of an unmanned aerial vehicle provided by an embodiment of the present invention;

[0031] Figure 5 The present invention is a schematic diagram of a module structure of a three-axis stabilization pod control device for an unmanned aerial vehicle provided by an embodiment of the present invention. Figure 6It is a structural schematic diagram of an electronic device provided by an embodiment of the present invention.

[0032] In the figure: 1. Heading control board; 2. Upper fixing plate; 3. Shock-absorbing ball; 4. Lower fixing plate; 5. Heading connecting arm; 6. Heading motor; 7. Heading arm housing; 8. Roll control board; 9. Roll motor; 10. Roll connecting arm; 11. Roll housing; 12. Pitch control board; 13. Pitch motor; 14. Left aircraft arm; 15. Right aircraft arm; 16. Left motor arm; 17. Right motor arm; 18. Bearing; 19. Cabin rear cover; 20. Pod right sheet metal; 21. Pod left sheet metal; 22. Cabin front cover; 23. Heat sink; 24. Transparent glass; 25. Germanium glass; 26. HD module; 27. Switch board; 28. Infrared module; 29. ​​FPC cable. DETAILED DESCRIPTION

[0033] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0034] It should be noted that the terms "first", "second", "third", "fourth", etc. in the specification and claims of the present invention are used to distinguish different objects rather than to describe a specific order. The terms "including" and "having" in the embodiments of the present invention and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device including a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0035] The embodiment of the present invention discloses a three-axis stabilization pod for unmanned aerial vehicles and a control method and device thereof, which mainly include a heading mechanism, a rolling mechanism, a pitching mechanism, a cabin mechanism, and a main processor. The heading mechanism includes a heading control board, the rolling mechanism includes a rolling control board, and the pitching mechanism includes a pitching control board; specifically, the heading control board includes a heading motor, a heading controller, a heading encoder, and a heading motor driving chip; the rolling control board includes a rolling motor, a rolling encoder, and a rolling motor driving chip; the pitching control board includes a pitching motor, a pitch controller, a pitching encoder, a pitching motor driving chip, and a sensor module. Through the structure provided in the embodiment, the heading mechanism, the rolling mechanism, and the pitching mechanism are coordinated to control the pod. Working at the same time, stable control of three axes is achieved. The three-axis pod can remain stable during the flight of the UAV. Even in complex flight environments such as wind shear and airflow disturbances, the stability of the equipment in the pod and the clarity of the captured images can be maintained through precise control and feedback mechanisms, achieving stable performance in complex flight environments. It can rotate 360 ​​degrees without dead angles for all-round shooting, providing strong support for UAV shooting, monitoring and other tasks. The motor driver chips on each control board are connected to the motor, controller, and encoder to form a closed-loop control system to achieve precise control, and no controller is set in the roll control board, which reduces costs and avoids communication delays.

[0036] Embodiment 1

[0037] join Figures 1 to 3 The embodiment provides a three-axis stabilization pod for a UAV. Figure 1 and Figure 3As shown, the three-axis stabilization pod of the unmanned aerial vehicle includes a heading mechanism, a roll mechanism, a pitch mechanism, a cabin mechanism, and a main processor. The heading mechanism includes a heading control board 1, the roll mechanism includes a roll control board 8, and the pitch mechanism includes a pitch control board 12. The heading control board 1 includes a heading motor 6, a heading controller, a heading encoder, and a heading motor 6 drive chip; the roll control board 8 includes a roll motor 9, a roll encoder, and a roll motor 9 drive chip; the pitch control board 12 includes a pitch motor 13, a pitch controller, a pitch encoder, a pitch motor 13 drive chip, and a sensor module; the heading mechanism is installed above the roll mechanism, and the roll mechanism is installed on the pitch mechanism. Above the structure, the cabin mechanism is connected to the roll mechanism; the heading motor 6 driving chip, the roll motor 9 driving chip, and the pitch motor 13 driving chip are all connected to the main processor, the heading motor 6 driving chip is connected to the heading motor 6 and the heading controller, the roll motor 9 driving chip is connected to the roll motor 9, the sensor module and the pitch encoder are both connected to the pitch controller, and the pitch motor 13 driving chip is also connected to the pitch controller; the heading encoder and the heading motor 6 driving chip are both connected to the heading controller; the heading control board 1 communicates with the main processor, the roll control board 8 communicates with the heading control board 1, and the pitch control board 12 communicates with the roll control board 8.

[0038] In the above, the main structure of the embodiment includes a heading mechanism, a roll mechanism, a pitch mechanism, a cabin mechanism and a main processor. Among them, the heading mechanism includes a heading control board 1, the roll mechanism includes a roll control board 8, and the pitch mechanism includes a pitch control board 12. As for the details of each control board, the heading control board 1 includes a heading motor 6, a heading controller, a heading encoder and a heading motor 6 driver chip. The heading motor 6 driver chip is connected to the heading motor 6 and the heading controller, and is used to drive the operation of the heading motor 6, and obtains feedback of the heading angle through the heading encoder to achieve precise control. The roll control board 8 includes a roll motor 9, a roll encoder and a roll motor 9 driver chip. The roll motor 9 driver chip is connected to the roll motor 9, and is used to drive the operation of the roll motor 9, and the roll encoder is used to obtain feedback of the roll angle. The pitch control board 12 includes a pitch motor 13, a pitch controller, a pitch encoder, a pitch motor 13 driver chip and a sensor module. The pitch motor 13 driving chip is connected to the pitch controller and the pitch motor 13, and is used to drive the operation of the pitch motor 13. The sensor module and the pitch encoder are both connected to the pitch controller to provide additional environmental perception and angle feedback.

[0039] The heading mechanism is installed above the roll mechanism, the roll mechanism is installed above the pitch mechanism, and the cabin mechanism is connected to the roll mechanism. This installation relationship enables the pod to achieve stabilization on three axes, namely heading, roll and pitch. The heading motor 6 driver chip, the roll motor 9 driver chip, and the pitch motor 13 driver chip are all connected to the main processor to realize the main processor's control of each motor. The heading control board 1 communicates with the main processor, the roll control board 8 communicates with the heading control board 1, and the pitch control board 12 communicates with the roll control board 8. This communication method enables the main processor to achieve precise control of each axis of the pod through instructions transmitted layer by layer. Therefore, the pod can remain stable during the flight of the drone, and even when encountering complex flight environments such as wind shear and airflow disturbances, it can maintain the stability of the equipment in the cabin and the clarity of the captured image through precise control and feedback mechanisms.

[0040] The sensor module of the embodiment adopts an IMU sensor of model ICM42628, which is a 6-axis attitude sensor (3-axis accelerometer and 3-axis gyroscope sensor), which can measure the acceleration and angle parameters of the chip's own X, Y, and Z axes, and obtain the attitude angle through data fusion. Each motor driver chip adopts model MP6543, which is a 3-phase brushless DC motor driver that can provide up to 2A of continuous current and has an adjustable overcurrent protection threshold.

[0041] Specifically, the heading mechanism also includes an upper fixed plate 2, a shock absorbing ball 3, a lower fixed plate 4, a heading connecting arm 5, a slip ring and a heading arm housing 77. The heading control board 1 is mounted on the upper fixed plate 2, the upper fixed plate 2 is connected to the lower fixed plate 4, the shock absorbing ball 3 is fixed between the upper fixed plate 2 and the lower fixed plate 4, the heading connecting arm 5 is connected to the heading arm housing 77, the heading motor 6 is mounted in a receiving cavity formed by connecting the heading connecting arm 5 and the heading arm housing 77, the heading motor 6 is mounted on the lower fixed plate 4 through the heading connecting arm 5, and the slip ring is connected to the heading motor 6. The upper fixed plate 2 is used to mount the heading control board 1 and is one of the main supporting structures of the heading mechanism. The lower fixed plate 4 is connected to the upper fixed plate 2 to form the main frame of the heading mechanism. The shock-absorbing ball 3 is fixed between the upper fixed plate 2 and the lower fixed plate 4, and plays a role of buffering and shock absorption. During the flight of the UAV, the shock-absorbing ball 3 can absorb and disperse the vibration and impact from the body, and protect the electronic components and mechanical structure inside the heading mechanism. The heading connecting arm 5 is connected to the heading arm housing 77 to form a space for accommodating the heading motor 6. The heading arm housing 77 not only plays a protective role, but also prevents external interference from affecting the heading motor 6. The design of the slip ring enables the heading mechanism to maintain stable signal and power transmission during rotation, ensuring the accuracy and reliability of heading control. The mechanical structure of the heading mechanism can effectively reduce the vibration and impact during the flight of the UAV by designing the shock-absorbing ball 3, improve the stability of the heading mechanism, and improve the shooting quality. The heading ratio housing protects the internal electronic components from external interference.

[0042] The roll mechanism of the embodiment also includes a roll connecting arm 10 and a roll housing 11, wherein the roll connecting arm 10 and the roll housing 11 are connected to form a storage space, wherein the roll motor 9 and the roll control board 8 are installed in the storage space, wherein the roll control board 8 is located above the roll motor 9, and wherein the roll connecting arm 10 is connected to the heading connecting arm 5. The roll connecting arm 10 is one of the main supporting structures of the roll mechanism, and it connects the heading mechanism and the pitch mechanism to ensure that the roll mechanism can be stably installed on the drone, and the roll housing 11 is connected to the roll connecting arm 10 to form a space to accommodate the roll motor 9 and the roll control board 8, and the roll housing 11 not only plays a protective role to prevent external interference and damage, but also provides the necessary heat dissipation channel to ensure the normal operation of the internal components of the roll mechanism. The design of the roll connecting arm 10 and the roll housing 11 enhances the structural stability of the roll mechanism, enabling it to better withstand various mechanical loads during flight. The design of the roll housing 11 protects the electronic components and mechanical structures inside the roll mechanism, prevents external interference and damage, extends the service life of the roll mechanism, and improves its reliability.

[0043] Specifically, the pitch mechanism of the embodiment further includes a left machine arm 14, a right machine arm 15, a left motor arm 16, a right motor arm 17 and a bearing 18, wherein the pitch motor 13 is mounted on the right machine arm 15, the pitch control board 12 is fixed on the right machine arm 15, the left motor arm 16 fixes one side of the roll connecting arm 10, the left motor arm 16 and the left machine arm 14 are connected through the bearing 18, and the right motor arm 17 is connected to the right machine arm 15. As the main supporting structure of the pitch mechanism, the left machine arm 14 and the right machine arm 15 are responsible for connecting the roll mechanism and the pitch mechanism to ensure the stability and accuracy of the pitch movement, the left motor arm 16 and the right motor arm 17 are respectively used to fix the two sides of the pitch motor 13 to ensure that the motor can stably drive the rotation of the pitch mechanism, and the main function of the bearing 18 is to reduce friction and wear during the rotation process and improve the operation efficiency and stability of the pitch mechanism. The pitch motor 13 is responsible for driving the rotation of the pitch mechanism to adjust the shooting angle, and the pitch control board 12 is responsible for receiving the control signal from the drone and converting it into instructions that the motor can understand, thereby achieving precise control of the pitch motor 13.

[0044] The cabin mechanism of the embodiment includes a cabin rear cover 19, a pod right sheet metal 20, a pod left sheet metal 21, a glass module, a cabin front cover 22, a heat sink 23, and a dual-light movement module. The cabin front cover 22 is connected to the cabin rear cover 19, and the dual-light movement module is installed between the cabin front cover 22 and the cabin rear cover 19 through the pod left sheet metal 21 and the pod right sheet metal 20. The heat sink 23 is installed on the dual-light movement module. A through hole is opened on the cabin front cover 22, and the glass module is installed on the through hole, and the position of the glass module corresponds to that of the dual-light movement module. After the cabin front cover 22 and the cabin rear cover 19 are connected, they are connected to the roll mechanism and the pitch mechanism. The cabin rear cover 19 and cabin front cover 22 are the main structures of the cabin mechanism, responsible for protecting and fixing the internal electronic components and mechanical structures, forming a closed cabin space to prevent external interference and damage; the cabin left sheet metal 21 and cabin right sheet metal 20 are the supporting structures of the cabin mechanism, used to install and fix key components such as the dual-light movement module, and the glass module is installed on the through hole of the cabin front cover 22, corresponding to the position of the dual-light movement module, responsible for protecting the dual-light movement module from external interference, while allowing light to pass through for shooting or monitoring. The heat sink 23 is installed on the dual-light movement module to dissipate the heat generated by the movement module during operation, ensuring that the movement module can work within the normal temperature range and extend its service life; the dual-light movement module is the core component of the cabin mechanism, responsible for realizing the shooting or monitoring function. The roll mechanism and the pitch mechanism are connected to the cabin rear cover 19 and the cabin front cover 22 respectively, so as to realize the stable movement of the pod in three axes. Through the components such as the motor and the transmission mechanism, the pod posture is precisely controlled to ensure the accuracy and stability of shooting or monitoring. The solid design of the cabin rear cover 19, the cabin front cover 22, the pod left sheet metal 21 and the pod right sheet metal 20 ensures the overall stability of the cabin mechanism, helps to reduce the blur and shaking of the shooting picture caused by vibration and impact, and improves the shooting quality; the heat sink 23 effectively improves the heat dissipation efficiency of the dual-light core module, ensures that the core module can work within the normal temperature range, helps to extend the service life of the core module, and improves the reliability and stability of the pod; the coordinated work of the glass module and the dual-light core module ensures the clarity and accuracy of the shooting picture; the glass module protects the core module from external interference, while allowing light to pass through, so as to achieve high-quality shooting or monitoring.

[0045] The glass module includes transparent glass 24 and germanium glass 25, and the through hole includes a first through hole and a second through hole. The transparent glass 24 is installed on the first through hole, and the germanium glass 25 is installed on the second through hole. The transparent glass 24 is a material with high light transmittance, low absorption rate and high mechanical strength. It is installed on the first through hole of the cabin front cover 22 to protect the internal optical components from dust, water vapor and other external pollutants. The transparent glass 24 has a high light transmittance and can ensure that most of the light passes through, thereby ensuring the clarity and accuracy of the shooting or monitoring picture. The germanium glass 25 is a special glass material with excellent infrared transmittance and certain radiation resistance. It is installed on the second through hole of the cabin front cover 22 and can maintain a high light transmittance in the infrared band, thereby achieving effective reception and detection of infrared radiation. The close connection between the glass module and the cabin front cover 22 ensures the sealing of the cabin. It helps to prevent pollutants such as dust and water vapor from entering the cabin and keep the internal environment clean and stable.

[0046] The dual-optical core module includes a high-definition module 26, a switch board 27, an infrared module 28 and an FPC cable 29. The high-definition module 26 is connected to the switch board 27, the infrared module 28 is connected to the FPC cable 29, and the switch board 27 and the FPC cable 29 are connected to the main processor. The dual-optical core module is one of the core components in the three-axis stabilization pod of the unmanned aerial vehicle. It integrates multiple key components such as the high-definition module 26, the switch board 27, the infrared module 28 and the FPC cable 29, and together realizes the high-definition shooting and infrared detection functions of the pod in complex environments. The high-definition module 26 is a component in the pod for shooting high-definition videos and pictures, including components such as high-definition cameras, lenses, sensors, etc., which can capture high-resolution images on the ground or in the air. The high-definition module 26 transmits the captured image data to the main processor for further processing by connecting to the switch board 27. The switch board 27 is the signal exchange center in the dual-optical core module, which is responsible for receiving the signals transmitted by the high-definition module 26 and the infrared module 28, and converting these signals into a format suitable for processing by the main processor. It is responsible for receiving the signals transmitted by the high-definition module 26 and the infrared module 28, and converting these signals into a format suitable for the main processor to process. The infrared module 28 transmits the detected infrared signals to the switch board 27 by connecting the FPC cable 29. The dual-optical core module realizes the high-definition shooting and infrared detection functions of the pod in complex environments through the coordinated work of the high-definition module 26, the switch board 27, the infrared module 28 and the FPC cable 29.

[0047] Embodiment 2

[0048] See also Figure 4 , Figure 4It is a flow chart of a method for controlling a three-axis stabilization pod for an unmanned aerial vehicle disclosed in an embodiment of the present invention. Among them, the execution subject of the method described in the embodiment of the present invention is an execution subject composed of software and / or hardware, and the execution subject can receive relevant information by wired or / and wireless means, and can send certain instructions. Of course, it can also have certain processing functions and storage functions. The execution subject can control multiple devices, such as a remote physical server or cloud server and related software, or a local host or server and related software that performs related operations on a device placed somewhere. In some scenarios, multiple storage devices can also be controlled, and the storage devices can be placed in the same place or in a different place as the device. For example Figure 4 As shown, the UAV three-axis stabilization pod control method includes the following steps:

[0049] 401. Collect three-axis attitude angle data, three-axis acceleration data, and three-axis angular velocity data through a sensor module.

[0050] 402. Calculate control data of the heading motor, the roll motor, and the pitch motor according to the three-axis attitude angle data, the three-axis acceleration data, and the three-axis angular velocity data.

[0051] 403. Outputting control waveforms to the heading motor drive chip, the rolling motor drive chip, and the pitch motor drive chip respectively based on the control data.

[0052] Furthermore, the embodiment may also include detecting whether there is a reference attitude angle, and when the reference attitude angle is not stored, writing a preset reference attitude angle, and calibrating pod data; the pod data includes gyroscope data, motor data, and motor mechanical angle data.

[0053] When the pod is working, it is necessary to obtain the attitude angle. The pitch, roll and heading angle of the pod are collectively referred to as the attitude angle, which is the relative rotation angle of the pod relative to the geographic system. The standard attitude angle parameter table of the new sensor is blank, and the parameter table needs to be written in advance to ensure that the sensor installation direction and control parameters are correct. After writing the attitude angle parameters, the pod needs to be calibrated first, mainly including confirming that the main control board communication is normal: the pod has two main controls, located on the heading control board and the pitch control board respectively. This method reduces the communication delay between the control boards, increases the feedback speed of the sensor, and improves the use effect. Only when it is confirmed that the two boards communicate normally can the subsequent motor and sensor calibration be carried out; the gyroscope is calibrated when it is stationary, and the attitude output of the pod can be ensured to be normal after the gyroscope eliminates the zero bias; the motor calibration includes two steps: motor electromagnetic angle calibration and testing. After the electromagnetic angle calibration is completed, the motor can theoretically output torque normally, but it is necessary to actually give a torque to test it to ensure that the motor torque output is normal; the direction of the motor's magnetic ring is random when it is pressed in and installed, resulting in the encoder coordinate system and the IMU attitude coordinate system not coinciding. The purpose of the mechanical angle zero point calibration is to make the two coordinate systems coincide. If the two coordinate systems do not coincide seriously, the pod will be directly started, which will cause it to swing around and not work; the pod needs to remain stationary during the calibration process, and the gyroscope can be calibrated to reduce the error and drift of the gyroscope, improve its measurement precision and accuracy; ensure that the data output by the gyroscope is consistent with the actual measurement value; and improve the stability and reliability of the gyroscope.

[0054] After the pod is calibrated, the three-axis attitude angle, three-axis acceleration and three-axis angular velocity of the pod are obtained first, and the attitude of the pod is collected and analyzed through the Kalman filter fusion algorithm. The attitude fusion task mainly includes the return of the original attitude data, the implementation of the attitude fusion algorithm and the final calculated attitude output. The PID task is used to calculate the control amount of the SPWM wave, and the SPWM waveform is output in conjunction with the PID algorithm. The three-phase SPWM wave signal is amplified by the motor driver chip and drives the motor, thereby adjusting the pod state and maintaining the stability of the pod.

[0055] During operation, the pod is first installed on the drone platform to ensure that all connectors are firm and reliable, then the pod is started, the processor, controller and sensor module are activated, and data is synchronized with the drone flight control system through the communication interface to ensure overall coordination of the system. During flight, the sensor module monitors the drone's motion state and external environmental changes in real time, and transmits the data to the main processor. The main processor adjusts the movement of the precision drive mechanism in real time according to the sensor data to counteract the vibration and wind impact of the drone and maintain the stability of the onboard equipment.

[0056] Embodiment 3

[0057] See also Figure 5, Figure 5 is a module structure diagram of a three-axis stabilization pod control device for an unmanned aerial vehicle disclosed in an embodiment of the present invention, such as Figure 5 As shown, the UAV three-axis stabilization pod control device includes a data acquisition module 501, a data processing module 502, and a motor control module 503, wherein the data acquisition module 501 is used to collect three-axis attitude angle data, three-axis acceleration data and three-axis angular velocity data through a sensor module; the data processing module 502 is used to calculate the control data of the heading motor, the roll motor and the pitch motor according to the three-axis attitude angle data, the three-axis acceleration data and the three-axis angular velocity data; the motor control module 503 is used to output the control waveform to the heading motor drive chip, the roll motor drive chip and the pitch motor drive chip respectively based on the control data.

[0058] Furthermore, the embodiment may also include a calibration module for detecting whether there is a reference attitude angle, and when the reference attitude angle is not stored, writing a preset reference attitude angle and calibrating the pod data; the pod data includes gyroscope data, motor data, and motor mechanical angle data.

[0059] Embodiment 4

[0060] See also Figure 6 , Figure 6 : is a schematic diagram of the structure of an electronic device disclosed in an embodiment of the present invention. The electronic device may be a computer, a server, etc. Of course, in certain circumstances, it may also be a smart device such as a mobile phone, a tablet computer, a monitoring terminal, and an image acquisition device with processing functions. As shown in FIG.., the electronic device may include:

[0061] A memory 601 storing executable program codes;

[0062] a processor 602 coupled to the memory 601;

[0063] The processor 502 calls the executable program code stored in the memory 501 to execute some or all steps of the three-axis stabilization pod control method for the unmanned aerial vehicle in the second embodiment.

[0064] An embodiment of the present invention discloses a computer-readable storage medium storing a computer program, wherein the computer program enables a computer to execute some or all of the steps in the method for controlling a three-axis stabilization pod of a drone in Embodiment 2.

[0065] The embodiment of the present invention further discloses a computer program product, wherein when the computer program product is run on a computer, the computer executes part or all of the steps in the method for controlling the three-axis stabilization pod of the unmanned aerial vehicle in the second embodiment.

[0066] An embodiment of the present invention further discloses an application publishing platform, wherein the application publishing platform is used to publish a computer program product, wherein when the computer program product runs on a computer, the computer executes some or all of the steps in the drone three-axis stabilization pod control method in embodiment 2.

[0067] In various embodiments of the present invention, it should be understood that the size of the serial numbers of the processes does not necessarily mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0068] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, i.e., they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0069] In addition, each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0070] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-accessible memory. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product, which is stored in a memory and includes several requests for a computer device (which can be a personal computer, a server or a network device, etc., specifically a processor in a computer device) to perform some or all of the steps of the method described in each embodiment of the present invention.

[0071] In the embodiments provided by the present invention, it should be understood that "B corresponding to A" means that B is associated with A, and B can be determined according to A. However, it should also be understood that determining B according to A does not mean determining B only according to A, and B can also be determined according to A and / or other information.

[0072] A person of ordinary skill in the art can understand that some or all of the steps in the various methods of the embodiments can be completed by instructing related hardware through a program, and the program can be stored in a computer-readable storage medium, and the storage medium includes a read-only memory (ROM), a random access memory (RAM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), a one-time programmable read-only memory (OTPROM), an electronically erasable rewritable read-only memory (EEPROM), a compact disc (CD-ROM) or other optical disc storage, magnetic disk storage, magnetic tape storage, or any other computer-readable medium that can be used to carry or store data.

[0073] The above is a detailed introduction to the three-axis stabilization pod for unmanned aerial vehicles and its control method and device disclosed in the embodiment of the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for general technicians in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A three-axis stabilization pod for an unmanned aerial vehicle, characterized in that: It includes a heading mechanism, a rolling mechanism, a pitching mechanism, a cabin mechanism, and a main processor. The heading mechanism includes a heading control board, the rolling mechanism includes a rolling control board, the pitching mechanism includes a pitching control board, the heading control board includes a heading motor, a heading controller, a heading encoder, and a heading motor driving chip; the rolling control board includes a rolling motor, a rolling encoder, and a rolling motor driving chip; the pitch control board includes a pitch motor, a pitch controller, a pitch encoder, a pitch motor driving chip, and a sensor module; the heading mechanism is installed above the rolling mechanism, the rolling mechanism is installed above the pitch mechanism, and the The cabin mechanism is connected to the roll mechanism; the heading motor drive chip, roll motor drive chip and pitch motor drive chip are all connected to the main processor, the heading motor drive chip is connected to the heading motor and the heading controller, the roll motor drive chip is connected to the roll motor, the sensor module and the pitch encoder are both connected to the pitch controller, and the pitch motor drive chip is also connected to the pitch controller; the heading encoder and the heading motor drive chip are both connected to the heading controller; the heading control board communicates with the main processor, the roll control board communicates with the heading control board, and the pitch control board communicates with the roll control board.

2. The three-axis stabilization pod for unmanned aerial vehicles according to claim 1, characterized in that: The heading mechanism also includes an upper fixed plate, a shock-absorbing ball, a lower fixed plate, a heading connecting arm, a slip ring and a heading arm housing. The heading control plate is installed on the upper fixed plate, the upper fixed plate is connected to the lower fixed plate, the shock-absorbing ball is fixed between the upper fixed plate and the lower fixed plate, the heading connecting arm is connected to the heading arm housing, the heading motor is installed in a accommodating cavity formed by connecting the heading connecting arm and the heading arm housing, the heading motor is installed on the lower fixed plate through the heading connecting arm, and the slip ring is connected to the heading motor.

3. The three-axis stabilization pod for unmanned aerial vehicles according to claim 1, characterized in that: The roll mechanism also includes a roll connecting arm and a roll shell, the roll connecting arm and the roll shell are connected to form a accommodating space, the roll motor and the roll control board are installed in the accommodating space, the roll control board is located above the roll motor, and the roll connecting arm is connected to the heading connecting arm.

4. The three-axis stabilization pod for unmanned aerial vehicles according to claim 1, characterized in that: The pitch mechanism also includes a left machine arm, a right machine arm, a left motor arm, a right motor arm and a bearing, the pitch motor is installed on the right machine arm, the pitch control board is fixed on the right machine arm, the left motor arm is fixed to one side of the roll connecting arm, the left motor arm and the left machine arm are connected through the bearing, and the right motor arm is connected to the right machine arm.

5. The three-axis stabilization pod for unmanned aerial vehicles according to claim 1, characterized in that: The cabin mechanism includes a cabin rear cover, a pod right sheet metal, a pod left sheet metal, a glass module, a cabin front cover, a heat sink, and a dual-light movement module. The cabin front cover is connected to the cabin rear cover, and the dual-light movement module is installed between the cabin front cover and the cabin rear cover through the pod left sheet metal and the pod right sheet metal. The heat sink is installed on the dual-light movement module. A through hole is opened on the cabin front cover, and the glass module is installed on the through hole, and the position of the glass module corresponds to that of the dual-light movement module. After the cabin front cover and the cabin rear cover are connected, they are connected to the roll mechanism and the pitch mechanism.

6. The three-axis stabilization pod for unmanned aerial vehicles according to claim 5, characterized in that: The glass module comprises transparent glass and germanium glass, the through hole comprises a first through hole and a second through hole, the transparent glass is mounted on the first through hole, and the germanium glass is mounted on the second through hole.

7. The three-axis stabilization pod for unmanned aerial vehicles according to claim 5, characterized in that: The dual-optical core module includes a high-definition module, a switching board, an infrared module and an FPC cable. The high-definition module is connected to the switching board, the infrared module is connected to the FPC cable, and the switching board and the FPC cable are connected to the main processor.

8. A method for controlling a three-axis stabilization pod of an unmanned aerial vehicle, characterized in that: include: Collect three-axis attitude angle data, three-axis acceleration data and three-axis angular velocity data through the sensor module; Calculate the control data of the heading motor, the rolling motor and the pitch motor according to the three-axis attitude angle data, the three-axis acceleration data and the three-axis angular velocity data; Based on the control data, control waveforms are output to the heading motor drive chip, the rolling motor drive chip and the pitch motor drive chip respectively.

9. The method for controlling a three-axis stabilization pod of a UAV according to claim 8, characterized in that: Also includes: Detect whether there is a reference attitude angle, and when the reference attitude angle is not stored, write the preset reference attitude angle, and calibrate the pod data; the pod data includes gyroscope data, motor data, and motor mechanical angle data.

10. A three-axis stabilization pod control device for an unmanned aerial vehicle, characterized in that: Data acquisition module: used to collect three-axis attitude angle data, three-axis acceleration data and three-axis angular velocity data through the sensor module; Data processing module: used to calculate the control data of the heading motor, the rolling motor and the pitch motor according to the three-axis attitude angle data, the three-axis acceleration data and the three-axis angular velocity data; Motor control module: used to output control waveforms to the heading motor drive chip, the roll motor drive chip and the pitch motor drive chip respectively based on the control data.

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