Movable platform system and control method and device thereof

Abstract

A movable platform system and a control method and apparatus thereof, the movable platform system comprising a movable platform and a pan-tilt mounted on the movable platform, the pan-tilt for mounting a photographing apparatus, the method comprising: when the movable platform turns, controlling the movable platform to enter a first mode (S501); and in the first mode, controlling the course of the pan-tilt to deflect relative to the movement direction of the movable platform, and the deflection direction and the turning direction of the movable platform forming a preset angle (S502). When the movable platform turns, the movable platform is controlled to enter a first mode, in the first mode, the course of the holder is controlled to deflect relative to the moving direction of the movable platform, and a preset angle is formed between the deflection direction and the turning direction of the movable platform, which is equivalent to that the holder is controlled to advance the movable platform by an angle; the turning track is completely exposed in the field angle of the shooting device, so that the shooting device can shoot the obstacle on the turning track in advance, and the flight safety and the flight experience are improved.

Description

Technical Field

[0001] The present application relates to the field of control, and in particular to a movable platform system and a control method and device thereof. Background Art

[0002] At present, it is common to mount a gimbal on a mobile platform and use the gimbal to carry a load to achieve obstacle avoidance for the mobile platform. For example, the load is a camera, and the movement of the mobile platform is guided by the images captured by the camera. If the field of view (FOV) of the camera is relatively small, when the mobile platform turns, the camera may not be able to capture obstacles on the turning trajectory of the mobile platform, or when it captures obstacles on the turning trajectory, the mobile platform does not have time to brake or dodge and hits the obstacle, or even is damaged, making it very difficult for the mobile platform to turn, affecting the control experience of the mobile platform. Summary of the invention

[0003] The present application provides a movable platform system and a control method and device thereof.

[0004] In a first aspect, an embodiment of the present application provides a control method for a movable platform system, wherein the movable platform system includes a movable platform and a gimbal mounted on the movable platform, wherein the gimbal is used to carry a load supporting obstacle avoidance, and the method includes:

[0005] When the movable platform turns, controlling the movable platform to enter a first mode;

[0006] In the first mode, the heading of the gimbal is controlled to deflect relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform.

[0007] In a second aspect, an embodiment of the present application provides a control device for a mobile platform system, wherein the mobile platform system includes a mobile platform and a gimbal mounted on the mobile platform, wherein the gimbal is used to carry a load that supports obstacle avoidance, and the control device for the mobile platform system includes:

[0008] a storage device for storing program instructions; and

[0009] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0010] When the movable platform turns, controlling the movable platform to enter a first mode;

[0011] In the first mode, the heading of the gimbal is controlled to deflect relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform.

[0012] In a third aspect, an embodiment of the present application provides a control method for a movable platform system, wherein the movable platform system includes a movable platform and a gimbal mounted on the movable platform, wherein the gimbal is used to carry a load supporting obstacle avoidance, and the method includes:

[0013] When the movable platform turns, controlling the movable platform to enter a first mode;

[0014] In the first mode, the posture of the gimbal and / or the movable platform is controlled so that the sensing direction of the load is deflected relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform.

[0015] In a fourth aspect, an embodiment of the present application provides a control method for a movable platform system, wherein the movable platform system includes a movable platform and a gimbal mounted on the movable platform, wherein the gimbal is used to carry a load supporting obstacle avoidance, and the method includes:

[0016] When the movable platform turns, controlling the movable platform to enter a first mode;

[0017] In the first mode, the posture of the pan / tilt head and / or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

[0018] In a fifth aspect, an embodiment of the present application provides a control method for a movable platform system, wherein the movable platform system includes a movable platform and a gimbal mounted on the movable platform, wherein the gimbal is used to carry a load supporting obstacle avoidance, and the method includes:

[0019] When the movable platform turns, controlling the movable platform to enter a first mode;

[0020] In the first mode, the movement of the pan / tilt head and / or the movable platform is controlled so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform.

[0021] In a sixth aspect, an embodiment of the present application provides a control device for a movable platform system, wherein the movable platform system includes a movable platform and a gimbal mounted on the movable platform, wherein the gimbal is used to carry a load supporting obstacle avoidance, and the device includes:

[0022] a storage device for storing program instructions; and

[0023] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0024] When the movable platform turns, controlling the movable platform to enter a first mode;

[0025] In the first mode, the posture of the gimbal and / or the movable platform is controlled so that the sensing direction of the load is deflected relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform.

[0026] In a seventh aspect, an embodiment of the present application provides a control device for a movable platform system, wherein the movable platform system includes a movable platform and a gimbal mounted on the movable platform, wherein the gimbal is used to carry a load supporting obstacle avoidance, and the device includes:

[0027] a storage device for storing program instructions; and

[0028] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0029] When the movable platform turns, controlling the movable platform to enter a first mode;

[0030] In the first mode, the posture of the pan / tilt head and / or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

[0031] In an eighth aspect, an embodiment of the present application provides a control device for a movable platform system, wherein the movable platform system includes a movable platform and a gimbal mounted on the movable platform, wherein the gimbal is used to carry a load supporting obstacle avoidance, and the device includes:

[0032] a storage device for storing program instructions; and

[0033] One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

[0034] When the movable platform turns, controlling the movable platform to enter a first mode;

[0035] In the first mode, the movement of the pan / tilt head and / or the movable platform is controlled so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform.

[0036] In a ninth aspect, an embodiment of the present application provides a movable platform system, the movable platform system comprising:

[0037] Movable platform;

[0038] A pan head mounted on the movable platform, the pan head being used to carry a shooting device; and

[0039] The control device of the movable platform system described in the second aspect or the sixth aspect or the seventh aspect or the eighth aspect is supported by the movable platform and / or the pan-tilt head.

[0040] According to the technical solution provided in the embodiment of the present application, when the movable platform turns, the present application controls the movable platform to enter the first mode. In the first mode, the heading of the gimbal is controlled to deflect relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform, or the posture of the gimbal is controlled to deflect the sensing direction of the load relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform, or the posture of the gimbal is controlled to make the trajectory point of the movable platform at the next moment fall within the sensing range of the load, or the movement of the gimbal is controlled to make the sensing range of the load and the body of the movable platform deflect in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform, which is equivalent to controlling the gimbal to advance the movable platform by an angle, so that the turning trajectory is exposed in advance within the sensing range of the load, so that the load can sense obstacles on the turning trajectory in advance, thereby improving the movement safety and control experience of the movable platform. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0042] Figure 1 is a schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application;

[0043] Figure 2 is a method flow chart of a control method of an unmanned aerial vehicle system in an embodiment of the present application;

[0044] Figure 3A It is a speed diagram of an unmanned aerial vehicle in one embodiment of the present application when flying;

[0045] Figure 3B is a schematic diagram of the speed of an unmanned aerial vehicle in another embodiment of the present application when flying;

[0046] Figure 3C is a flight schematic diagram of an unmanned aerial vehicle in an embodiment of the present application, Figure 3C (a) discloses the positional relationship between the field of view FOV of the camera and the heading of the UAV in the second mode of the UAV. Figure 3C (b) discloses the positional relationship between the field of view FOV of the camera and the heading of the UAV when the UAV is in the first mode;

[0047] Figure 3D is a flight schematic diagram of an unmanned aerial vehicle in another embodiment of the present application, Figure 3D (a) discloses the positional relationship between the field of view FOV of the camera and the heading of the UAV in the second mode of the UAV. Figure 3D (b) discloses the positional relationship between the field of view FOV of the camera and the heading of the UAV when the UAV is in the first mode;

[0048] Figure 3E is a turning schematic diagram of an unmanned aerial vehicle in an embodiment of the present application;

[0049] Figure 4 It is a schematic diagram of an implementation process of controlling the heading of a gimbal to deflect relative to the movement direction of an unmanned aerial vehicle in an embodiment of the present application, and the deflection direction forms a preset angle with the turning direction of the unmanned aerial vehicle;

[0050] Figure 5 is a method flow diagram of a control method of a movable platform system in another embodiment of the present application;

[0051] Figure 6 is a method flow diagram of a control method of a movable platform system in another embodiment of the present application;

[0052] Figure 7 is a method flow diagram of a control method of a movable platform system in another embodiment of the present application;

[0053] Figure 8 is a structural block diagram of a control device of a movable platform system in an embodiment of the present application;

[0054] Fig. 9 It is another structural schematic diagram of the movable platform system in one embodiment of the present application. DETAILED DESCRIPTION

[0055] When the gimbal carries a payload to guide the movable platform to avoid obstacles, for example, the payload is a camera, and the movable platform is guided to avoid obstacles by images captured by the camera, if the field of view FOV of the camera is relatively small, when the movable platform turns, the camera may not be able to capture obstacles on the turning trajectory of the movable platform, or when an obstacle on the turning trajectory is captured, the movable platform does not have time to brake or avoid it and hits the obstacle, or even is damaged. This makes it very difficult for the movable platform to turn, affecting the user's control experience of the movable platform.

[0056] For example, the movable platform is an unmanned aerial vehicle. When the user manually controls the flight of the unmanned aerial vehicle, such as controlling the unmanned aerial vehicle to perform first-person perspective FPV (First Person View) flight, the user will use flight goggles or display screens and other devices to obtain real-time images of the onboard camera through image transmission, and operate according to the real-time images to control the flight of the unmanned aerial vehicle. If the unmanned aerial vehicle is far away from the user or the unmanned aerial vehicle is flying in a relatively complex environment (such as an environment where there are obstacles such as trees, buildings or lamp posts around the unmanned aerial vehicle), the user can usually only judge the environment around the unmanned aerial vehicle through real-time images, but cannot see the environment around the unmanned aerial vehicle in the real world with the naked eye. In this case, when the unmanned aerial vehicle turns, if the camera does not capture the obstacles on the turning trajectory or captures the obstacles on the turning trajectory later, when the user judges the environment around the unmanned aerial vehicle through the real-time image, the user will not have time to operate because of the untimely judgment, which will cause the unmanned aerial vehicle to hit obstacles or even explode during the turning process, causing great losses to the user.

[0057] In addition, when users use real-time images to judge the environment around the unmanned aerial vehicle to operate the unmanned aerial vehicle, they will become cautious because the camera cannot capture obstacles on the turning trajectory or captures obstacles on the turning trajectory too late, which seriously affects the flight experience.

[0058] To this end, in an embodiment of the present application, when the movable platform turns, the movable platform is controlled to enter a first mode. In the first mode, the heading of the gimbal is controlled to deflect relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform, or the posture of the gimbal is controlled to deflect the sensing direction of the load relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform, or the posture of the gimbal is controlled to make the trajectory point of the movable platform at the next moment fall within the sensing range of the load, or the movement of the gimbal is controlled to deflect the sensing range of the load and the body of the movable platform in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform, which is equivalent to controlling the gimbal to advance the movable platform by an angle, so that the turning trajectory is exposed in the sensing range of the load in advance, so that the load can sense obstacles on the turning trajectory in advance, thereby improving flight safety and flight experience.

[0059] It can be understood that the turning trajectory or trajectory point described in the present application can be preset or estimated based on the movement of the movable platform, and no specific limitation is made here.

[0060] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0061] It should be noted that, in the absence of conflict, the features in the following embodiments and implementations may be combined with each other.

[0062] Among them, the movable platform system in the embodiment of the present application includes a movable platform and a gimbal mounted on the movable platform, and the gimbal is used to carry a load that supports obstacle avoidance. Among them, the movable platform includes an unmanned aerial vehicle, an unmanned vehicle, an unmanned ship, etc., and the user can remotely control the movable platform through a control terminal. The load in the embodiment of the present application may include a load that supports obstacle avoidance, and the load that supports obstacle avoidance includes but is not limited to a shooting device and / or an obstacle avoidance sensor. Exemplarily, the load is a shooting device, such as a camera, and the image captured by the shooting device mounted on the gimbal can be displayed in real time on the control terminal to guide the pilot to control the movement of the movable platform, such as to achieve artificial obstacle avoidance; Exemplarily, the load is an obstacle avoidance sensor, and the obstacle avoidance operation can be performed on the movable platform, such as to achieve automatic obstacle avoidance. The obstacle avoidance sensor may include a visual obstacle avoidance sensor and / or an electromagnetic wave obstacle avoidance sensor, wherein the visual obstacle avoidance sensor may include a binocular vision sensor, and the electromagnetic wave obstacle avoidance sensor may include a laser radar or a TOF (Time of flight) sensor; Of course, the obstacle avoidance sensor may also be of other types.

[0063] The following contents of the embodiments of the present application are all explained by taking the movable platform as an unmanned aerial vehicle as an example. It can be understood that the corresponding descriptions of other movable platforms can refer to the unmanned aerial vehicle, and their cooperation with the gimbal is basically similar to the cooperation between the unmanned aerial vehicle and the gimbal, and the embodiments of the present application will not be repeated.

[0064] See also Figure 1 The unmanned aerial vehicle system of the embodiment of the present application may include an unmanned aerial vehicle 100 and a gimbal 200 mounted on the unmanned aerial vehicle 100, and the gimbal 200 is used to carry a payload 300 supporting obstacle avoidance. The unmanned aerial vehicle 100 of the embodiment of the present application may be a drone, such as a multi-rotor drone, a fixed-wing drone, or other types of drones, such as a helicopter drone, etc.; of course, the unmanned aerial vehicle 100 may also be other types of unmanned aerial vehicles. The gimbal 200 may be a single-axis gimbal, a two-axis gimbal, a three-axis gimbal, or other multi-axis gimbal.

[0065] The payload may include a camera and / or an obstacle avoidance sensor. Exemplarily, the payload is a camera, which may include a first-person perspective FPV camera or other camera, such as a downward-looking camera mounted on the bottom of the unmanned aerial vehicle 100, a rear-looking camera mounted on the rear of the unmanned aerial vehicle 100, a left-looking camera mounted on the left side of the unmanned aerial vehicle 100, or a right-looking camera mounted on the right side of the unmanned aerial vehicle 100. Exemplarily, the camera is a first-person perspective FPV camera.

[0066] In the embodiment of the present application, the unmanned aerial vehicle 100 is connected to the gimbal 200 for communication, and the unmanned aerial vehicle 100 can control the gimbal 200, such as controlling the heading rotation of the gimbal 200, or controlling the attitude of the gimbal 200 (i.e. controlling the yaw attitude and / or pitch attitude and / or roll attitude of the gimbal 200), or controlling the movement of the gimbal 200 (i.e. controlling the yaw attitude and / or pitch attitude and / or roll attitude and / or translation of the gimbal 200). Exemplarily, when controlling the gimbal 200, the unmanned aerial vehicle 100 sends a trigger signal to the gimbal 200, and the gimbal 200 rotates and / or translates according to the trigger signal, so that the unmanned aerial vehicle 100 indirectly controls the gimbal 200. Translation means that by controlling the gimbal 200, the load can be translated in at least one direction to achieve displacement.

[0067] Figure 2 It is a method flow chart of a control method for an unmanned aerial vehicle system in one embodiment of the present application; the executor of the control method for an unmanned aerial vehicle system in an embodiment of the present application is the unmanned aerial vehicle system, for example, the executor may be a flight controller of the unmanned aerial vehicle, or other controllers provided in the unmanned aerial vehicle, or a combination of a flight controller and other controllers provided in the unmanned aerial vehicle.

[0068] See also Figure 2 The control method of the unmanned aerial vehicle system in the embodiment of the present application may include steps S201 to S202.

[0069] Wherein, in S201, when the unmanned aerial vehicle turns, the unmanned aerial vehicle is controlled to enter the first mode.

[0070] There are many ways to determine whether an unmanned aerial vehicle is turning, such as automatically determining whether the unmanned aerial vehicle is turning based on the motion information of the unmanned aerial vehicle, or obtaining the motion information of the unmanned aerial vehicle through an external device, and determining whether the unmanned aerial vehicle is turning based on the motion information of the unmanned aerial vehicle, and then the external device sends the determination result to the unmanned aerial vehicle, or determining whether the unmanned aerial vehicle is turning based on the position information of the unmanned aerial vehicle.

[0071] For example, in some embodiments, it is automatically determined whether the unmanned aerial vehicle turns based on the motion information of the unmanned aerial vehicle. Exemplarily, before determining that the unmanned aerial vehicle turns, the motion information of the unmanned aerial vehicle is obtained. If the motion information satisfies the first preset condition, it is determined that the unmanned aerial vehicle turns. Among them, the motion information may include the target linear velocity and target angular velocity of the unmanned aerial vehicle, and the first preset condition may include: the target linear velocity is greater than the preset linear velocity threshold, and the target angular velocity is greater than the preset angular velocity threshold, that is, when the target linear velocity is greater than the preset linear velocity threshold, and the target angular velocity is greater than the preset angular velocity threshold, it is determined that the unmanned aerial vehicle turns. It should be understood that the motion information may also include others, and the first preset condition also includes others accordingly.

[0072] In an embodiment of the present application, the target linear velocity may be the linear velocity of the unmanned aerial vehicle flying forward (for example, it may be the linear velocity of the unmanned aerial vehicle flying forward when the heading is indicated in the direction of the nose of the unmanned aerial vehicle and the user only presses the pitch stick of the remote control of the unmanned aerial vehicle, that is, the linear velocity of the heading of the unmanned aerial vehicle).

[0073] It should be noted that, when the target linear speed is the linear speed of the forward movement of the movable platform (for example, the heading can be indicated in the direction of the nose of the movable platform, and when the user only presses the rod in the remote control of the movable platform for controlling the forward movement of the movable platform, the linear speed in the direction of the forward movement of the movable platform, that is, the linear speed of the heading of the movable platform), the linear speed of the forward movement of the movable platform includes the linear speed of the forward flight of the unmanned aerial vehicle.

[0074] For example, in some embodiments, see Figure 3A , when the UAV is turning, the combined linear velocity V of the UAV can be decomposed into Vx and Vy, wherein the direction of Vx is parallel to the heading of the UAV (that is, the direction of the linear velocity of the forward flight mentioned above), and the direction of Vy is perpendicular to the heading of the UAV. That is, this situation is applicable to the coexistence of the forward flight and the side flight of the UAV, that is, the user presses the pitch bar and the roll bar of the remote control of the UAV. Among them, due to the influence of the forward flight and the side flight, when the UAV is turning, the combined linear velocity V of the UAV does not coincide with the heading of the UAV, but the heading of the gimbal can still be controlled according to Vx, so that the heading of the gimbal is ahead of the movement direction of the UAV, thereby preventing the UAV from hitting obstacles during the turning process.

[0075] In other embodiments, see Figure 3B , Vx is not equal to 0, Vy is equal to 0, and Vx points to the front of the UAV, and the UAV's moving direction is the direction of Vx, that is, the UAV's moving direction coincides with the UAV's heading. That is, this situation is applicable to the UAV's forward flight, that is, the user presses the pitch and yaw sticks of the UAV's remote control to achieve turning flight, and can control the heading of the gimbal according to Vx, so that the heading of the gimbal is ahead of the UAV's moving direction, and avoid the UAV from hitting obstacles during the turning process.

[0076] It should be noted that in the embodiment of the present application, a coordinate system is established using the body of the unmanned aerial vehicle, and the direction of the nose is the direction of Vx.

[0077] It can be understood that in actual applications, there may also be backward flight, or backward flight and side flight. Rear flight means that the user presses down the pitch stick of the remote control of the unmanned aerial vehicle, but the direction of pressing is opposite to the direction of forward flight. In the case of backward flight, there may also be turning. At this time, the heading of the gimbal can be controlled according to the linear speed of the unmanned aerial vehicle in the backward flight, if the rotation angle of the gimbal allows, so that the heading of the gimbal is ahead of the movement direction of the unmanned aerial vehicle, thereby preventing the unmanned aerial vehicle from hitting obstacles during the turning process.

[0078] Before controlling the unmanned aerial vehicle to enter the first mode, the heading of the gimbal may or may not coincide with the direction of movement. Exemplarily, if the load is a shooting device, the heading of the gimbal coincides with the bisector of the field of view FOV of the shooting device. The coincidence of the heading of the gimbal with the direction of movement is equivalent to the coincidence of the bisector of the field of view FOV with the direction of movement. The non-coincidence of the heading of the gimbal with the direction of movement is equivalent to the non-coincidence of the bisector of the field of view FOV with the direction of movement. Therefore, the heading of the gimbal can be characterized by the bisector of the field of view FOV. It can be understood that if the load is an obstacle avoidance sensor, the heading of the gimbal coincides with the angular bisector of the sensing range of the obstacle avoidance sensor. The coincidence of the heading of the gimbal with the direction of movement is equivalent to the coincidence of the angular bisector of the sensing range with the direction of movement. The non-coincidence of the heading of the gimbal with the direction of movement is equivalent to the non-coincidence of the angular bisector of the sensing range with the direction of movement. Therefore, the heading of the gimbal can be characterized by the angular bisector of the sensing range. For example, in some embodiments, before the UAV is controlled to enter the first mode, the heading of the gimbal coincides with the direction of motion. For example, see Figure 3C (a), the heading of the gimbal ( Figure 3C (a) The dotted line) coincides with the direction of Vx, that is, the heading of the gimbal coincides with the heading of the UAV. The coincidence of the heading of the gimbal and the heading of the UAV is applicable to the mode of the gimbal following the UAV, wherein, in the mode of the gimbal following the UAV, the user controls the heading of the UAV through the remote control device, and the heading of the gimbal follows the heading of the UAV. It should be noted that before the gimbal enters the mode of the gimbal following the UAV, the heading of the gimbal and the heading of the UAV may also coincide.

[0079] In some other embodiments, before the UAV is controlled to enter the first mode, the heading of the gimbal does not coincide with the direction of motion. For example, see Figure 3D (a), the heading of the gimbal ( Figure 3D The angle between the dotted line in (a) and the direction of Vx is the preset angle θ, that is, the angle between the heading of the gimbal and the heading of the unmanned aerial vehicle is the preset angle θ. The preset angle θ can be set by the user and is suitable for the scenario where the user controls the heading of the gimbal through the remote control device, which makes the heading different from the heading of the unmanned aerial vehicle.

[0080] The sizes of the preset linear velocity threshold and the preset angular velocity threshold can be set as needed. For example, the preset linear velocity threshold is slightly greater than 0, and the preset angular velocity threshold is also slightly greater than 0. For example, the preset linear velocity threshold is 2m / s (unit: meter / second), and the preset angular velocity threshold is 5° / s (unit: degree / second). The first preset condition includes: the target linear velocity is greater than 2m / s, and the target angular velocity is greater than 5° / s.

[0081] Further, when at least one of the target linear velocity and the target angular velocity does not satisfy the first preset condition, the UAV is controlled to enter the second mode. At least one of the target linear velocity and the target angular velocity does not satisfy the first preset condition, indicating that the UAV is not in a turning state or exiting a turning state. Exemplarily, the first preset condition includes: the target linear velocity is greater than a preset linear velocity threshold, and the target angular velocity is greater than a preset angular velocity threshold. At least one of the target linear velocity and the target angular velocity does not satisfy the first preset condition, including: the target linear velocity is less than or equal to the preset linear velocity threshold, and / or the target angular velocity is less than or equal to the preset angular velocity threshold. Wherein, when the target linear velocity is less than or equal to the preset linear velocity threshold, it means that the UAV is flying at a smaller target linear velocity (such as a target linear velocity close to 0). If the target angular velocity is greater than the preset angular velocity threshold, it can be considered that the UAV is rotating. In the rotating state, the UAV will not collide with obstacles. If the target angular velocity is less than or equal to the preset angular velocity threshold, it can be considered that the UAV is hovering. In the hovering state, the UAV will not collide with obstacles. When the target angular velocity is less than or equal to the preset angular velocity threshold, it indicates that the UAV is rotating at a smaller target angular velocity (such as a target angular velocity close to 0). At this time, whether the target linear velocity is greater than the preset linear velocity threshold or less than or equal to the preset linear velocity threshold, since the target angular velocity is very small, when the user is controlling the UAV, the UAV rotates slowly. After the user finds an obstacle on the turning trajectory through the real-time image, the UAV will not immediately collide with the obstacle. Therefore, the user has time to manually adjust the UAV to prevent the UAV from colliding with the obstacle.

[0082] In the second mode, the relationship between the heading of the gimbal and the direction of movement can be determined based on the relationship between the heading of the gimbal and the direction of movement before the unmanned aerial vehicle enters the first mode. Exemplarily, in the second mode, the relationship between the heading of the gimbal and the direction of movement is consistent with the relationship between the heading of the gimbal and the direction of movement before the unmanned aerial vehicle enters the first mode; of course, in the second mode, the relationship between the heading of the gimbal and the direction of movement may also be inconsistent with the relationship between the heading of the gimbal and the direction of movement before the unmanned aerial vehicle enters the first mode. In the second mode, the relationship between the heading of the gimbal and the direction of movement can be set as needed.

[0083] Exemplarily, in some embodiments, in the second mode, the heading of the gimbal is controlled to coincide with the direction of motion; in other embodiments, in the second mode, the angle between the heading of the gimbal and the direction of motion is a preset angle, and the preset angle is set by the user. When at least one of the target linear velocity and the target angular velocity does not meet the first preset condition, the unmanned aerial vehicle is controlled to enter the second mode. In the second mode, the heading of the gimbal is controlled to coincide with the direction of motion, or the angle between the heading of the gimbal and the direction of motion is a preset angle. With such a design, it is possible to avoid the unmanned aerial vehicle being in the first mode when flying slowly or rotating slowly, causing the gimbal heading to shake, and further causing a sudden change in the real-time image.

[0084] Exemplarily, before controlling the unmanned aerial vehicle to enter the first mode, the unmanned aerial vehicle may be controlled to be in the second mode, that is, when the unmanned aerial vehicle turns, the unmanned aerial vehicle is controlled to switch from the second mode to the first mode.

[0085] Exemplarily, when the UAV ends its turn, the target angular velocity is less than or equal to a preset angular velocity threshold, that is, the target angular velocity is approximately 0. Therefore, when the UAV ends its turn, the UAV can be controlled to switch from the first mode to the second mode, thereby avoiding the situation where the UAV remains in the first mode when flying slowly or turning slowly, causing the gimbal heading to shake, and further causing a sudden change in the real-time image.

[0086] The target linear velocity and target angular velocity of the embodiment of the present application are determined according to the speed control amount sent externally. For example, the target linear velocity and target angular velocity are determined according to the speed control amount and the mapping relationship between the speed control amount and the speed of the unmanned aerial vehicle, wherein the mapping relationship between the speed control amount and the speed of the unmanned aerial vehicle is an existing mapping relationship. For example, when the flight of the unmanned aerial vehicle is controlled by a remote controller, the speed control amount can be determined according to the amount of the remote controller; it should be understood that the speed control amount can also be generated by a mobile phone, a tablet computer or a somatosensory control device.

[0087] In S202, in the first mode, the heading of the gimbal is controlled to deflect relative to the movement direction of the unmanned aerial vehicle, and the deflection direction forms a preset angle with the turning direction of the unmanned aerial vehicle.

[0088] For example, the UAV 100 is along Figure 3E The turning trajectory shown turns, Figure 3E The position of the UAV 100 on the turning trajectory at time t1 and time t2 is shown, where time t1 is earlier than time t2, wherein the turning direction of the UAV 100 can be represented by the direction of the line connecting the position of the UAV 100 on the turning trajectory at time t1 and the position of the UAV 100 on the turning trajectory at time t2.

[0089] See also Figure 4 A process of controlling the heading of a gimbal to deflect relative to the movement direction of an unmanned aerial vehicle, wherein the deflection direction forms a preset angle with the turning direction of the unmanned aerial vehicle, may include steps S401 to S402.

[0090] In S401, a target deflection angle is determined according to a target linear velocity and a target angular velocity.

[0091] The embodiment of the present application only needs to control the gimbal to advance the movable platform by an angle so that the turning trajectory is exposed in advance within the sensing range of the load. As for the size of the angle of the gimbal to advance the movable platform, it can be set according to needs. Optionally, the preset angle can be smaller than the target deflection angle or equal to the target deflection angle.

[0092] Different strategies can be used to determine the target deflection angle. For example, in some embodiments, the target deflection angle is negatively correlated with the turning radius of the UAV, that is, the smaller the turning radius, the larger the target deflection angle is set. When the UAV is turning, the smaller the turning radius, the faster the UAV turns, and the greater the possibility that the camera will not have time to capture obstacles on the turning trajectory, causing the UAV to collide with obstacles. Therefore, the smaller the turning radius, the larger the target deflection angle is set, so that the heading of the gimbal is deflected by a larger target deflection angle relative to the movement direction of the UAV, and the deflection direction is at a preset angle with the turning direction of the UAV, so that the camera can capture obstacles on the turning trajectory in time, reducing the risk of the UAV colliding with obstacles. In the embodiment of the present application, the turning radius is determined based on the target linear velocity and the target angular velocity. Optionally, the calculation formula for the turning radius r is as follows:

[0093] r = v / w (1);

[0094] In formula (1), v is the target linear velocity and w is the target angular velocity.

[0095] In some other embodiments, the load is a camera, and the target deflection angle is negatively correlated with the field of view FOV of the camera, that is, the smaller the field of view FOV, the larger the target deflection angle is set. When the unmanned aerial vehicle is turning, the smaller the field of view FOV, the greater the possibility that the camera cannot capture obstacles on the turning trajectory. Therefore, the smaller the field of view FOV, the larger the target deflection angle is set, so that the heading of the gimbal is deflected by a larger target deflection angle relative to the movement direction of the unmanned aerial vehicle, and the deflection direction is at a preset angle with the turning direction of the unmanned aerial vehicle, so that the camera can capture obstacles on the turning trajectory, reducing the risk of the unmanned aerial vehicle hitting obstacles.

[0096] In some other embodiments, the target deflection angle is positively correlated with the target angular velocity, that is, the larger the target angular velocity, the larger the target deflection angle is set. When the UAV is turning, the larger the target angular velocity, the faster the UAV turns, and the greater the possibility that the camera device will not be able to capture obstacles on the turning trajectory in time, causing the UAV to collide with obstacles. Therefore, the larger the target angular velocity, the larger the target deflection angle is set, so that the heading of the gimbal is deflected by a larger target deflection angle relative to the movement direction of the UAV, and the deflection direction is at a preset angle with the turning direction of the UAV, so that the camera device can capture obstacles on the turning trajectory in time, reducing the risk of the UAV colliding with obstacles.

[0097] It should be understood that the above-mentioned strategies for determining the target deflection angle can be combined. For example, the target deflection angle is negatively correlated with the turning radius of the UAV and negatively correlated with the field of view FOV of the shooting device, so that the shooting device can timely capture obstacles on the turning trajectory, reducing the risk of the UAV colliding with obstacles.

[0098] In the embodiment of the present application, the target deflection angle is less than or equal to the preset angle threshold. In this way, when the heading of the gimbal is controlled to be ahead of the movement direction of the unmanned aerial vehicle, the gimbal can be prevented from deflecting beyond the rotation angle range of the gimbal. At the same time, the gimbal can be prevented from vibrating too much due to the deflection angle of the heading of the gimbal relative to the movement direction of the unmanned aerial vehicle, and further causing a sudden change in the real-time image. Among them, the size of the preset angle threshold can be set as needed. For example, the size of the preset angle threshold can be determined according to the angular rotation range of the gimbal. If the target deflection angle determined in S401 is greater than the preset angle threshold, the target deflection angle is limited to the preset angle threshold to prevent the target deflection angle from being too large and exceeding the angular rotation range of the gimbal.

[0099] In S402, according to the target deflection angle, the heading of the gimbal is controlled to deflect relative to the movement direction of the UAV, and the deflection direction forms a preset angle with the turning direction of the UAV.

[0100] S402 can be achieved by controlling the rotation of the gimbal and / or by controlling the rotation of the unmanned aerial vehicle. In the following, the load is taken as an example for explanation. It can be understood that the corresponding description of the load as an obstacle avoidance sensor can refer to the embodiment of the load as a shooting device. For example, in some embodiments, according to the target deflection angle, the heading of the gimbal is controlled to deflect toward the turning direction of the unmanned aerial vehicle, so that there is a deflection between the heading of the gimbal and the movement direction of the unmanned aerial vehicle. When the unmanned aerial vehicle turns, the heading of the gimbal is controlled to turn a certain angle toward the center of the turning circle, which is equivalent to the heading of the gimbal being ahead of the movement direction of the unmanned aerial vehicle by an angle, so that the inside of the turning trajectory is more exposed to the field of view FOV of the shooting device. The user can see more of the field of view inside the turning trajectory through the real-time picture of the image transmission, so that the user can know in advance whether there are obstacles on the turning trajectory, thereby improving flight safety and control experience.

[0101] In this embodiment, the target deflection angle is the target deflection angle of the gimbal heading.

[0102] The process of controlling the heading of the gimbal to deflect toward the turning direction of the UAV according to the target deflection angle may include but is not limited to the following steps:

[0103] (1) Obtain the first target angle of the gimbal;

[0104] In the embodiment of the present application, the first target angle is equal to the third target angle of the UAV, and the direction is a preset angle, and the third target angle is determined according to the target angular velocity. For example, taking the heading angle as an example, the target angular velocity is 10° / s, and the angle of the UAV at the current moment is 90° (unit: degree), then the third target angle of the UAV in the next second is 100°, and accordingly, the first target angle is 100°.

[0105] It should be noted that, in the embodiment of the present application, the first target angle and the third target angle both include the heading angle; of course, the first target angle and the third target angle may also include angles in other directions, such as a pitch angle and / or a roll angle.

[0106] (2) superimposing the target deflection angle with the first target angle to obtain a second target angle of the gimbal;

[0107] Exemplarily, the first target angle includes the first heading target angle of the gimbal, and the second target angle includes the second heading target angle of the gimbal. Step (2) is to superimpose the target deflection angle with the first heading target angle in the first target angle to obtain the second heading target angle in the second target angle. It should be understood that when the first target angle includes angles in other directions, the second target angle also includes angles in the corresponding directions.

[0108] Different strategies can be used to achieve the superposition of the target deflection angle and the first target angle. For example, according to a first preset algorithm, the target deflection angle and the first target angle are smoothly superimposed to obtain the second target angle of the gimbal at different times, so that the heading of the gimbal is smoothly deflected toward the turning direction of the unmanned aerial vehicle, thereby reducing the jitter of the gimbal and thus reducing the jitter of the picture taken by the shooting device.

[0109] The first preset algorithm may include a low-pass filtering algorithm, or other filtering algorithms, such as a mean filtering algorithm. Exemplarily, the first preset algorithm is a low-pass filtering algorithm, and when the target deflection angle is smoothly superimposed with the first target angle according to the first preset algorithm to obtain the second target angle of the gimbal at different times, the superimposed deflection angle of the gimbal at the current moment is determined according to the target deflection angle, the first low-pass filtering coefficient, and the superimposed deflection angle of the gimbal at the previous moment; the superimposed deflection angle of the gimbal at the current moment is superimposed with the first target angle to obtain the second target angle of the gimbal at the current moment.

[0110] Exemplarily, the calculation method of determining the superimposed deflection angle of the gimbal at the current time t by a low-pass filtering algorithm is as follows:

[0111] α t =(1-p1)*α t-1 +p1*α (2);

[0112] In formula (2), α t represents the superimposed deflection angle at the current time t;

[0113] α t-1 represents the superimposed deflection angle at the previous moment (t-1);

[0114] α represents the target deflection angle;

[0115] p1 represents the first low-pass filter coefficient, 0<p1<1, the larger p1 is, the weaker the filtering effect is, and the faster the superposition speed of the target deflection angle to the first target angle is. During the flight of the unmanned aerial vehicle, the target linear velocity and / or target angular velocity may change, so the target deflection angle determined in S401 is also changing. If p1=1, it is equivalent to immediately superimposing the target deflection angle size at every moment. Exemplarily, the target deflection angle size currently determined is 5°, and the target deflection angle size determined at the next moment is 4°. If p1=1, due to the calculation delay, the actual superimposed target deflection angle at the next moment is still 5°, not 4°, which will cause the gimbal to shake, thereby causing the picture taken by the shooting device to shake. Setting p1 to a numerical range greater than 0 and less than 1 can reduce picture jitter. It should be understood that if the influence of gimbal jitter is not considered, the size of p1 can also be set to 1.

[0116] In addition, the superimposed deflection angle α at the current time t can also be t Record it so that α can be used to calculate the superimposed deflection angle at the next moment (t+1) t .

[0117] The calculation method of superimposing the superimposed deflection angle of the gimbal at the current time t with the second target angle to obtain the second target angle of the gimbal at the current time t is as follows:

[0118] β t =β+α t (3);

[0119] In formula (3), β represents the first target angle, β = β0 + ω*t, β0 represents the initial first target angle;

[0120] β t Indicates the second target angle of the gimbal at the current time t.

[0121] For example, β0=90°, ω=10° / s, α=5°, p1=0.2, then according to formula (2):

[0122] Time 1: α1 = (1-0.2)*0+0.2*5° = 1°;

[0123] Time 2: α2 = (1-0.2)*1+0.2*5° = 1.8°;

[0124] The difference between time 1 and time 2 is 0.1s. Accordingly, according to formula (3):

[0125] Time 1: β1 = 90° + 1° + 10° / s * 0.1s = 92°;

[0126] Time 2: β2 = 91° + 1.8° + 10° / s * 0.1s = 93.8°;

[0127] The same applies to other moments.

[0128] It should be understood that the calculation method of the superimposed deflection angle at the current time t is not limited to formula (2), and the calculation of the second target angle at the current time t is not limited to formula (3).

[0129] (3) According to the second target angle, the gimbal is controlled to rotate so that the heading of the gimbal is deflected toward the turning direction of the UAV.

[0130] For example, in an embodiment where β0=90°, ω=10° / s, α=5°, and p1=0.2, if the heading of the gimbal coincides with the heading of the unmanned aerial vehicle before the unmanned aerial vehicle enters the first mode, and when the unmanned aerial vehicle is in the first mode, there is no user who controls the yaw angle of the gimbal alone, then at time 1, the heading angle of the unmanned aerial vehicle is controlled to rotate to 91°, and the heading angle of the gimbal is controlled to rotate to 92°, so that the heading of the gimbal deflects 1° toward the turning direction of the unmanned aerial vehicle; at time 2, the heading angle of the unmanned aerial vehicle is controlled to rotate to 91°, and the heading angle of the gimbal is controlled to rotate to 92°, so that the heading of the gimbal deflects 1° toward the turning direction of the unmanned aerial vehicle; The heading angle is rotated to 92°, and the heading angle of the gimbal is controlled to rotate to 93.8°, so that the heading of the gimbal is deflected 1.8° in the turning direction of the UAV. In this way, the heading of the gimbal is one angle ahead of the movement direction of the UAV, so that the inside of the turning track is more exposed to the field of view FOV of the shooting device. The user can see more of the inside of the turning track through the image transmission screen, so that the user can know in advance whether there are obstacles on the turning track and make corresponding obstacle avoidance operations, thereby improving flight safety and control experience. It should be noted that at time 1 and time 2, the heading angle of the UAV

[0131] For example, the UAV is turning forward, and the heading of the gimbal coincides with the heading of the UAV. Figure 3C (a) When the UAV is turning forward in the second mode, the heading of the gimbal is not ahead of the UAV's direction of movement. At this time, the heading of the gimbal coincides with Vx, and the obstacle 1 cannot be captured within the field of view FOV of the camera. The user may fail to control the UAV to avoid the obstacle in time, causing the UAV to collide with obstacle 1; see Figure 3C (b) When the UAV turns forward, the gimbal is controlled to enter the first mode, thereby deflecting the heading of the gimbal ahead of the movement direction of the UAV by an angle α t , that is, the heading of the gimbal is ahead of Vx by an angle α t In this way, the inner side of the turning track is more exposed to the field of view FOV of the shooting device, and the obstacle 1 can be photographed within the field of view FOV of the shooting device, thereby preventing the unmanned aerial vehicle from colliding with the obstacle 1.

[0132] For example, the UAV flies forward and turns, and the angle between the heading of the gimbal and the heading of the UAV is θ, see 3D(a). When the UAV flies forward and turns in the second mode, the heading of the gimbal is not ahead of the movement direction of the UAV. At this time, the angle between the heading of the gimbal and Vx is θ, and the obstacle 2 cannot be captured within the field of view FOV of the camera. The user may fail to control the UAV to avoid the obstacle in time, causing the UAV to collide with the obstacle 2; see Figure 3D(b) When the UAV turns forward, the gimbal is controlled to enter the first mode, thereby deflecting the heading of the gimbal ahead of the movement direction of the UAV by an angle α t , that is, the angle between the heading of the gimbal and Vx is θ and α t In this way, the inner side of the turning track is more exposed to the field of view FOV of the shooting device, and the obstacle 2 can be photographed within the field of view FOV of the shooting device, thereby preventing the unmanned aerial vehicle from colliding with the obstacle 2.

[0133] It should be noted that when the unmanned aerial vehicle flies forward and turns, the angle between the heading of the gimbal and the heading of the unmanned aerial vehicle is θ. If θ is large, for example, greater than a preset angle threshold, there is no need to control the gimbal to advance or lag behind the body of the movable platform by an angle on this basis. That is, in this case, it means that the angle θ between the heading of the gimbal and the heading of the unmanned aerial vehicle has achieved the advancement of the gimbal relative to the body of the movable platform.

[0134] In other embodiments, the movement direction of the UAV is controlled to deviate from the turning direction according to the target deflection angle, so that there is a deflection between the heading of the gimbal and the movement direction of the UAV. When the UAV turns, the movement direction of the UAV is controlled to deviate from the turning direction by a smaller angle, which is equivalent to the movement direction of the UAV lagging behind the heading of the gimbal by an angle. This can also expose more of the inner side of the turning trajectory within the field of view FOV of the shooting device, and the user can see more of the inner side of the turning trajectory through the real-time picture of the image transmission, so that the user can know in advance whether there are obstacles on the turning trajectory, thereby improving flight safety and control experience.

[0135] In this embodiment, the target deflection angle is the target deflection angle of the heading of the unmanned aerial vehicle.

[0136] The process of controlling the movement direction of the UAV to deviate from the turning direction according to the target deflection angle may include but is not limited to the following steps:

[0137] (1) Obtaining the third target angle of the UAV;

[0138] For example, the target angular velocity is 10° / s, the angle of the UAV at the current moment is 90°, and the third target angle of the UAV in the next second is 100°.

[0139] (2) determining a fourth target angle of the UAV based on a difference value obtained by subtracting the target deflection angle from the third target angle;

[0140] Exemplarily, the third target angle includes the third heading target angle of the unmanned aerial vehicle, and the fourth target angle includes the fourth heading target angle of the unmanned aerial vehicle, and the fourth heading target angle is the difference obtained by subtracting the target deflection angle from the third heading target angle in the third target angle. It should be understood that when the third target angle includes angles in other directions, the fourth target angle also includes angles in the corresponding directions.

[0141] Different strategies can be used to achieve the subtraction of the third target angle and the target deflection angle. For example, according to the second preset algorithm, the third target angle and the target deflection angle are controlled to be smoothly subtracted, and the fourth target angle of the unmanned aerial vehicle at different times is determined, so that the movement direction of the unmanned aerial vehicle smoothly deviates from the turning direction.

[0142] Wherein, the second preset algorithm may include a low-pass filtering algorithm, and may also include other filtering algorithms, such as a mean filtering algorithm. Exemplarily, the second preset algorithm is a low-pass filtering algorithm, and when the second target angle and the target deflection angle are controlled to be smoothly subtracted according to the second preset algorithm to determine the fourth target angle of the unmanned aerial vehicle at different times, the subtracted deflection angle of the unmanned aerial vehicle at the current moment is determined according to the target deflection angle, the second low-pass filtering coefficient and the subtracted deflection angle of the unmanned aerial vehicle at the previous moment; the fourth target angle of the unmanned aerial vehicle at the current moment is determined according to the difference obtained by subtracting the subtracted deflection angle of the unmanned aerial vehicle at the current moment from the third target angle.

[0143] Exemplarily, the calculation method of determining the subtracted deflection angle of the gimbal at the current time t by a low-pass filtering algorithm is as follows:

[0144]

[0145] In formula (4), represents the subtracted deflection angle at the current time t;

[0146] represents the subtracted deflection angle at the previous moment (t-1);

[0147] Indicates the target deflection angle;

[0148] p2 represents the first low-pass filter coefficient, 0<p2<1, the larger p2 is, the weaker the filtering effect is, and the faster the subtraction speed between the third target angle and the target deflection angle is. During the flight of the unmanned aerial vehicle, the target linear velocity and / or target angular velocity may change, so the target deflection angle determined in S401 is also changing. If p2=1, it is equivalent to immediately subtracting the target deflection angle at every moment. For example, the target deflection angle currently determined is 5°, and the target deflection angle determined at the next moment is 4°. If p2=1, due to the calculation delay, the target deflection angle actually subtracted at the next moment is still 5°, not 4°, which will cause the unmanned aerial vehicle to rotate unsteadily. It should be understood that if the influence of the stability of the rotation of the unmanned aerial vehicle is not considered, the size of p2 can also be set to 1.

[0149] In addition, the deflection angle at the current time t can also be subtracted Record it so that it can be used to calculate the deflection angle at the next moment (t+1) t .

[0150] According to the difference obtained by subtracting the subtracted deflection angle of the UAV at the current time t from the third target angle, the calculation method for determining the fourth target angle of the UAV at the current time t is as follows:

[0151]

[0152] In formula (5), φ represents the third target angle, φ = φ0 + ω*t, φ0 represents the initial third target angle; φ t Represents the third target angle of the UAV at the current time t.

[0153] For example, φ0=90°, ω=10° / s, , p2=0.2, then according to formula (4):

[0154] Moment 1:

[0155] Moment 2:

[0156] The difference between time 1 and time 2 is 0.1s. Accordingly, according to formula (5):

[0157] Time 1: φ1 = 90° - 1° + 10° / s * 0.1s = 90°;

[0158] Time 2: φ2 = 91° - 1.8° + 10° / s * 0.1s = 90.2°;

[0159] The same applies to other moments.

[0160] It should be understood that the calculation method of the subtracted deflection angle at the current moment t is not limited to formula (4), and the calculation method of the fourth target angle at the current moment t is not limited to formula (5).

[0161] (3) According to the fourth target angle, the UAV is controlled to rotate so that the movement direction of the UAV deviates from the turning direction.

[0162] For example, at φ0=90°, ω=10° / s, , in the embodiment of p2=0.2, if before the unmanned aerial vehicle enters the first mode, the heading of the gimbal coincides with the heading of the unmanned aerial vehicle, and when the unmanned aerial vehicle is in the first mode, there is no user independently controlling the yaw angle of the gimbal, then at time 1, the heading angle of the gimbal is controlled to rotate to 91°, and the heading angle of the unmanned aerial vehicle is controlled to rotate to 90°, so that the heading of the unmanned aerial vehicle deviates 1° away from the turning direction, so that the heading of the unmanned aerial vehicle lags behind the heading of the gimbal by 1°; at time 2, the heading angle of the gimbal is controlled to rotate to 92°, and the heading angle of the unmanned aerial vehicle is controlled to rotate to 90.2°. The heading of the gimbal is deflected 1.8° toward the turning direction of the UAV. In this way, the movement direction of the UAV lags behind the heading of the gimbal by an angle, exposing more of the inner side of the turning trajectory within the field of view FOV of the shooting device. The user can see more of the inner side of the turning trajectory through the image transmission screen, so that the user can know in advance whether there are obstacles on the turning trajectory and make corresponding obstacle avoidance operations, thereby improving flight safety and control experience.

[0163] It should be noted that, according to the target deflection angle, the heading of the gimbal can be controlled to deflect toward the turning direction of the UAV, and the movement direction of the UAV can be controlled to deflect away from the turning direction, so that there is a deflection between the heading of the gimbal and the movement direction of the UAV. That is, the above-mentioned implementation method of controlling the heading of the gimbal to be ahead of the movement direction of the UAV by an angle and the above-mentioned implementation method of controlling the movement direction of the UAV to lag behind the heading of the gimbal by an angle can be combined.

[0164] It is understandable that when the heading of the control platform is deflected relative to the direction of movement of the unmanned aerial vehicle, and the deflection direction forms a preset angle with the turning direction of the unmanned aerial vehicle, the target deflection angle may not be calculated, but a preset deflection angle may be directly given. According to the preset deflection angle, the heading of the control platform is deflected relative to the direction of movement of the unmanned aerial vehicle, and the deflection direction forms a preset angle with the turning direction of the unmanned aerial vehicle. When the heading of the control platform is deflected relative to the direction of movement of the unmanned aerial vehicle according to the preset deflection angle, and the deflection direction forms a preset angle with the turning direction of the unmanned aerial vehicle, it can be achieved by controlling the heading of the control platform to be ahead of the direction of movement of the unmanned aerial vehicle by an angle and / or controlling the direction of movement of the unmanned aerial vehicle to lag behind the heading of the control platform by an angle. The implementation method of controlling the heading of the control platform to be ahead of the direction of movement of the unmanned aerial vehicle by an angle or controlling the direction of movement of the unmanned aerial vehicle to lag behind the heading of the control platform by an angle can be referred to the description of the corresponding part of the above embodiment, which will not be repeated here. It is understandable that the preset angle may be less than the preset deflection angle, or may be equal to the preset deflection angle.

[0165] In the embodiment of the present application, the automatic obstacle avoidance or manual obstacle avoidance of the unmanned aerial vehicle can be realized according to the data information sensed by the load (including the position information of the obstacle). When the unmanned aerial vehicle turns, since the gimbal is ahead of the unmanned aerial vehicle by an angle, the load can sense the position information of the obstacle on the turning trajectory in advance. Therefore, according to the data information sensed by the load, the unmanned aerial vehicle can effectively avoid obstacles and improve the safety of turning. Exemplarily, in some embodiments, the unmanned aerial vehicle obtains the position information of the obstacle sensed by the load to avoid obstacles, and the automatic obstacle avoidance method does not require human intervention. In some embodiments, the load is a shooting device, and the data information sensed by the load includes a real-time image collected by the shooting device. The control method of the unmanned aerial vehicle system may also include: sending the real-time image collected by the shooting device to an external display device, and the user can judge whether there is an obstacle on the turning trajectory according to the real-time image displayed by the external display device (if there is an obstacle on the turning trajectory, the real-time image can indicate the position information of the obstacle on the turning trajectory), so as to control the unmanned aerial vehicle to achieve obstacle avoidance, wherein the shooting device may include a first-person main perspective FPV shooting device, and may also include other shooting devices, and the external display device may include video glasses, and may also include other display devices.

[0166] Figure 5 : is a method flow diagram of a control method of a mobile platform system in another embodiment of the present application; the execution subject of the control method of the mobile platform system in the embodiment of the present application is the mobile platform system, for example, the execution subject may be the main controller of the mobile platform, or other controllers provided on the mobile platform, or a combination of the main controller of the mobile platform and other controllers provided on the mobile platform. Figure 5The control method of the movable platform system in the embodiment of the present application may include the following steps:

[0167] S501, when the movable platform turns, controlling the movable platform to enter a first mode;

[0168] S502. In the first mode, the posture of the gimbal and / or the movable platform is controlled so that the sensing direction of the load is deflected relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform.

[0169] The sensing direction of the load may be represented by the angular bisector of the sensing range of the load, by the boundary of the sensing range of the load, or by the direction of a line connecting any point within the sensing range of the load and the angular vertex of the sensing range of the load.

[0170] That is, when turning, the load and the main body of the movable platform can be controlled to deflect in the same direction and at the same angle. However, in order to make the load lead the main body by an angle, an angle can be superimposed on the deflection angle of the load and / or an angle can be subtracted from the deflection angle of the body, so that the sensing direction of the load is deflected relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform.

[0171] Taking the movable platform as an unmanned aerial vehicle as an example, Figure 5 The control method of the movable platform system of the embodiment shown is Figure 2 The difference between the control method of the unmanned aerial vehicle system of the illustrated embodiment is: Figure 2 In the embodiment shown, when the UAV turns, the heading of the gimbal is controlled to be ahead of the movement direction of the UAV by an angle, so that the payload can sense obstacles on the turning trajectory in advance. This is applicable to the scenario where the UAV turns on the horizontal plane (the turning trajectory is parallel to the horizontal plane). Figure 5 In the embodiment shown, when the UAV turns, taking the attitude of the gimbal as an example, the sensing direction of the load is made to be ahead of the movement direction of the UAV by an angle, so that the load can sense obstacles on the turning trajectory in advance. This is not only applicable to the scenario where the UAV turns on a plane (such as a horizontal plane or a vertical plane or a plane between a horizontal plane and a vertical plane), but also applicable to the scenario where the UAV turns in space (the turning trajectory is located in multiple planes). When the UAV turns on a plane, if the turning trajectory is parallel to the horizontal plane, then when controlling the attitude of the gimbal, it is only necessary to control the yaw attitude of the gimbal to achieve that the sensing direction of the load is ahead of the movement direction of the UAV by an angle, which is similar to Figure 2The embodiment shown controls the heading of the gimbal to be ahead of the unmanned aerial vehicle by one angle; if the turning trajectory is only located in the vertical plane, when controlling the posture of the gimbal, it is only necessary to control the pitch posture of the gimbal to achieve that the sensing direction of the load is ahead of the movement direction of the unmanned aerial vehicle by one angle; and when the unmanned aerial vehicle turns in space, when controlling the posture of the gimbal, it may be necessary to control at least two of the yaw posture, pitch posture and roll posture of the gimbal to achieve that the sensing direction of the load is ahead of the movement direction of the unmanned aerial vehicle by one angle. For example, when the unmanned aerial vehicle rolls forward and backward while changing its heading, the yaw posture and pitch posture of the gimbal can be controlled to deflect the sensing direction of the load relative to the movement direction of the movable platform, and the deflection direction is at a preset angle with the turning direction of the movable platform. In addition, when the unmanned aerial vehicle rolls forward and backward while changing its heading, the roll posture can also be adjusted to be used for stabilization or to assist in adjusting the sensing direction of the load. For example, the load is a shooting device, and the sensing direction of the load is the shooting range of the shooting device.

[0172] in addition, Figure 5 The method of determining the target linear velocity in the embodiment shown is similar to Figure 2 The method of determining the target linear velocity in the illustrated embodiment is similar. For the target angular velocity, if the UAV makes a horizontal turn, only the yaw attitude is controlled when controlling the attitude of the gimbal. Figure 5 The target angular velocity in the embodiment shown is Figure 2 The target angular velocity in the illustrated embodiments is the same, and refers to the yaw angular velocity; if the unmanned aerial vehicle turns upward or downward, when controlling the attitude of the gimbal, only the pitch attitude is controlled. Figure 5 The target angular velocity in the illustrated embodiment is the pitch angular velocity, that is, the target angular velocity corresponds to the turning direction and can be adaptively adjusted in different turning situations.

[0173] Figure 5 The remaining unexpanded parts of the embodiment shown are Figure 2 The principles of the corresponding parts in the illustrated embodiment are similar, see Figure 2 The description of the corresponding parts in the illustrated embodiment will not be repeated here.

[0174] Figure 6 : is a method flow diagram of a control method of a mobile platform system in another embodiment of the present application; the execution subject of the control method of the mobile platform system in the embodiment of the present application is the mobile platform system, for example, the execution subject may be the main controller of the mobile platform, or other controllers provided on the mobile platform, or a combination of the main controller of the mobile platform and other controllers provided on the mobile platform. Figure 6 The control method of the movable platform system in the embodiment of the present application may include the following steps:

[0175] S601, when the movable platform turns, controlling the movable platform to enter a first mode;

[0176] S602: In the first mode, the posture of the pan / tilt head and / or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

[0177] That is, when turning, the load and the main body of the movable platform can be controlled to deflect in the same direction and at the same angle. However, in order to make the load lead the main body by an angle, an angle can be superimposed on the deflection angle of the load and / or an angle can be subtracted from the deflection angle of the body, so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

[0178] It should be noted that the trajectory point is located on the turning trajectory, and the trajectory point of the movable platform at the next moment falls within the sensing range of the load, that is, the load can sense the trajectory point of the movable platform at the next moment in advance, thereby sensing the obstacle on the turning trajectory in advance.

[0179] For example, when the posture of the pan-tilt head and / or the movable platform is controlled so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load, the posture of the pan-tilt head and / or the movable platform can be controlled so that the sensing direction of the load is deflected relative to the moving direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform. Figure 5 The control method of the movable platform system of the embodiment shown is Figure 6 The control method of the movable platform system of the illustrated embodiment is explained and illustrated and will not be repeated here.

[0180] Figure 7 : is a method flow diagram of a control method of a mobile platform system in another embodiment of the present application; the execution subject of the control method of the mobile platform system in the embodiment of the present application is the mobile platform system, for example, the execution subject may be the main controller of the mobile platform, or other controllers provided on the mobile platform, or a combination of the main controller of the mobile platform and other controllers provided on the mobile platform. Figure 7 The control method of the movable platform system in the embodiment of the present application may include the following steps:

[0181] S701, when the movable platform turns, controlling the movable platform to enter a first mode;

[0182] S702. In the first mode, control the movement of the pan / tilt head and / or the movable platform so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform.

[0183] Taking the movable platform as an unmanned aerial vehicle as an example, the main body of the movable platform is the body of the unmanned aerial vehicle. Since the gimbal may rotate and / or translate, Figure 7 In the embodiment shown, when the UAV turns, by controlling the movement of the gimbal and / or the movable platform, the sensing range of the load is deflected in the same direction as the body of the UAV, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the UAV, so that the gimbal is ahead of the UAV by an angle, so that the load can sense obstacles on the turning track in advance. That is, when turning, the load and the body can be controlled to deflect in the same direction and at the same angle, but in order to make the load ahead of the body by an angle, an angle can be added to the deflection angle of the load and / or an angle can be subtracted from the deflection angle of the body, so that the sensing range of the load is deflected in the same direction as the body of the UAV, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the UAV.

[0184] Optionally, the movement of the gimbal includes posture switching and / or translation, wherein, when controlling the movement of the gimbal so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform, optionally, the gimbal is controlled to perform posture switching so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform; optionally, the gimbal is controlled to translate so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform; optionally, the posture of the gimbal is controlled, and the gimbal is controlled to translate so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform. The implementation principle of controlling the gimbal to perform posture switching is the same as Figure 5 The implementation principle of controlling the posture of the gimbal in the illustrated embodiment is similar and will not be described in detail here. Exemplarily, the gimbal is mounted on the gimbal through a translation structure, or the gimbal has its own translation structure, and the axis assembly of the gimbal (the posture of the axis assembly can be controlled) is mounted on its own translation structure, and the above-mentioned translation structure can translate along a preset plane, then controlling the gimbal to translate may include: controlling the translation structure to translate along the preset plane to control the gimbal to translate along the preset plane. Among them, the movement of the movable platform includes posture switching.

[0185] Figure 7 The remaining unexpanded parts of the embodiment shown are Figure 5 The principles of the corresponding parts in the illustrated embodiment are similar, see Figure 5 The description of the corresponding parts in the illustrated embodiment will not be repeated here.

[0186] It should be noted that the control of the movable platform to enter the first mode / second mode described in the above embodiment also means controlling the movable platform system to enter the first mode / second mode. In actual applications, the first mode / second mode is used to indicate the relative rotation relationship / relative position relationship between the body of the movable platform and the gimbal. There may be no mode setting, but it only represents the switching of the control logic.

[0187] Corresponding to the control method of the movable platform system in the above embodiment, the present application embodiment also provides a control device for the movable platform system. Figure 8 The control device of the movable platform system may include a storage device and a processor, and the processor may include one or more.

[0188] Wherein, the storage device is used to store program instructions. The storage device stores the executable instruction computer program of the control method of the mobile platform system, and the storage device may include at least one type of storage medium, the storage medium includes flash memory, hard disk, multimedia card, card-type memory (for example, SD or DX memory, etc.), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, etc. Moreover, the control device of the mobile platform system can cooperate with a network storage device that performs the storage function of the memory through a network connection. The memory can be an internal storage unit of the control device of the mobile platform system, such as a hard disk or memory of the control device of the mobile platform system. The memory can also be an external storage device of the control device of the mobile platform system, such as a plug-in hard disk equipped on the control device of the mobile platform system, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. Further, the memory can also include both an internal storage unit of the control device of the mobile platform system and an external storage device. The memory is used to store computer programs and other programs and data required by the device. The memory can also be used to temporarily store data that has been output or is about to be output.

[0189] In some embodiments, one or more processors call program instructions stored in a storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: when the movable platform turns, control the movable platform to enter the first mode; in the first mode, control the heading of the gimbal to deflect relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform. The processor of this embodiment can implement the following as described in the present application Figure 2, Figure 4 The control method of the unmanned aerial vehicle system in the illustrated embodiment can be described with reference to the control method of the unmanned aerial vehicle system in the above-mentioned embodiment to explain the control device of the movable platform system in this embodiment.

[0190] In some embodiments, one or more processors call program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: when the movable platform turns, control the movable platform to enter a first mode; in the first mode, control the posture of the gimbal so that the sensing direction of the load is deflected relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform. The processor of this embodiment can implement the following as described in the present application. Figure 5 The control method of the movable platform system of the illustrated embodiment can be described with reference to the control method of the movable platform system of the above-mentioned embodiment to explain the control device of the movable platform system of this embodiment.

[0191] In some embodiments, one or more processors call program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: when the movable platform turns, control the movable platform to enter the first mode; in the first mode, control the posture of the gimbal so that the trajectory point of the movable platform at the next moment falls within the sensing range of the load. The processor of this embodiment can implement the following as described in the present application Figure 6 The control method of the movable platform system of the illustrated embodiment can be described with reference to the control method of the movable platform system of the above-mentioned embodiment to explain the control device of the movable platform system of this embodiment.

[0192] In some embodiments, when the movable platform turns, the movable platform is controlled to enter a first mode; in the first mode, the movement of the gimbal is controlled so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform. Figure 7 The control method of the movable platform system of the illustrated embodiment can be described with reference to the control method of the movable platform system of the above-mentioned embodiment to explain the control device of the movable platform system of this embodiment.

[0193] The processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc.

[0194] Furthermore, the embodiment of the present application also provides a movable platform system, which may include a movable platform, a gimbal, and a control device of the movable platform system of the above embodiment. The gimbal is mounted on the movable platform, the gimbal is used to carry a shooting device, and the control device of the movable platform system is supported by the movable platform and / or the gimbal.

[0195] Specifically, take the unmanned aerial vehicle system as an example to explain. Figure 1 and Fig. 9 The unmanned aerial vehicle system of the embodiment of the present application may include an unmanned aerial vehicle 100, a gimbal 200, and a control device of the movable platform system of the above embodiment. The gimbal 200 is mounted on the unmanned aerial vehicle 100, and the gimbal 200 is used to carry a load 300 supporting obstacle avoidance, and the control device of the movable platform system is supported by the unmanned aerial vehicle 100 and / or the gimbal 200.

[0196] Among them, the load 300 may include a shooting device and / or an obstacle avoidance sensor. Exemplarily, the load 300 is a shooting device; Exemplarily, the load 300 is an obstacle avoidance sensor; Exemplarily, the load includes a shooting device and an obstacle avoidance sensor.

[0197] In the embodiment of the present application, the control device of the movable platform system may include or be a part of the unmanned aerial vehicle, or may be independent of the unmanned aerial vehicle. Exemplarily, the control device of the movable platform system includes a flight controller of the unmanned aerial vehicle, or the control device of the movable platform system includes other controllers provided in the unmanned aerial vehicle; Exemplarily, the control device of the unmanned aerial vehicle is independent of the unmanned aerial vehicle, and the control device of the movable platform system communicates with the unmanned aerial vehicle and the gimbal respectively, thereby controlling the unmanned aerial vehicle and the gimbal.

[0198] Exemplarily, the unmanned aerial vehicle 100 is a drone, and the gimbal 200 can be mounted on the front upper part of the drone fuselage, or on the bottom of the fuselage or other positions of the fuselage.

[0199] In addition, the embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the program is executed by a processor, the steps of the control method of the mobile platform system of the above embodiment are implemented. Among them, the steps of the control method of the mobile platform control system of the above embodiment include the steps of the control method of the unmanned aerial vehicle system as an example.

[0200] The computer-readable storage medium may be an internal storage unit of the unmanned aerial vehicle system described in any of the aforementioned embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the unmanned aerial vehicle system, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), an SD card, a flash card (Flash Card), etc. equipped on the device. Furthermore, the computer-readable storage medium may also include both an internal storage unit of the unmanned aerial vehicle system and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the unmanned aerial vehicle system, and may also be used to temporarily store data that has been output or is to be output.

[0201] It should be noted that the above examples involving unmanned aerial vehicles can be replaced with movable platforms in the case of adaptive replacement, and the present application is not limited to this.

[0202] A person skilled in the art can understand that all or part of the processes in the above-mentioned embodiments can be implemented by instructing the relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium, and when the program is executed, it can include the processes of the embodiments of the above-mentioned methods. The storage medium can be a disk, an optical disk, a read-only memory (ROM) or a random access memory (RAM), etc.

[0203] The above disclosure is only part of the embodiments of the present application, which certainly cannot be used to limit the scope of rights of the present application. Therefore, equivalent changes made according to the claims of the present application are still within the scope covered by the present application.

Claims

1. A control method for a movable platform, characterized in that: The method comprises: When the movable platform turns, controlling the movable platform to enter a first mode, wherein the movable platform can carry a posture adjustment device, and the posture adjustment device is used to carry a load; In the first mode, the heading of the attitude adjustment device is controlled to deflect relative to the movement direction of the movable platform, and the deflection direction of the attitude adjustment device forms a preset angle with the turning direction of the movable platform, so that the deflection angle of the load is greater than the deflection angle of the movable platform.

2. The method according to claim 1, characterized in that Before the movable platform turns, it also includes: Acquiring motion information of the movable platform; The movable platform turns, comprising: The motion information meets a first preset condition.

3. The method according to claim 1 or 2, characterized in that: Before controlling the movable platform to enter the first mode, the heading of the attitude adjustment device coincides with the movement direction; or, Before controlling the movable platform to enter the first mode, the angle between the heading of the posture adjustment device and the movement direction is a preset angle, and the preset angle is set by a user.

4. The method according to claim 2, characterized in that: The method further comprises: In response to the movement information of the movable platform not satisfying the first preset condition, controlling the movable platform to enter the second mode; wherein, In the second mode, the heading of the attitude adjustment device is controlled to coincide with the movement direction; or, In the second mode, the angle between the heading of the posture adjustment device and the movement direction is controlled to be a preset angle, and the preset angle is set by the user.

5. The method according to claim 2 or 4, characterized in that: The first preset condition includes: The target linear velocity of the movable platform is greater than a preset linear velocity threshold, and the target angular velocity of the movable platform is greater than a preset angular velocity threshold.

6. The method according to claim 1, characterized in that The controlling the heading of the posture adjustment device to deflect relative to the movement direction of the movable platform, wherein the deflection direction forms a preset angle with the turning direction of the movable platform, comprises: Determining a target deflection angle according to the motion information of the movable platform; According to the target deflection angle, the heading of the posture adjustment device is controlled to deflect relative to the turning direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform. The posture adjustment device includes a gimbal.

7. The method according to claim 1 or 6, characterized in that: The deflection angle of the posture adjustment device is negatively correlated with the turning radius of the movable platform, and the turning radius is determined according to the motion information of the movable platform; and / or, The load is a camera, and the deflection angle of the posture adjustment device is negatively correlated with the field of view FOV of the camera; and / or, The deflection angle of the posture adjustment device is positively correlated with the target angular velocity of the movable platform.

8. The method according to claim 1, characterized in that The load is a photographing device, and the method further includes: The real-time image captured by the shooting device is sent to an external display device.

9. A control device for a movable platform, characterized in that: include: A storage device for storing program instructions; as well as One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: When the movable platform turns, controlling the movable platform to enter a first mode, wherein the movable platform can carry a posture adjustment device, and the posture adjustment device is used to carry a load; In the first mode, the heading of the attitude adjustment device is controlled to deflect relative to the movement direction of the movable platform, and the deflection direction of the attitude adjustment device forms a preset angle with the turning direction of the movable platform, so that the deflection angle of the load is greater than the deflection angle of the movable platform.

10. A control method for a movable platform, characterized in that: The method comprises: When the movable platform turns, controlling the movable platform to enter a first mode, wherein the movable platform can carry a posture adjustment device, and the posture adjustment device is used to carry a load; In the first mode, the posture of the posture adjustment device and / or the movable platform is controlled so that the sensing direction of the load is deflected relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform, and the deflection angle of the load is greater than the deflection angle of the movable platform.

11. A control method for a movable platform, characterized in that: The method comprises: When the movable platform turns, controlling the movable platform to enter a first mode, wherein the movable platform can carry a posture adjustment device, and the posture adjustment device is used to carry a load; In the first mode, the posture of the posture adjustment device and / or the movable platform is controlled so that the deflection angle of the load is greater than the deflection angle of the movable platform, and the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

12. A control method for a movable platform, characterized in that: The method comprises: When the movable platform turns, controlling the movable platform to enter a first mode, wherein the movable platform can carry a posture adjustment device, and the posture adjustment device is used to carry a load; In the first mode, the movement of the posture adjustment device and / or the movable platform is controlled so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform.

13. A control device for a movable platform, characterized in that: The device comprises: a storage device for storing program instructions; and One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: When the movable platform turns, controlling the movable platform to enter a first mode, wherein the movable platform can carry a posture adjustment device, and the posture adjustment device is used to carry a load; In the first mode, the posture of the posture adjustment device and / or the movable platform is controlled so that the sensing direction of the load is deflected relative to the movement direction of the movable platform, and the deflection direction forms a preset angle with the turning direction of the movable platform, and the deflection angle of the load is greater than the deflection angle of the movable platform.

14. A control device for a movable platform, characterized in that: include: A storage device for storing program instructions; as well as One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: When the movable platform turns, controlling the movable platform to enter a first mode, wherein the movable platform can carry a posture adjustment device, and the posture adjustment device is used to carry a load; In the first mode, the posture of the posture adjustment device and / or the movable platform is controlled so that the deflection angle of the load is greater than the deflection angle of the movable platform, and the trajectory point of the movable platform at the next moment falls within the sensing range of the load.

15. A control device for a movable platform, characterized in that: include: A storage device for storing program instructions; as well as One or more processors call the program instructions stored in the storage device. When the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations: When the movable platform turns, controlling the movable platform to enter a first mode, wherein the movable platform can carry a posture adjustment device, and the posture adjustment device is used to carry a load; In the first mode, the movement of the posture adjustment device and / or the movable platform is controlled so that the sensing range of the load and the body of the movable platform are deflected in the same direction, and the deflection angle of the sensing range of the load is greater than the deflection angle of the body of the movable platform.

16. A movable platform, characterized in that: The movable platform comprises: Movable platform; a posture adjustment device carried on the movable platform, the posture adjustment device being used to carry a load; and A control device for a movable platform as described in any one of claims 9 or 13 to 15.

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