Intelligent control method and device applied to photoelectric pod and computer storage medium

Abstract

The invention discloses an intelligent control method and device applied to a photoelectric pod and a computer storage medium, and the method comprises the steps: detecting a first parameter of a movement frame in the photoelectric pod, and generating a disturbance adjustment parameter of the movement frame according to the first parameter; detecting a second parameter of the photoelectric pod, and generating a follow-up control parameter of the photoelectric pod according to the second parameter; and according to the disturbance adjustment parameters and the follow-up control parameters, target control parameters of the photoelectric pod are determined, and the photoelectric pod is controlled to execute operation matched with the target control parameters. According to the invention, the control stability of the photoelectric pod can be improved, and the operation stability and reliability of the photoelectric pod can be improved.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent control, and particularly to an intelligent control method and device for an optoelectronic pod, and a computer storage medium. Background Art

[0002] An optoelectronic pod is a high-end device integrating multiple functions such as optical imaging, infrared imaging, laser ranging, target recognition and tracking, and is widely used in military, civilian and scientific research fields. Existing three-axis optoelectronic pods mostly adopt a frame structure with inner pitch, middle roll and outer yaw. However, the middle roll frame results in a poor aerodynamic shape, large aerodynamic drag and low aerodynamic efficiency during flight, thus leading to low stability in controlling flight. It can be seen that it is particularly important to provide a new control method for the optoelectronic pod to improve flight stability. Summary of the Invention

[0003] The present invention provides an intelligent control method and device for an optoelectronic pod, and a computer storage medium, which can be conducive to improving the control stability of the optoelectronic pod, and further conducive to improving the operation stability and reliability of the optoelectronic pod.

[0004] To solve the above technical problems, in a first aspect of the present invention, an intelligent control method for an optoelectronic pod is disclosed, and the method includes:

[0005] Detect a first parameter of a movement mechanism frame in the optoelectronic pod, and generate a disturbance adjustment parameter of the movement mechanism frame according to the first parameter;

[0006] Detect a second parameter of the optoelectronic pod, and generate a follow-up control parameter of the optoelectronic pod according to the second parameter;

[0007] Determine a target control parameter of the optoelectronic pod according to the disturbance adjustment parameter and the follow-up control parameter, and control the optoelectronic pod to perform an operation operation matching the target control parameter.

[0008] As an optional implementation manner, in the first aspect of the present invention, before the step of controlling the optoelectronic pod to perform an operation operation matching the target control parameter, the method further includes:

[0009] Determine a target rotation angle of the optoelectronic pod according to the follow-up control parameter, and determine whether the target rotation angle meets a preset angle limit condition;

[0010] When it is determined that the target rotation angle meets the preset angle limit condition, trigger the step of controlling the optoelectronic pod to perform an operation operation matching the target control parameter;

[0011] When it is determined that the target rotation angle does not meet the preset angle limit condition, emergency braking parameters are generated according to the angle limit condition and the target rotation angle.

[0012] As an optional implementation manner, in the first aspect of the present invention, detecting the first parameter of the movement mechanism frame in the optoelectronic pod, and generating the disturbance adjustment parameter of the movement mechanism frame according to the first parameter includes:

[0013] Detecting the heading angle rate of the movement mechanism frame in the optoelectronic pod, and detecting the pitch angle rate of the movement mechanism frame in the optoelectronic pod, and generating the first parameter of the movement mechanism frame according to the heading angle rate and the pitch angle rate;

[0014] According to the first parameter, determining the heading disturbance cancellation parameter corresponding to the heading angle rate, and determining the pitch disturbance cancellation parameter corresponding to the pitch angle rate;

[0015] Based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter, generating the disturbance adjustment parameter of the movement mechanism frame.

[0016] As an optional implementation manner, in the first aspect of the present invention, the second parameter of the optoelectronic pod includes one or more of the outer roll frame gyroscope angle rate parameter of the optoelectronic pod, the angle rate parameter about the roll axis of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod.

[0017] As an optional implementation manner, in the first aspect of the present invention, when the second parameter of the optoelectronic pod includes the outer roll frame gyroscope angle rate parameter of the optoelectronic pod, the angle rate parameter about the roll axis of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod, generating the follow-up control parameter of the optoelectronic pod according to the second parameter includes:

[0018] Generating an outer roll frame roll disturbance parameter according to the outer roll frame gyroscope angle rate parameter of the optoelectronic pod and the angle rate parameter about the roll axis of the optoelectronic pod;

[0019] Generating a follow-up movement parameter according to the inner heading frame angle of the optoelectronic pod;

[0020] Generating the follow-up control parameter of the optoelectronic pod according to the outer roll frame roll disturbance parameter and the follow-up movement parameter.

[0021] As an optional implementation manner, in the first aspect of the present invention, generating the follow-up movement parameter according to the inner heading frame angle of the optoelectronic pod includes:

[0022] Determine whether the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to a preset frame angle threshold;

[0023] When it is determined that the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to the preset frame angle threshold, input the inner heading frame angle into a preset servo controller, so that the preset servo controller calculates a servo control output value according to a preset target formula;

[0024] Determine a servo rate according to the servo control output value, and generate servo motion parameters based on the servo rate;

[0025] Among them, the preset target formula includes:

[0026] Δφ = k·(ψ - sgn(ψ)·threshold);

[0027] Among them, Δφ is the servo control output value; K is a preset controller proportional gain; threshold is the preset frame angle threshold; ψ is the inner heading frame angle.

[0028] As an optional implementation manner, in the first aspect of the present invention, the generating, according to the outer roll frame gyro rate parameter of the optoelectronic pod and the roll axis angular rate parameter of the optoelectronic pod, an outer roll frame roll disturbance parameter includes:

[0029] Determine the outer roll axis disturbance rate of the optoelectronic pod according to the outer roll frame gyro rate parameter of the optoelectronic pod and the roll axis angular rate parameter of the optoelectronic pod;

[0030] Generate the outer roll frame rotation rate of the optoelectronic pod according to the outer roll axis disturbance rate and the roll axis angular rate parameter of the optoelectronic pod, and generate an outer roll frame roll disturbance parameter according to the outer roll frame rotation rate.

[0031] The second aspect of the present invention discloses an intelligent control device applied to an optoelectronic pod, and the device includes:

[0032] A generating module, configured to detect a first parameter of a movement mechanism frame in the optoelectronic pod, and generate a disturbance adjustment parameter of the movement mechanism frame according to the first parameter;

[0033] A detecting module, configured to detect a second parameter of the optoelectronic pod;

[0034] The generating module is further configured to generate a servo control parameter of the optoelectronic pod according to the second parameter;

[0035] A determination module, configured to determine the target control parameters of the optoelectronic pod according to the disturbance adjustment parameters and the follow-up control parameters;

[0036] A control module, configured to control the optoelectronic pod to perform an operation matching the target control parameters.

[0037] As an optional implementation manner, in the second aspect of the present invention, the determination module is further configured to determine the target rotation angle of the optoelectronic pod according to the follow-up control parameters before the control module controls the optoelectronic pod to perform an operation matching the target control parameters;

[0038] The device further includes:

[0039] A judgment module, configured to judge whether the target rotation angle meets a preset angle limit condition; when it is judged that the target rotation angle meets the preset angle limit condition, trigger the control module to execute the step of controlling the optoelectronic pod to perform an operation matching the target control parameters;

[0040] The generation module is further configured to generate emergency braking parameters according to the angle limit condition and the target rotation angle when the judgment module judges that the target rotation angle does not meet the preset angle limit condition.

[0041] As an optional implementation manner, in the second aspect of the present invention, the specific manner in which the generation module detects the first parameter of the movement mechanism frame in the optoelectronic pod and generates the disturbance adjustment parameter of the movement mechanism frame includes:

[0042] Detect the heading angle rate of the movement mechanism frame in the optoelectronic pod, and detect the pitch angle rate of the movement mechanism frame in the optoelectronic pod, and generate the first parameter of the movement mechanism frame according to the heading angle rate and the pitch angle rate;

[0043] According to the first parameter, determine the heading disturbance cancellation parameter corresponding to the heading angle rate, and determine the pitch disturbance cancellation parameter corresponding to the pitch angle rate;

[0044] Generate the disturbance adjustment parameter of the movement mechanism frame based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter.

[0045] As an optional implementation manner, in the second aspect of the present invention, the second parameter of the optoelectronic pod includes one or more of the outer roll frame gyroscope angular rate parameter of the optoelectronic pod, the angular rate parameter about the roll axis of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod.

[0046] As an alternative implementation manner, in the second aspect of the present invention, when the second parameter of the optoelectronic pod includes the angular rate parameter of the outer roll frame gyroscope of the optoelectronic pod, the angular rate parameter about the roll axis of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod, the specific manner for the generating module to generate the follow-up control parameter of the optoelectronic pod includes:

[0047] Generate an outer roll frame roll disturbance parameter according to the angular rate parameter of the outer roll frame gyroscope of the optoelectronic pod and the angular rate parameter about the roll axis of the optoelectronic pod;

[0048] Generate a follow-up motion parameter according to the inner heading frame angle of the optoelectronic pod;

[0049] Generate the follow-up control parameter of the optoelectronic pod according to the outer roll frame roll disturbance parameter and the follow-up motion parameter.

[0050] As an alternative implementation manner, in the second aspect of the present invention, the specific manner for the generating module to generate a follow-up motion parameter according to the inner heading frame angle of the optoelectronic pod includes:

[0051] Judge whether the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to a preset frame angle threshold;

[0052] When it is judged that the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to the preset frame angle threshold, input the inner heading frame angle into a preset follow-up controller, so that the preset follow-up controller calculates a follow-up control output value according to a preset target formula;

[0053] Determine a follow-up rate according to the follow-up control output value, and generate a follow-up motion parameter based on the follow-up rate;

[0054] Wherein, the preset target formula includes:

[0055] Δφ = k·(ψ - sgn(ψ)·threshold);

[0056] Wherein, Δφ is the follow-up control output value; K is a preset controller proportional gain; threshold is the preset frame angle threshold; ψ is the inner heading frame angle.

[0057] As an alternative implementation manner, in the second aspect of the present invention, the specific manner for the generating module to generate an outer roll frame roll disturbance parameter according to the angular rate parameter of the outer roll frame gyroscope of the optoelectronic pod and the angular rate parameter about the roll axis of the optoelectronic pod includes:

[0058] Determine the external roll axis disturbance rate of the optoelectronic pod according to the external roll frame gyroscope angular rate parameter of the optoelectronic pod and the angular rate parameter of the optoelectronic pod about the roll axis.

[0059] Generate the rotation rate of the external roll frame of the optoelectronic pod according to the external roll axis disturbance rate and the angular rate parameter of the optoelectronic pod about the roll axis, and generate the roll disturbance parameter of the external roll frame according to the rotation rate of the external roll frame.

[0060] The third aspect of the present invention discloses another intelligent control device applied to an optoelectronic pod, and the device includes:

[0061] A memory storing executable program code;

[0062] A processor coupled to the memory;

[0063] The processor calls the executable program code stored in the memory and executes the intelligent control method applied to the optoelectronic pod disclosed in the first aspect of the present invention.

[0064] The fourth aspect of the present invention discloses a computer storage medium, and the computer storage medium stores computer instructions, which are used to execute the intelligent control method applied to the optoelectronic pod disclosed in the first aspect of the present invention when being called.

[0065] Compared with the prior art, the embodiments of the present invention have the following beneficial effects:

[0066] In the embodiments of the present invention, the first parameter of the movement mechanism frame in the optoelectronic pod is detected, and the disturbance adjustment parameter of the movement mechanism frame is generated according to the first parameter; the second parameter of the optoelectronic pod is detected, and the follow-up control parameter of the optoelectronic pod is generated according to the second parameter; the target control parameter of the optoelectronic pod is determined according to the disturbance adjustment parameter and the follow-up control parameter, and the optoelectronic pod is controlled to perform an operation matching the target control parameter. It can be seen that implementing the present invention is beneficial to improving the control stability of the optoelectronic pod, and further beneficial to improving the operation stability and reliability of the optoelectronic pod. Description of the Drawings

[0067] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention, and those of ordinary skill in the art can obtain other drawings without creative efforts based on these drawings.

[0068] Figure 1 It is a flowchart of an intelligent control method applied to an optoelectronic pod disclosed in an embodiment of the present invention;

[0069] Figure 2 It is a schematic flow chart of another intelligent control method applied to an optoelectronic pod disclosed in an embodiment of the present invention;

[0070] Figure 3 It is a schematic structural diagram of an intelligent control device applied to an optoelectronic pod disclosed in an embodiment of the present invention;

[0071] Figure 4 It is a schematic structural diagram of another intelligent control device applied to an optoelectronic pod disclosed in an embodiment of the present invention;

[0072] Figure 5 It is a schematic structural diagram of yet another intelligent control device applied to an optoelectronic pod disclosed in an embodiment of the present invention. Detailed implementation manners

[0073] In order to enable those skilled in the art to better understand the solution of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without making creative efforts shall fall within the protection scope of the present invention.

[0074] The terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish different objects, rather than to describe a specific order. In addition, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, device, product or terminal including a series of steps or units is not limited to the listed steps or units, but optionally further includes steps or units not listed, or optionally further includes other steps or units inherent to these processes, methods, products or terminals.

[0075] Referring to "embodiment" herein means that a specific feature, structure or characteristic described in connection with the embodiment can be included in at least one embodiment of the present invention. The phrase appears in various places in the specification and does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment mutually exclusive with other embodiments. Those skilled in the art will explicitly and implicitly understand that the embodiments described herein can be combined with other embodiments.

[0076] The present invention discloses an intelligent control method, device and computer storage medium applied to an optoelectronic pod, which can help improve the control stability of the optoelectronic pod, and further help improve the operation stability and reliability of the optoelectronic pod. The following will be described in detail respectively.

[0077] Embodiment 1

[0078] Please refer to Figure 1 , Figure 1 which is a schematic flow chart of an intelligent control method applied to an optoelectronic pod disclosed in an embodiment of the present invention. Among them, Figure 1 the described intelligent control method applied to the optoelectronic pod can be applied to the intelligent control device of the optoelectronic pod, or can be applied to the UAV itself, and the embodiments of the present invention do not make limitations. As Figure 1 shown, the intelligent control method applied to the optoelectronic pod may include the following operations:

[0079] 101. Detect the first parameter of the movement mechanism frame in the optoelectronic pod, and generate a disturbance adjustment parameter of the movement mechanism frame according to the first parameter.

[0080] In an embodiment of the present invention, optionally, the first parameter includes the heading angle rate of the movement mechanism frame of the optoelectronic pod and the pitch angle rate of the movement mechanism frame of the optoelectronic pod.

[0081] In an embodiment of the present invention, optionally, the heading angle rate of the movement mechanism frame refers to the angular velocity of the optoelectronic pod in the horizontal direction (i.e., rotating around the vertical axis), that is, the change amount of the heading angle per unit time; it is an important parameter to measure the rotation speed of the optoelectronic pod in the horizontal direction, and is usually used to describe the dynamic performance of the pod when tracking a target or adjusting the line of sight direction.

[0082] In an embodiment of the present invention, optionally, the pitch angle rate of the movement mechanism frame refers to the angular velocity of the optoelectronic pod in the vertical direction (rotating around the horizontal axis), that is, the change amount of the pitch angle per unit time; it is an important parameter to measure the rotation speed of the optoelectronic pod in the vertical direction, and is usually used to describe the dynamic performance of the pod when tracking a target, adjusting the line of sight direction or performing scanning and searching.

[0083] In an embodiment of the present invention, optionally, the optoelectronic pod can be applied to devices such as UAVs and helicopters, and the embodiments of the present invention do not make specific limitations.

[0084] 102. Detect the second parameter of the optoelectronic pod, and generate a follow-up control parameter of the optoelectronic pod according to the second parameter.

[0085] In an embodiment of the present invention, optionally, the second parameter includes one or more of the outer roll frame gyroscope angular rate parameter of the optoelectronic pod, the angular rate parameter of the optoelectronic pod around the roll axis, and the inner heading frame angle of the optoelectronic pod.

[0086] In an embodiment of the present invention, optionally, the follow-up control parameters of the optoelectronic pod may include one or more of the rate inner loop control parameters and the follow-up outer loop control parameters. Among them, the rate inner loop control parameters can be used to adjust the gain parameters of the motor response to ensure stable control of the angular rate; the follow-up outer loop control parameters can be used to ensure that the outer roll frame can be adjusted accordingly according to the motion state of the inner heading frame, so as to achieve stable operation of the inner heading frame and protect its motion from exceeding the mechanical limit.

[0087] 103. Determine the target control parameters of the optoelectronic pod according to the disturbance adjustment parameters and the follow-up control parameters.

[0088] In an embodiment of the present invention, optionally, the target control parameters of the optoelectronic pod may include the disturbance adjustment parameters and the follow-up control parameters. Further optionally, the target control parameters of the optoelectronic pod may include the disturbance adjustment parameters for canceling the carrier heading disturbance and the pitch disturbance, and the follow-up control parameters for achieving stable control of the gyro rate of the outer roll frame and ensuring that the inner heading frame operates within the limit.

[0089] 104. Control the optoelectronic pod to perform an operation matching the target control parameters.

[0090] In an embodiment of the present invention, optionally, the above-mentioned controlling the optoelectronic pod to perform an operation matching the target control parameters may include: determining an inner loop control signal and a follow-up control signal according to the target control parameters, determining the first motor speed according to the inner loop control signal, and determining the second motor speed according to the follow-up control signal, determining the target motor speed according to the first motor speed and the second motor speed, and controlling the motor of the optoelectronic pod to perform an operation matching the target motor speed. For example, adjusting the motor speed according to the rate inner loop control signal to achieve stable angular rate of the outer roll frame, and adjusting the motor speed according to the follow-up control signal to achieve angle adjustment of the inner heading frame, and performing a control operation on the optoelectronic pod by combining the motor speeds of the two.

[0091] It can be seen that implementing Figure 1The described intelligent control method applied to an optoelectronic pod can detect the first parameters of the movement frame in the optoelectronic pod and generate disturbance adjustment parameters for the movement frame, and detect the second parameters of the optoelectronic pod and generate follow-up control parameters for the optoelectronic pod. Determine the target control parameters of the optoelectronic pod based on the disturbance adjustment parameters and the follow-up control parameters and control the optoelectronic pod to perform matching operation operations. It can generate disturbance adjustment parameters by detecting the heading angle rate and pitch angle rate of the movement frame, can cancel the heading and pitch disturbances of the carrier in real time based on the disturbance adjustment parameters, can enable the optoelectronic pod to maintain stability in a high-dynamic environment, and can achieve double-loop control of the outer roll frame by combining the rate inner-loop control parameters and the follow-up outer-loop control parameters, can effectively suppress roll disturbances and further improve the stability of the optoelectronic pod. Further, it can also facilitate efficient follow-up tracking through control on the basis of ensuring stability, is conducive to improving control accuracy and response speed, further improves the stability of controlling the optoelectronic pod, and is conducive to the accuracy and efficiency of controlling the optoelectronic pod, and further improves the stability and reliability of the operation of the optoelectronic pod and the carrier.

[0092] Embodiment 2

[0093] Please refer to Figure 2 , Figure 2 which is a schematic flowchart of another intelligent control method applied to an optoelectronic pod disclosed in an embodiment of the present invention. Among them, Figure 2 The described intelligent control method applied to an optoelectronic pod can be applied to an intelligent control device of the optoelectronic pod or to the unmanned aerial vehicle itself, and the embodiments of the present invention do not make any limitations. As Figure 2 shown, the intelligent control method applied to the optoelectronic pod may include the following operations:

[0094] 201. Detect the first parameters of the movement frame in the optoelectronic pod and generate disturbance adjustment parameters for the movement frame according to the first parameters.

[0095] 202. Detect the second parameters of the optoelectronic pod and generate follow-up control parameters for the optoelectronic pod according to the second parameters.

[0096] 203. Determine the target control parameters of the optoelectronic pod according to the disturbance adjustment parameters and the follow-up control parameters.

[0097] 204. Determine the target rotation angle of the optoelectronic pod according to the follow-up control parameters and determine whether the target rotation angle meets a preset angle limit condition.

[0098] In an embodiment of the present invention, optionally, when it is determined that the target rotation angle meets the preset angle limit condition, step 205 is triggered to be executed; when it is determined that the target rotation angle does not meet the preset angle limit condition, step 206 is triggered to be executed.

[0099] In an embodiment of the present invention, optionally, the target rotation angle of the optoelectronic pod includes the inner heading frame angle of the optoelectronic pod.

[0100] In an embodiment of the present invention, optionally, determining whether the target rotation angle meets the preset angle limit condition may include:

[0101] Determining whether the inner heading frame angle of the optoelectronic pod is greater than or equal to the limit angle corresponding to the preset angle limit condition;

[0102] When it is determined that the inner heading frame angle of the optoelectronic pod is greater than or equal to the limit angle corresponding to the preset angle limit condition, it is determined that the target rotation angle does not meet the preset angle limit condition; when it is determined that the inner heading frame angle of the optoelectronic pod is less than the limit angle corresponding to the preset angle limit condition, it is determined that the target rotation angle meets the preset angle limit condition;

[0103] Among them, the limit angle corresponding to the preset angle limit condition may be 9°.

[0104] 205. Control the optoelectronic pod to perform an operation matching the target control parameter.

[0105] In an embodiment of the present invention, for the detailed description of steps 201-step 203 and step 205, please refer to the other descriptions of steps 101-step 104 in Embodiment 1, and the embodiments of the present invention will not be repeated here.

[0106] 206. Generate an emergency braking parameter according to the angle limit condition and the target rotation angle.

[0107] In an embodiment of the present invention, optionally, generating the emergency braking parameter according to the angle limit condition and the target rotation angle may include:

[0108] Determine a proportional gain regulation relationship according to the angle limit condition and the target rotation angle, and generate an emergency braking parameter according to the proportional gain regulation relationship.

[0109] In an embodiment of the present invention, optionally, the proportional gain regulation relationship may include:

[0110] When the inner heading frame angle ∣ψ∣≥thresholdstop, the controller proportional gain is 2*K

[0111] When the inner heading frame angle ∣ψ∣<thresholdstop, the controller proportional gain is K;

[0112] Furthermore, thresholdstop may be set to 9°.

[0113] Further optionally, if the inner heading frame angle exceeds the limit, the control gain increases, the motor following speed accelerates, thereby generating an emergency braking parameter and producing an emergency braking effect.

[0114] It can be seen that implementing Figure 2 is that the described intelligent control method applied to the optoelectronic pod can determine the target rotation angle of the optoelectronic pod according to the follow-up control parameter and judge whether it meets the preset angle limit condition. If it meets, it triggers the control of the optoelectronic pod to perform an operation matching the target control parameter. If it does not meet, it generates an emergency braking parameter according to the angle limit condition and the target rotation angle. It can determine the rotation angle of the optoelectronic pod before performing the operation, ensure that the rotation angle of the optoelectronic pod is always within the safe range, avoid equipment damage caused by exceeding the angle limit, and can generate an emergency braking parameter when the rotation angle does not meet the angle limit condition, and can effectively prevent the inner heading frame from exceeding the mechanical limit in a timely manner to ensure the safety and reliability of the equipment. Thus, it can also achieve the stability of the optoelectronic pod control through accurate follow-up control parameters and target control parameters. Furthermore, through accurate angle limit judgment and emergency braking mechanism, it reduces unnecessary energy consumption and mechanical wear, can further improve the stability of controlling the optoelectronic pod, and is beneficial to the accuracy and efficiency of controlling the optoelectronic pod.

[0115] In an optional embodiment, the first parameter of the movement mechanism frame in the optoelectronic pod is detected, and a disturbance adjustment parameter for the movement mechanism frame is generated according to the first parameter, including:

[0116] Detect the heading angle rate of the movement mechanism frame in the optoelectronic pod, and detect the pitch angle rate of the movement mechanism frame in the optoelectronic pod. According to the heading angle rate and the pitch angle rate, generate the first parameter of the movement mechanism frame;

[0117] According to the first parameter, determine the heading disturbance cancellation parameter corresponding to the heading angle rate, and determine the pitch disturbance cancellation parameter corresponding to the pitch angle rate;

[0118] Based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter, generate the disturbance adjustment parameter of the movement mechanism frame.

[0119] In this optional embodiment, optionally, the heading angle rate and the pitch angle rate of the movement mechanism frame in the optoelectronic pod can be obtained by installing a high-precision gyroscope on the movement mechanism frame of the optoelectronic pod and performing real-time monitoring of the heading angle rate and the pitch angle rate based on the high-precision gyroscope.

[0120] In this optional embodiment, optionally, the first parameter of the movement mechanism frame can include the heading angle rate and the pitch angle rate. Further optionally, the above-mentioned generating the first parameter of the movement mechanism frame according to the heading angle rate and the pitch angle rate can include:

[0121] Perform a filtering operation on the collected heading angle rate and pitch angle rate to remove noise signals and / or interference signals;

[0122] Generate a first parameter based on the heading angle rate and pitch angle rate after performing the filtering operation;

[0123] Among them, the filtering operation may include a filtering operation through a low-pass filter and / or a filtering operation through a Kalman filter.

[0124] In this optional embodiment, optionally, determining the heading disturbance cancellation parameter corresponding to the heading angle rate and determining the pitch disturbance cancellation parameter corresponding to the pitch angle rate according to the first parameter may include:

[0125] Determine a first disturbance factor corresponding to the heading angle rate according to the heading angle rate in the first parameter, and determine the heading disturbance cancellation parameter corresponding to the heading angle rate based on the first disturbance factor;

[0126] Determine a second disturbance factor corresponding to the pitch angle rate according to the pitch angle rate in the first parameter, and determine the pitch disturbance cancellation parameter corresponding to the pitch angle rate based on the second disturbance factor;

[0127] Among them, the first disturbance factor may include one or more of the absolute value of the heading angle rate, the change rate of the heading angle rate, and the direction corresponding to the heading angle rate; the second disturbance factor may include one or more of the absolute value of the pitch angle rate, the change rate of the pitch angle rate, and the direction corresponding to the pitch angle rate.

[0128] In this optional embodiment, optionally, the heading disturbance cancellation parameter is used to cancel the heading disturbance of the carrier; the pitch disturbance cancellation parameter is used to cancel the pitch disturbance of the carrier.

[0129] In this optional embodiment, optionally, generating the disturbance adjustment parameter of the movement frame based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter may include:

[0130] Perform a parameter fusion operation based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter to obtain a control parameter fusion result, and generate the disturbance adjustment parameter of the movement frame according to the control parameter fusion result;

[0131] Among them, the disturbance adjustment parameter is used to control the movement of the movement frame to cancel the external disturbance.

[0132] In this optional embodiment, optionally, the purpose of the parameter fusion operation is to comprehensively process the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter to generate a unified control instruction, that is, the disturbance adjustment parameter. This parameter fusion result needs to consider the disturbance cancellation requirements in two directions and ensure that the movement of the movement frame can be adjusted coordinately to cancel external disturbances.

[0133] It can be seen that implementing this optional embodiment can detect the heading angular rate and the pitch angular rate of the optoelectronic pod movement frame and generate the first parameter of the movement frame. According to the first parameter, the heading disturbance cancellation parameter corresponding to the heading angular rate and the pitch disturbance cancellation parameter corresponding to the pitch angular rate are determined. Based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter, the disturbance adjustment parameter of the movement frame is generated, which can cancel the heading and pitch disturbances in the high-dynamic environment of the carrier in real time and accurately, which is beneficial to ensuring the stability of the optoelectronic pod under complex movement conditions, beneficial to improving the stability of controlling the optoelectronic pod and the stability of the carrier during flight. By detecting the angular rate in real time and generating the disturbance cancellation parameter, the system can quickly respond to external disturbances and timely adjust the attitude of the movement frame, which can further improve the stability of the carrier during flight, ensure the accuracy and reliability of the attitude adjustment of the movement frame, and can ensure that the movement frame always remains within the safe operating range by detecting the angular rate in real time and generating the disturbance adjustment parameter. Therefore, it is also beneficial to improve the imaging stability, dynamic response ability and adaptability of the optoelectronic pod, and further beneficial to improving the stability of controlling the optoelectronic pod, as well as beneficial to the accuracy and efficiency of controlling the optoelectronic pod.

[0134] In another optional embodiment, the second parameter of the optoelectronic pod includes one or more of the outer roll frame gyroscope angular rate parameter of the optoelectronic pod, the angular rate parameter about the roll axis of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod.

[0135] In this optional embodiment, optionally, the outer roll frame gyroscope angular rate parameter of the optoelectronic pod can be used to describe the angular velocity of the outer roll frame around its rotation axis; further, the outer roll frame gyroscope angular rate parameter can be measured by a direct measurement method or an indirect measurement method. Among them, the direct measurement method includes installing a gyroscope on the outer roll frame to measure the outer roll angular rate; the indirect measurement method includes installing a gyroscope on the middle pitch frame, and the outer roll frame angular rate can be measured through the spatial rotation transformation between the middle pitch frame gyroscope and the middle pitch encoder. Further optionally, the outer roll frame gyroscope angular rate parameter of the optoelectronic pod can be used for the rate inner loop control of the outer roll frame to achieve the stability of the roll rate, and to cancel the influence of external disturbances on the optoelectronic pod by detecting and compensating the angular rate of the outer roll frame.

[0136] In this optional embodiment, optionally, the roll axis angular rate parameter of the optoelectronic pod can be used to describe the angular velocity of the optoelectronic pod rotating around the rotation axis of the outer roll frame; further, the roll axis angular rate parameter of the optoelectronic pod can be obtained by directly measuring the angular rate around the roll axis by installing a gyroscope on the outer roll frame, or can be calculated by combining the gyroscope and encoder data on the middle pitch frame through space rotation transformation. Further optionally, the roll axis angular rate parameter of the optoelectronic pod can be used for the rate inner loop control of the outer roll frame to ensure the stability of the angular rate of the roll axis.

[0137] In this optional embodiment, optionally, the inner heading frame angle of the optoelectronic pod can be used to describe the rotation angle of the inner heading frame relative to the outer roll frame or the reference direction; further, the inner heading frame angle of the optoelectronic pod can be directly measured by an encoder installed on the inner heading frame, or can also be obtained by gyroscope integration, but calibration is required in combination with other sensors (such as accelerometers). Further, the inner heading frame angle of the optoelectronic pod can be used for the follow-up outer loop control of the outer roll frame to ensure that the heading angle of the inner heading frame does not exceed the mechanical limit, and the continuous rotation of the inner heading frame can be achieved through follow-up control.

[0138] It can be seen that implementing this optional embodiment can achieve the stability of the roll rate through the gyroscope angular rate parameter of the outer roll frame of the optoelectronic pod, and can detect and compensate for the angular rate of the outer roll frame to offset the influence of external disturbances on the optoelectronic pod, which is beneficial to improving the operating stability of the optoelectronic pod. And through the roll axis angular rate parameter of the optoelectronic pod, the stability of the angular rate of the roll axis can be ensured, and by compensating for the angular rate of the roll axis to reduce the influence of roll disturbances on the optoelectronic pod, it is further beneficial to improve the stability and reliability of the optoelectronic pod. And through the inner heading frame angle of the optoelectronic pod, the follow-up outer loop control of the outer roll frame can be achieved, ensuring that the heading angle of the inner heading frame does not exceed the mechanical limit, and the continuous rotation of the inner heading frame can also be achieved. The above parameters together constitute the core input of the optoelectronic pod control system. By accurately detecting and controlling these parameters, the stability and flexibility of the optoelectronic pod in a complex environment can be significantly improved, which is further beneficial to improving the stability and reliability of the optoelectronic pod control.

[0139] In another optional embodiment, when the second parameter of the optoelectronic pod includes the gyroscope angular rate parameter of the outer roll frame of the optoelectronic pod, the roll axis angular rate parameter of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod, generating the follow-up control parameters of the optoelectronic pod includes:

[0140] Generating the roll disturbance parameter of the outer roll frame according to the gyroscope angular rate parameter of the outer roll frame of the optoelectronic pod and the roll axis angular rate parameter of the optoelectronic pod;

[0141] Generate follow-up motion parameters based on the inner heading frame angle of the optoelectronic pod;

[0142] Generate the follow-up control parameters of the optoelectronic pod according to the roll disturbance parameters of the outer roll frame and the follow-up motion parameters.

[0143] In this optional embodiment, optionally, generating the roll disturbance parameters of the outer roll frame according to the gyro angular rate parameters of the outer roll frame of the optoelectronic pod and the angular rate parameters of the optoelectronic pod about the roll axis may include: determining the motor rotation angular rate disturbance parameters of the outer roll frame motor according to the gyro angular rate parameters of the outer roll frame of the optoelectronic pod and the angular rate parameters of the optoelectronic pod about the roll axis, and generating the roll disturbance parameters of the outer roll frame according to the motor rotation angular rate disturbance parameters of the outer roll frame motor. For example, when the axis of the outer roll frame motor is parallel to the roll axis of the camera or the included angle is less than 90°, when the roll axis of the camera rotates due to disturbance, at this time, the outer roll frame motor generates a torque in the opposite direction of the disturbance to cancel the corresponding disturbance. For example, when the pitch frame rotates the camera to observe the ground, when there is a disturbance around the axis of the outer roll frame motor on the mounting base, this disturbance is transmitted to the camera and generates a camera roll disturbance around the center of the camera lens. By measuring the gyro angular rate on the outer roll frame and driving the motor to generate an opposite torque, the gyro angular rate value on the outer roll frame is kept stable, so as to realize the stable control of the outer roll rate, that is, cancel the rate disturbance of the camera roll axis.

[0144] In this optional embodiment, optionally, generating the follow-up motion parameters based on the inner heading frame angle of the optoelectronic pod may be by setting an angle threshold. When the inner heading frame angle approaches the limit of the angle threshold, generate the follow-up motion parameters and perform follow-up control.

[0145] In this optional embodiment, optionally, generating the follow-up control parameters of the optoelectronic pod according to the roll disturbance parameters of the outer roll frame and the follow-up motion parameters may include:

[0146] Determine the motor control parameters of the outer roll frame motor according to the roll disturbance parameters of the outer roll frame and the follow-up motion parameters, and generate the follow-up control parameters of the optoelectronic pod according to the motor control parameters. Further optionally, the follow-up control parameters of the optoelectronic pod are used to drive the outer roll frame to perform corresponding motion adjustments to achieve the balance of stability and flexibility.

[0147] In this optional embodiment, further optionally, through a closed-loop feedback mechanism, the motion state of the outer roll frame and the heading angle of the inner heading frame are monitored in real time, and the control parameters are further corrected according to the feedback signal to ensure the stability and flexibility of the system; further, the angle threshold is dynamically adjusted according to the parameters detected in real time to adapt to different flight conditions and mission requirements.

[0148] It can be seen that implementing this optional embodiment can generate the roll disturbance parameter of the outer roll frame according to the angular rate parameter of the gyroscope of the outer roll frame of the optoelectronic pod and the angular rate parameter about the roll axis, and generate the follow-up motion parameter according to the inner heading frame angle of the optoelectronic pod. According to the roll disturbance parameter of the outer roll frame and the follow-up motion parameter, the follow-up control parameter of the optoelectronic pod is generated. It can generate the roll disturbance parameter of the outer roll frame by detecting the angular rate of the gyroscope of the outer roll frame and the angular rate about the roll axis, and can accurately compensate the roll disturbance of the carrier, so that the optoelectronic pod can still maintain stability in a high-dynamic environment, which is beneficial to improving the operation stability and reliability of the optoelectronic pod, and thus is also beneficial to improving the operation stability and reliability of the carrier. And it can more comprehensively identify and compensate external disturbances by combining various parameters, improve the anti-interference ability of the optoelectronic pod, and can generate follow-up motion parameters through the inner heading frame angle, can real-time monitor the angle of the inner heading frame, and trigger the follow-up adjustment of the outer roll frame when approaching the mechanical limit, ensuring that the inner heading frame can achieve continuous rotation. And by real-time detecting and calculating the roll disturbance parameter and the follow-up motion parameter of the outer roll frame, it can quickly respond to external disturbances and the motion requirements of the inner heading frame, timely adjust the attitude of the outer roll frame, and generate the follow-up control parameter of the optoelectronic pod through the roll disturbance parameter of the outer roll frame and the follow-up motion parameter, which is beneficial to improving the accuracy and reliability of generating the follow-up control parameter of the optoelectronic pod, and is beneficial to improving the intelligence of generating the follow-up control parameter of the optoelectronic pod, and further is beneficial to improving the stability, flexibility and reliability of the optoelectronic pod and the carrier during operation.

[0149] In another optional embodiment, generating the follow-up motion parameter according to the inner heading frame angle of the optoelectronic pod includes:

[0150] Judging whether the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to a preset frame angle threshold;

[0151] When it is judged that the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to the preset frame angle threshold, input the inner heading frame angle into a preset follow-up controller, so that the preset follow-up controller calculates a follow-up control output value according to a preset target formula;

[0152] Determine the follow-up rate according to the follow-up control output value, and generate the follow-up motion parameter based on the follow-up rate;

[0153] Wherein, the preset target formula includes:

[0154] Δφ = k·(ψ - sgn(ψ)·threshold);

[0155] Where, Δφ is the output value of the follow-up control; K is the preset proportional gain of the controller; threshold is the preset frame angle threshold; ψ is the inner heading frame angle.

[0156] In this optional embodiment, further optionally, when it is determined that the angle corresponding to the inner heading frame angle of the optoelectronic pod is less than the preset frame angle threshold, follow-up control parameters for maintaining the current motion state are generated. Among them, when it is determined that the angle corresponding to the inner heading frame angle of the optoelectronic pod is less than the preset frame angle threshold, it indicates that the angle of the inner heading frame has not approached the mechanical limit and is within the safe operating range, and the current motion state will continue to be maintained to ensure the stability and imaging quality of the optoelectronic pod; further, continuous monitoring can also detect potential disturbances or motion trends in advance and prepare for possible subsequent follow-up adjustments.

[0157] In this optional embodiment, optionally, the preset frame angle threshold can be 4°.

[0158] In this optional embodiment, optionally, the inner heading frame angle can include an angle value of 0° when centered, a positive value when the inner heading frame rotates to the right, and a negative value when the inner heading frame rotates to the left.

[0159] In this optional embodiment, optionally, for example, when the angle exceeds the threshold (±4°), the outer frame follow-up is triggered. The angle ψ value is input to the follow-up controller, and the follow-up control output value Δφ is processed by a low-pass filter and then input to the rate inner loop of the outer roll frame controller as the follow-up rate command. The outer loop follow-up control is realized. The follow-up control output value Δφ needs to be processed by a low-pass filter; among them, the low-pass filter is a first-order filter, and the bandwidth is generally 5 to 10 Hz; further, since the tracking follow-up outer loop is a position control, the bandwidth requirement of the position loop is relatively lower than that of the rate control inner loop in the actual application scenario (the conventional outer loop tracking bandwidth is 5 Hz to 10 Hz), and the low-pass filter can prevent the high-frequency noise of the angle sensor and the disturbance of the switching noise at the threshold angle to achieve high-bandwidth stability of the rate inner loop and low-bandwidth tracking of the follow-up outer loop.

[0160] In this optional embodiment, optionally, threshold is the preset frame angle threshold, and the preset frame angle threshold is 4°, which can be adjusted according to the actual device and requirements; further, it is possible to ensure that the optical window of the optoelectronic pod fairing will not block the camera field of view within this angle range according to the margin left in the structural design and the size of the optical window of the optoelectronic pod fairing.

[0161] In this alternative embodiment, optionally, Δφ is the output value of the follow-up control; K is the preset proportional gain of the controller; threshold is the preset frame angle threshold; further, ψ is the inner heading frame angle, and sgn(ψ) is the sign function used to determine the direction (positive or negative) of the angle. Furthermore, when ψ exceeds the threshold, ψ - sgn(ψ)·threshold in the formula represents the part exceeding the threshold, and the size of the output value is adjusted by the proportional gain k to ensure that the control signal can effectively drive the outer roll frame for adjustment.

[0162] In this alternative embodiment, optionally, according to the output value (Δφ) of the follow-up controller, the adjustment rate (follow-up rate) required for the outer roll frame is determined, and the follow-up rate is converted into specific control instructions for driving the outer roll frame motor for adjustment; further, the follow-up control parameter can be a motor control signal or a specific motion instruction to ensure that the outer roll frame can be adjusted in real time to keep the inner heading frame angle within a safe range.

[0163] It can be seen that implementing this alternative embodiment can determine whether the inner heading frame angle of the optoelectronic pod is greater than or equal to the preset frame angle threshold. If so, the inner heading frame angle is input to the preset follow-up controller to calculate the follow-up control output value according to the preset target formula, the follow-up rate is determined based on the follow-up control output value, and the follow-up motion parameters are generated based on the follow-up rate. It can detect and take measures in a timely manner when the inner heading frame angle approaches the limit value through the preset frame angle threshold, effectively preventing the inner heading frame from being damaged due to exceeding the mechanical limit, improving the reliability and safety of the carrier during use and operation. And through the follow-up control, the outer roll frame can be adjusted in advance to avoid the inner heading frame angle exceeding the safe range, further improving the reliability and safety of use and operation. When the inner heading frame angle approaches the threshold, the follow-up controller will calculate the follow-up control output value according to the preset formula and adjust the outer roll frame, thereby realizing the continuous rotation of the inner heading frame. And calculating the follow-up control output value through the preset target formula is beneficial to improving the accuracy and reliability of calculating the follow-up control output value, and can also quickly calculate the follow-up control output value according to the real-time detected inner heading frame angle and timely adjust the attitude of the outer roll frame, reducing the error caused by single-parameter control, being beneficial to improving the operation accuracy and reliability of the carrier, and also being beneficial to improving the safety and stability of the carrier operation, and further being beneficial to improving the stability and reliability of the optoelectronic pod control.

[0164] In another alternative embodiment, an outer roll frame roll disturbance parameter is generated according to the gyro angular rate parameter of the outer roll frame of the optoelectronic pod and the angular rate parameter of the optoelectronic pod around the roll axis, including:

[0165] Determine the disturbance rate of the outer roll axis of the optoelectronic pod based on the angular rate parameter of the gyroscope of the outer roll frame of the optoelectronic pod and the angular rate parameter of the optoelectronic pod about the roll axis.

[0166] Generate the rotation rate of the outer roll frame of the optoelectronic pod based on the disturbance rate of the outer roll axis and the angular rate parameter of the optoelectronic pod about the roll axis, and generate the roll disturbance parameter of the outer roll frame according to the rotation rate of the outer roll frame.

[0167] In this alternative embodiment, optionally, the disturbance rate of the outer roll axis of the optoelectronic pod may be to determine the disturbance rate of the outer roll frame based on the angular rate parameter of the gyroscope of the outer roll frame; this parameter is used to quantify the disturbance intensity received by the outer roll frame.

[0168] In this alternative embodiment, further optionally, the rotation rate of the outer roll frame may include the total rotation rate after comprehensively considering the disturbance rate of the outer roll axis and the angular rate parameter about the roll axis; wherein, this parameter can be optimized according to the dynamic characteristics and control requirements of the system.

[0169] In this alternative embodiment, optionally, the roll disturbance parameter of the outer roll frame is used to quantify the influence of the roll disturbance of the carrier on the optoelectronic pod; wherein, the carrier may include one or more of an unmanned aerial vehicle, a helicopter, etc.

[0170] In this alternative embodiment, optionally, the above-mentioned generating the roll disturbance parameter of the outer roll frame according to the rotation rate of the outer roll frame may include:

[0171] Generate the frame motor control signal of the outer roll frame motor according to the rotation rate of the outer roll frame, and generate the roll disturbance parameter of the outer roll frame according to the frame motor control signal; wherein, the frame motor control signal includes a control signal for controlling the motor rotation rate of the outer roll frame motor.

[0172] It can be seen that implementing this optional embodiment can determine the outer roll axis disturbance rate based on the angular rate parameter of the outer roll frame gyroscope of the optoelectronic pod and the angular rate parameter of the optoelectronic pod around the roll axis. Based on the outer roll axis disturbance rate and the angular rate parameter around the roll axis, the rotation rate of the outer roll frame of the optoelectronic pod is generated, and then the outer roll frame roll disturbance parameter is generated. It can comprehensively evaluate the dynamic characteristics of the roll disturbance by combining the angular rate of the outer roll frame gyroscope and the angular rate around the roll axis, can more effectively compensate for the roll disturbance through a multi-parameter fusion method, and can dynamically adjust the roll disturbance compensation according to the angular rate parameters detected in real time to adapt to different flight conditions and mission requirements. By accurately calculating the disturbance parameter and rotation rate of the outer roll frame, the roll disturbance of the carrier can be compensated in real time to ensure that the optoelectronic pod remains stable in a high-dynamic environment. And according to the angular rate parameters detected in real time, the roll disturbance parameter is quickly generated, and the movement of the outer roll frame is adjusted in a timely manner, which is beneficial to further improving the stability and reliability of the optoelectronic pod and the carrier during flight, and is also beneficial to improving the operation reliability of the optoelectronic pod and the carrier, thereby significantly improving the roll disturbance compensation accuracy, stability and dynamic response ability of the optoelectronic pod, and is also beneficial to improving the operation reliability and flight stability of the optoelectronic pod and the carrier, and further beneficial to improving the stability and reliability of the optoelectronic pod control.

[0173] Embodiment III

[0174] Please refer to Figure 3 , Figure 3 which is a schematic structural diagram of an intelligent control device applied to an optoelectronic pod disclosed in an embodiment of the present invention. As Figure 3 shown, the intelligent control device applied to the optoelectronic pod may include:

[0175] A generation module 301, configured to detect a first parameter of the movement frame in the optoelectronic pod and generate a disturbance adjustment parameter for the movement frame according to the first parameter;

[0176] A detection module 302, configured to detect a second parameter of the optoelectronic pod;

[0177] The generation module 301 is further configured to generate a follow-up control parameter for the optoelectronic pod according to the second parameter;

[0178] A determination module 303, configured to determine a target control parameter of the optoelectronic pod according to the disturbance adjustment parameter and the follow-up control parameter;

[0179] A control module 304, configured to control the optoelectronic pod to perform an operation matching the target control parameter.

[0180] It can be seen that implementing Figure 3The described device can detect the first parameter of the movement mechanism frame in the optoelectronic pod and generate the disturbance adjustment parameter of the movement mechanism frame, and detect the second parameter of the optoelectronic pod and generate the follow-up control parameter of the optoelectronic pod. Determine the target control parameter of the optoelectronic pod according to the disturbance adjustment parameter and the follow-up control parameter, and control the optoelectronic pod to perform the matching operation. It can detect the heading angle rate and pitch angle rate of the movement mechanism frame and generate the disturbance adjustment parameter, and can cancel the heading and pitch disturbances of the carrier in real time based on the disturbance adjustment parameter, enabling the optoelectronic pod to maintain flight stability in a high-dynamic environment. And it can achieve the dual-loop control of the outer roll frame by combining the rate inner-loop control parameter and the follow-up outer-loop control parameter, effectively suppressing the roll disturbance and further improving the stability of the optoelectronic pod. Further, it is also beneficial to achieve efficient follow-up tracking through the dual-loop control on the basis of ensuring stability, which is beneficial to improving the control accuracy and response speed, further improving the stability of controlling the optoelectronic pod, and being beneficial to the accuracy and efficiency of controlling the optoelectronic pod.

[0181] In an alternative embodiment, as Figure 4 shown, the determination module 303 is further configured to determine the target rotation angle of the optoelectronic pod according to the follow-up control parameter before the control module 304 controls the optoelectronic pod to perform the operation matching the target control parameter;

[0182] The device further includes:

[0183] The judgment module 305 is configured to judge whether the target rotation angle meets the preset angle limit condition; when it is judged that the target rotation angle meets the preset angle limit condition, trigger the control module 304 to execute the step of controlling the optoelectronic pod to perform the operation matching the target control parameter;

[0184] The generation module 301 is further configured to generate an emergency braking parameter according to the angle limit condition and the target rotation angle when the judgment module 305 judges that the target rotation angle does not meet the preset angle limit condition.

[0185] It can be seen that implementing Figure 4The described device can determine the target rotation angle of the optoelectronic pod according to the follow-up control parameters and determine whether the preset angle limit condition is met. If it is met, it triggers the control of the optoelectronic pod to perform an operation matching the target control parameters. If it is not met, it generates an emergency braking parameter according to the angle limit condition and the target rotation angle. It can determine the rotation angle of the optoelectronic pod before performing the operation, ensure that the rotation angle of the optoelectronic pod is always within the safe range, avoid equipment damage caused by exceeding the angle limit, and can generate an emergency braking parameter when the rotation angle does not meet the angle limit condition, effectively preventing the inner heading frame from exceeding the mechanical limit in a timely manner to ensure the safety and reliability of the equipment. Thus, it can also achieve the stability of optoelectronic pod control through accurate follow-up control parameters and target control parameters. Furthermore, through accurate angle limit judgment and emergency braking mechanism, it reduces unnecessary energy consumption and mechanical wear, further improves the stability of controlling the optoelectronic pod, and is conducive to the accuracy and efficiency of controlling the optoelectronic pod.

[0186] In another alternative embodiment, as Figure 4 shown, the specific way for the generating module 301 to detect the first parameter of the movement frame in the optoelectronic pod and generate the disturbance adjustment parameter of the movement frame includes:

[0187] Detect the heading angular rate of the movement frame in the optoelectronic pod and detect the pitch angular rate of the movement frame in the optoelectronic pod. According to the heading angular rate and the pitch angular rate, generate the first parameter of the movement frame;

[0188] According to the first parameter, determine the heading disturbance cancellation parameter corresponding to the heading angular rate and determine the pitch disturbance cancellation parameter corresponding to the pitch angular rate;

[0189] Based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter, generate the disturbance adjustment parameter of the movement frame.

[0190] It can be seen that implementing Figure 4The described device can detect the heading angle rate and pitch angle rate of the optoelectronic pod movement mechanism frame and generate the first parameter of the movement mechanism frame. According to the first parameter, it determines the heading disturbance cancellation parameter corresponding to the heading angle rate and the pitch disturbance cancellation parameter corresponding to the pitch angle rate. Based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter, it generates the disturbance adjustment parameter of the movement mechanism frame, which can cancel the heading and pitch disturbances in the high-dynamic environment of the carrier in real time and accurately, facilitating ensuring the stability of the optoelectronic pod under complex movement conditions, facilitating improving the stability of controlling the optoelectronic pod and the stability of the carrier during flight. By detecting the angular rate in real time and generating the disturbance cancellation parameter, the system can quickly respond to external disturbances and timely adjust the attitude of the movement mechanism frame, which can further improve the stability of the carrier during flight, ensure the accuracy and reliability of the attitude adjustment of the movement mechanism frame, and can ensure that the movement mechanism frame always remains within the safe operating range by detecting the angular rate in real time and generating the disturbance adjustment parameter. Thus, it is also beneficial to improve the imaging stability, dynamic response ability and adaptability of the optoelectronic pod, and further beneficial to improve the stability of controlling the optoelectronic pod, as well as beneficial to the accuracy and efficiency of controlling the optoelectronic pod.

[0191] In yet another alternative embodiment, as Figure 4 shown, the second parameter of the optoelectronic pod includes one or more of the outer roll frame gyroscope angular rate parameter of the optoelectronic pod, the angular rate parameter about the roll axis of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod.

[0192] It can be seen that implementing Figure 4 the described device can achieve the stability of the roll rate through the outer roll frame gyroscope angular rate parameter of the optoelectronic pod, and can cancel the influence of external disturbances on the optoelectronic pod by detecting and compensating the angular rate of the outer roll frame, which is beneficial to improving the operating stability of the optoelectronic pod. And through the angular rate parameter about the roll axis of the optoelectronic pod, it can ensure the stability of the angular rate of the roll axis, and by compensating the angular rate about the roll axis to reduce the influence of roll disturbances on the optoelectronic pod, it is further beneficial to improve the stability and reliability of the optoelectronic pod. And through the inner heading frame angle of the optoelectronic pod, it can achieve the follow-up outer loop control of the outer roll frame, ensure that the heading angle of the inner heading frame does not exceed the mechanical limit, and can also achieve the continuous rotation of the inner heading frame. The above parameters together constitute the core input of the optoelectronic pod control system. By accurately detecting and controlling these parameters, it can significantly improve the stability and flexibility of the optoelectronic pod in a complex environment, and further beneficial to improving the stability and reliability of the optoelectronic pod control.

[0193] In yet another alternative embodiment, as Figure 4As shown, when the second parameter of the optoelectronic pod includes the angular rate parameter of the outer roll frame gyroscope of the optoelectronic pod, the angular rate parameter about the roll axis of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod, the specific manner in which the generation module 301 generates the follow-up control parameters of the optoelectronic pod includes:

[0194] Generate the outer roll frame roll disturbance parameter according to the angular rate parameter of the outer roll frame gyroscope of the optoelectronic pod and the angular rate parameter about the roll axis of the optoelectronic pod;

[0195] Generate the follow-up motion parameter according to the inner heading frame angle of the optoelectronic pod;

[0196] Generate the follow-up control parameter of the optoelectronic pod according to the outer roll frame roll disturbance parameter and the follow-up motion parameter.

[0197] It can be seen that implementing Figure 4 The described device can generate the outer roll frame roll disturbance parameter according to the angular rate parameter of the outer roll frame gyroscope of the optoelectronic pod and the angular rate parameter about the roll axis of the optoelectronic pod, and generate the follow-up motion parameter according to the inner heading frame angle of the optoelectronic pod. According to the outer roll frame roll disturbance parameter and the follow-up motion parameter, generate the follow-up control parameter of the optoelectronic pod, can generate the outer roll frame roll disturbance parameter by detecting the angular rate of the outer roll frame gyroscope and the angular rate about the roll axis, can accurately compensate for the roll disturbance of the carrier, so that the optoelectronic pod can still maintain stability in a high-dynamic environment, which is beneficial to improving the operation stability and reliability of the optoelectronic pod, and thus is also beneficial to improving the operation stability and reliability of the carrier, and can more comprehensively identify and compensate for external disturbances by combining various parameters, improve the anti-interference ability of the optoelectronic pod, and can generate the follow-up motion parameter through the inner heading frame angle, can real-time monitor the angle of the inner heading frame, and trigger the follow-up adjustment of the outer roll frame when approaching the mechanical limit, ensuring that the inner heading frame can achieve continuous rotation, and by real-time detecting and calculating the outer roll frame roll disturbance parameter and the follow-up motion parameter, can quickly respond to external disturbances and the motion requirements of the inner heading frame, timely adjust the attitude of the outer roll frame, and generate the follow-up control parameter of the optoelectronic pod through the outer roll frame roll disturbance parameter and the follow-up motion parameter, which is beneficial to improving the accuracy and reliability of generating the follow-up control parameter of the optoelectronic pod, and is beneficial to improving the intelligence of generating the follow-up control parameter of the optoelectronic pod, and further is beneficial to improving the stability, flexibility and reliability of the optoelectronic pod and the carrier during operation.

[0198] In another optional embodiment, as Figure 4 shown, the specific manner in which the generation module 301 generates the follow-up control parameter according to the inner heading frame angle of the optoelectronic pod includes:

[0199] Determine whether the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to a preset frame angle threshold;

[0200] When it is determined that the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to the preset frame angle threshold, input the inner heading frame angle into a preset servo controller, so that the preset servo controller calculates a servo control output value according to a preset target formula;

[0201] Determine a servo rate according to the servo control output value, and generate servo motion parameters based on the servo rate;

[0202] Among them, the preset target formula includes:

[0203] Δφ = k·(ψ - sgn(ψ)·threshold);

[0204] Among them, Δφ is the servo control output value; K is a preset controller proportional gain; threshold is the preset frame angle threshold; ψ is the inner heading frame angle.·

[0205] It can be seen that implementing Figure 4 the described device can determine whether the inner heading frame angle of the optoelectronic pod is greater than or equal to the preset frame angle threshold. If so, input the inner heading frame angle into the preset servo controller to calculate the servo control output value according to the preset target formula, determine the servo rate according to the servo control output value, and generate servo motion parameters based on the servo rate. It can detect and take measures in time when the inner heading frame angle is close to the limit value through the preset frame angle threshold, effectively preventing the inner heading frame from being damaged due to exceeding the mechanical limit, improving the reliability and safety of the carrier during use and operation. And through servo control, it can adjust the outer roll frame in advance to avoid the inner heading frame angle exceeding the safe range, further improving the reliability and safety of use and operation. When the inner heading frame angle is close to the threshold, the servo controller will calculate the servo control output value according to the preset formula and adjust the outer roll frame, so as to realize the continuous rotation of the inner heading frame. And calculating the servo control output value through the preset target formula is beneficial to improving the accuracy and reliability of calculating the servo control output value. It can also quickly calculate the servo control output value according to the real-time detected inner heading frame angle and timely adjust the attitude of the outer roll frame, reducing the error caused by single-parameter control, being beneficial to improving the operation accuracy and reliability of the carrier, and also being beneficial to improving the safety and stability of the carrier operation, and further being beneficial to improving the stability and reliability of the optoelectronic pod control.

[0206] In another optional embodiment, as Figure 4As shown in the figure, the specific manner in which the generation module 301 generates the outer roll frame roll disturbance parameter based on the outer roll frame gyroscope angular rate parameter of the optoelectronic pod and the angular rate parameter of the optoelectronic pod about the roll axis includes:

[0207] Determine the disturbance rate of the outer roll axis of the optoelectronic pod according to the outer roll frame gyroscope angular rate parameter of the optoelectronic pod and the angular rate parameter of the optoelectronic pod about the roll axis;

[0208] Generate the rotation rate of the outer roll frame of the optoelectronic pod according to the disturbance rate of the outer roll axis and the angular rate parameter of the optoelectronic pod about the roll axis, and generate the outer roll frame roll disturbance parameter according to the rotation rate of the outer roll frame.

[0209] It can be seen that implementing Figure 4 The described device can determine the disturbance rate of the outer roll axis according to the outer roll frame gyroscope angular rate parameter of the optoelectronic pod and the angular rate parameter of the optoelectronic pod about the roll axis, generate the rotation rate of the outer roll frame of the optoelectronic pod according to the disturbance rate of the outer roll axis and the angular rate parameter about the roll axis, and then generate the outer roll frame roll disturbance parameter. It can more comprehensively evaluate the dynamic characteristics of roll disturbance by combining the outer roll frame gyroscope angular rate and the angular rate about the roll axis, can more effectively compensate for roll disturbance through the method of multi-parameter fusion, and can dynamically adjust roll disturbance compensation according to the angular rate parameters detected in real time to adapt to different flight conditions and mission requirements. By accurately calculating the disturbance parameter and rotation rate of the outer roll frame, it can compensate for the roll disturbance of the carrier in real time, ensure that the optoelectronic pod remains stable in a high-dynamic environment, and quickly generate roll disturbance parameters according to the angular rate parameters detected in real time, and timely adjust the movement of the outer roll frame, which is beneficial to further improving the stability and reliability of the optoelectronic pod and the carrier during flight, and is also beneficial to improving the operation reliability of the optoelectronic pod and the carrier, thereby being able to significantly improve the roll disturbance compensation accuracy, stability and dynamic response ability of the optoelectronic pod, and is also beneficial to improving the operation reliability and flight stability of the optoelectronic pod and the carrier, and further beneficial to improving the stability and reliability of optoelectronic pod control.

[0210] Embodiment 4

[0211] Please refer to Figure 5 , Figure 5 which is a schematic structural diagram of another intelligent control device applied to an optoelectronic pod disclosed in an embodiment of the present invention. As Figure 5 shown, the intelligent control device applied to the optoelectronic pod may include:

[0212] A memory 401 storing executable program code;

[0213] A processor 402 coupled to the memory 401;

[0214] The processor 402 calls the executable program code stored in the memory 401 and executes the steps in the intelligent control method for an optoelectronic pod described in Embodiment 1 or Embodiment 2 of the present invention.

[0215] Embodiment 5

[0216] An embodiment of the present invention discloses a computer storage medium storing computer instructions, which when called, are used to execute the steps in the intelligent control method for an optoelectronic pod described in Embodiment 1 or Embodiment 2 of the present invention.

[0217] Embodiment 6

[0218] An embodiment of the present invention discloses a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute the steps in the intelligent control method for an optoelectronic pod described in Embodiment 1 or Embodiment 2.

[0219] The device embodiments described above are merely illustrative. The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed to multiple network modules. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. A person of ordinary skill in the art can understand and implement it without creative labor.

[0220] Through the specific descriptions of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, which includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc memories, magnetic disk memories, tape memories, or any other medium that can be used to carry or store data and is computer-readable.

[0221] Finally, it should be noted that: The intelligent control method, device, and computer storage medium applicable to an optoelectronic pod disclosed in the embodiments of the present invention only disclose the preferred embodiments of the present invention. They are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions recorded in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent control method applied to an optoelectronic pod, characterized in that, The method includes: Detecting a first parameter of the movement frame in the optoelectronic pod, and generating a disturbance adjustment parameter of the movement frame according to the first parameter; Detecting a second parameter of the optoelectronic pod, and generating a follow-up control parameter of the optoelectronic pod according to the second parameter; Determining a target control parameter of the optoelectronic pod according to the disturbance adjustment parameter and the follow-up control parameter, and controlling the optoelectronic pod to perform an operation matching the target control parameter.

2. The intelligent control method applied to an optoelectronic pod according to claim 1, wherein Before controlling the optoelectronic pod to perform an operation matching the target control parameter, the method further includes: Determining a target rotation angle of the optoelectronic pod according to the follow-up control parameter, and determining whether the target rotation angle meets a preset angle limit condition; When it is determined that the target rotation angle meets the preset angle limit condition, triggering the step of controlling the optoelectronic pod to perform an operation matching the target control parameter; When it is determined that the target rotation angle does not meet the preset angle limit condition, generating an emergency braking parameter according to the angle limit condition and the target rotation angle.

3. The intelligent control method applied to an optoelectronic pod according to claim 1 or 2, characterized in that, The detecting a first parameter of the movement frame in the optoelectronic pod and generating a disturbance adjustment parameter of the movement frame according to the first parameter includes: Detecting a heading angle rate of the movement frame in the optoelectronic pod, and detecting a pitch angle rate of the movement frame in the optoelectronic pod, and generating a first parameter of the movement frame according to the heading angle rate and the pitch angle rate; Determining a heading disturbance cancellation parameter corresponding to the heading angle rate according to the first parameter, and determining a pitch disturbance cancellation parameter corresponding to the pitch angle rate; Generating a disturbance adjustment parameter of the movement frame based on the heading disturbance cancellation parameter and the pitch disturbance cancellation parameter.

4. The intelligent control method applied to an optoelectronic pod according to claim 1 or 2, characterized in that The second parameter of the optoelectronic pod includes one or more of an outer roll frame gyroscope angle rate parameter of the optoelectronic pod, a roll axis angle rate parameter of the optoelectronic pod, and an inner heading frame angle of the optoelectronic pod.

5. The intelligent control method applied to an optoelectronic pod according to claim 4, wherein When the second parameter of the optoelectronic pod includes the outer roll frame gyroscope angle rate parameter of the optoelectronic pod, the roll axis angle rate parameter of the optoelectronic pod, and the inner heading frame angle of the optoelectronic pod, the generating a follow-up control parameter of the optoelectronic pod according to the second parameter includes: Generating an outer roll frame roll disturbance parameter according to the outer roll frame gyroscope angle rate parameter of the optoelectronic pod and the roll axis angle rate parameter of the optoelectronic pod; Generating a follow-up movement parameter according to the inner heading frame angle of the optoelectronic pod; Generating a follow-up control parameter of the optoelectronic pod according to the outer roll frame roll disturbance parameter and the follow-up movement parameter.

6. The intelligent control method applied to an optoelectronic pod according to claim 5, characterized in that, The generating a follow-up movement parameter according to the inner heading frame angle of the optoelectronic pod includes: Determining whether an angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to a preset frame angle threshold; When it is determined that the angle corresponding to the inner heading frame angle of the optoelectronic pod is greater than or equal to the preset frame angle threshold, input the inner heading frame angle into a preset servo controller, so that the preset servo controller calculates a servo control output value according to a preset target formula; Determine a servo rate according to the servo control output value, and generate servo motion parameters based on the servo rate; Among them, the preset target formula includes: Δφ = k·(ψ - sgn(ψ)·threshold); Among them, Δφ is the servo control output value; K is the preset controller proportional gain; threshold is the preset frame angle threshold; ψ is the inner heading frame angle.

7. The intelligent control method applied to an optoelectronic pod according to claim 5, characterized in that, The generating the outer roll frame roll disturbance parameter according to the outer roll frame gyro rate parameter of the optoelectronic pod and the angular rate parameter of the optoelectronic pod about the roll axis includes: Determine the outer roll axis disturbance rate of the optoelectronic pod according to the outer roll frame gyro rate parameter of the optoelectronic pod and the angular rate parameter of the optoelectronic pod about the roll axis; Generate the rotation rate of the outer roll frame of the optoelectronic pod according to the outer roll axis disturbance rate and the angular rate parameter of the optoelectronic pod about the roll axis, and generate the outer roll frame roll disturbance parameter according to the rotation rate of the outer roll frame.

8. An intelligent control device applied to an optoelectronic pod, characterized in that, The device includes: A generating module, configured to detect a first parameter of the movement mechanism frame in the optoelectronic pod, and generate a disturbance adjustment parameter of the movement mechanism frame according to the first parameter; A detecting module, configured to detect a second parameter of the optoelectronic pod; The generating module is further configured to generate a servo control parameter of the optoelectronic pod according to the second parameter; A determining module, configured to determine a target control parameter of the optoelectronic pod according to the disturbance adjustment parameter and the servo control parameter; A control module, configured to control the optoelectronic pod to perform an operation matching the target control parameter.

9. An intelligent control device applied to an optoelectronic pod, characterized in that, The device includes: A memory storing executable program code; A processor coupled to the memory; The processor calls the executable program code stored in the memory to execute the intelligent control method for an optoelectronic pod according to any one of claims 1-7.

10. A computer storage medium, characterized in that, The computer storage medium stores computer instructions, which are used to execute the intelligent control method for an optoelectronic pod according to any one of claims 1-7 when the computer instructions are called.

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