Three-axis gimbal control methods, devices, electronic equipment, media and products for unmanned aerial vehicles (UAVs).

Abstract

This application discloses a method, device, electronic device, medium, and product for controlling a three-axis gimbal of a UAV. The method includes: upon receiving a control command from the UAV's three-axis gimbal, acquiring the UAV's flight status information and the current gimbal control mode; performing attitude calculation based on the flight status information to obtain the actual physical angles of each axis of the three-axis gimbal; calculating the angular deviation between each axis of the three-axis gimbal and the target angle specified in the control command based on the actual physical angles of each axis; determining the target control mode to be activated based on the angular deviation and the target angle; and when the target control mode differs from the current gimbal control mode, performing corresponding control on the three-axis gimbal based on the target control mode and the target angle. This method enables refined and adaptive control based on the gimbal's real-time attitude deviation, improving the accuracy and flexibility of control, without relying on switching the gimbal control based on the overall flight mode of the UAV.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, specifically to a UAV three-axis gimbal control method, device, electronic equipment, medium, and product. Background Technology

[0002] With the increasing application of drones in film and television shooting and industrial inspection, the precision requirements for the control of their onboard three-axis gimbals are rising. Currently, gimbal control mode switching typically relies on the overall flight mode of the drone, such as hovering, waypoint flight, or follow mode. However, this logic of switching based on the upper-level flight mode is relatively fixed and coarse, failing to allow for flexible and precise adjustments based on the gimbal's real-time attitude deviations. Consequently, in complex flight scenarios, the gimbal may not be able to respond quickly to subtle angle changes or achieve an optimal smooth transition between dynamic tracking and static locking, thus affecting the stability of the captured footage and the accuracy of control. Summary of the Invention

[0003] In view of the above problems, this application provides a method, device, electronic device, medium and product for controlling a three-axis gimbal of a UAV, which can solve the problems of rough control and insufficient flexibility caused by relying on the overall flight mode of the UAV to switch gimbal control, and the inability to achieve fine and adaptive control based on the real-time attitude deviation of the gimbal itself.

[0004] Firstly, this application provides a three-axis gimbal control method for an unmanned aerial vehicle (UAV), comprising:

[0005] Upon receiving control commands from the UAV's three-axis gimbal, acquire the UAV's flight status information and the current gimbal control mode;

[0006] The attitude is calculated based on the flight status information to obtain the actual physical angles of each axis of the three-axis gimbal.

[0007] Based on the actual physical angles of each axis of the three-axis gimbal, calculate the angular deviation between each axis of the three-axis gimbal and the target angle specified in the control command;

[0008] Based on the angle deviation and the target angle, determine the target control mode that needs to be activated.

[0009] When the target control mode is different from the current gimbal control mode, the three-axis gimbal is controlled accordingly based on the target control mode and the target angle.

[0010] In the above technical solution, the method no longer relies on the overall flight mode of the UAV for control. Instead, it dynamically adapts the target control mode by using the real-time angle deviation of each axis of the gimbal and the target angle. This achieves a closed-loop response from attitude perception to mode switching to precise control, thereby improving the flexibility and precision of gimbal control while quickly adapting to subtle angle changes. This ensures a smooth transition between dynamic tracking and static locking, enhancing the stability of the captured images and the accuracy of control.

[0011] In some implementations, the flight status information includes at least one or more of the following: actual motor speed, motor operating current, rotation angle of each axis of the three-axis gimbal, and speed variation of each axis of the three-axis gimbal.

[0012] In the above technical solution, the method can use multi-dimensional state information such as motor speed, current and angle and speed changes of each axis of the gimbal to provide accurate data support for attitude calculation and deviation calculation, making the control mode determination more in line with real-time working conditions, and improving the accuracy of gimbal control and image stability.

[0013] In some implementations, the step of performing attitude calculation based on the flight state information to obtain the actual physical angles of each axis of the three-axis gimbal includes:

[0014] The flight status information is preprocessed to obtain preprocessed information;

[0015] Based on the preprocessed information, estimate the angular changes of each axis of the three-axis gimbal relative to the initial attitude and the static tilt angle of the three-axis gimbal relative to the horizontal plane.

[0016] The overall flight attitude and vibration state of the UAV are determined based on the preprocessed information;

[0017] Based on the angle change, the static tilt angle, the overall flight attitude, and the vibration state, calculate the actual physical angle of each axis of the three-axis gimbal at the current moment.

[0018] In the above technical solution, the method can accurately obtain the actual physical angles of each axis of the gimbal by preprocessing the flight status information and integrating multi-dimensional data such as angle change, static tilt angle, overall flight attitude of the UAV and vibration status.

[0019] In some implementations, determining the target control mode to be activated based on the angle deviation and the target angle includes:

[0020] When the angle deviation is lower than the preset angle threshold, or when the target angle is an angle that needs to be continuously followed and changes rapidly, the target control mode to be activated is determined to be the speed control mode.

[0021] When the angle deviation is not lower than the preset angle threshold and the target angle changes slowly, the target control mode to be activated is determined to be the position control mode.

[0022] In the above technical solution, the method can intelligently switch the speed / position control mode according to the magnitude of the angle deviation and the characteristics of the target angle change, thereby achieving adaptive adjustment under different working conditions and improving the flexibility and accuracy of gimbal control.

[0023] In some implementations, controlling the three-axis gimbal according to the target control mode and the target angle includes:

[0024] When the current gimbal control mode is speed control mode and the target control mode is position control mode, an angle correction command is generated based on the position closed-loop algorithm of the position control mode and the target angle.

[0025] The angle correction command drives each axis of the three-axis gimbal to make small-step fine adjustments.

[0026] In the above technical solution, the method can generate angle correction commands through a position closed-loop algorithm, and achieve a smooth switch from speed control mode to position control mode by fine-tuning with small steps, avoiding sudden angle changes during mode switching.

[0027] In some implementations, controlling the three-axis gimbal according to the target control mode and the target angle includes:

[0028] When the current gimbal control mode is position control mode and the target control mode is speed control mode, a continuous speed adjustment command is generated based on the motion curve smoothing algorithm of the speed control mode and the target angle.

[0029] The three-axis gimbal is driven to rotate according to the continuous speed adjustment command.

[0030] In the above technical solution, the method can generate continuous speed adjustment commands by means of motion curve smoothing algorithm, realize seamless switching from position control mode to speed control mode, and avoid screen jitter caused by sudden speed changes.

[0031] Secondly, this application provides a three-axis gimbal control device for unmanned aerial vehicles, comprising:

[0032] The acquisition unit is used to acquire the flight status information and current gimbal control mode of the UAV when it receives control commands from the UAV's three-axis gimbal.

[0033] The first calculation unit is used to perform attitude calculation based on the flight state information to obtain the actual physical angles of each axis of the three-axis gimbal.

[0034] The second calculation unit is used to calculate the angle deviation between each axis of the three-axis gimbal and the target angle specified in the control command, based on the actual physical angle of each axis of the three-axis gimbal.

[0035] The determining unit is used to determine the target control mode that needs to be activated based on the angle deviation and the target angle.

[0036] The control unit is used to control the three-axis gimbal according to the target control mode and the target angle when the target control mode is different from the current gimbal control mode.

[0037] In the above technical solution, the device can no longer rely on the overall flight mode of the UAV for control. Instead, it dynamically adapts the target control mode by the real-time angle deviation of each axis of the gimbal and the target angle. This achieves a closed-loop response from attitude perception to mode switching to precise control, thereby improving the flexibility and precision of gimbal control while quickly adapting to subtle angle changes. This ensures a smooth transition between dynamic tracking and static locking, thereby enhancing the stability of the captured images and the accuracy of control.

[0038] Thirdly, this application provides an electronic device including a memory and a processor, the memory storing a computer program, and the processor running the computer program to cause the electronic device to perform the UAV three-axis gimbal control method described in any one of the first aspects.

[0039] Fourthly, this application provides a readable storage medium storing a computer program, which, when executed by a processor, performs the UAV three-axis gimbal control method described in any one of the first aspects.

[0040] Fifthly, this application provides a computer program product, which includes a computer program that, when executed by a processor, performs the UAV three-axis gimbal control method described in any one of the first aspects.

[0041] The beneficial effects of this application are as follows: This method can get rid of the dependence of gimbal control mode switching on the overall flight mode of the UAV. Based on the real-time angle deviation of each axis of the gimbal and the target angle, the target control mode is dynamically adapted, realizing a closed-loop response from attitude perception to mode switching to precise control. This not only improves the flexibility and precision of gimbal control, but also quickly adapts to subtle angle changes, ensures a smooth transition between dynamic tracking and static locking, and effectively enhances the stability of the captured image and the accuracy of control. Attached Figure Description

[0042] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0043] Figure 1 This is a flowchart illustrating a three-axis gimbal control method for a drone in some embodiments of this application;

[0044] Figure 2 This is a schematic diagram of the structure of a three-axis gimbal control device for a drone in some embodiments of this application;

[0045] Figure 3 This is a schematic diagram of the structure of an electronic device in some embodiments of this application. Detailed Implementation

[0046] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0047] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0048] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more (including two), similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces) unless otherwise explicitly defined.

[0049] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0050] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0051] With the increasing application of drones in film and television shooting and industrial inspection, the precision requirements for the control of their onboard three-axis gimbals are rising. Currently, gimbal control mode switching typically relies on the overall flight mode of the drone, such as hovering, waypoint flight, or follow mode. However, this logic of switching based on the upper-level flight mode is relatively fixed and coarse, failing to allow for flexible and precise adjustments based on the gimbal's real-time attitude deviations. Consequently, in complex flight scenarios, the gimbal may not be able to respond quickly to subtle angle changes or achieve an optimal smooth transition between dynamic tracking and static locking, thus affecting the stability of the captured footage and the accuracy of control.

[0052] To address the aforementioned technical issues, this application provides a three-axis gimbal control method for unmanned aerial vehicles (UAVs). This method no longer relies on the overall flight mode of the UAV for control, but instead dynamically adapts to the target control mode by using the real-time angle deviation of each axis of the gimbal and the target angle. This achieves a closed-loop response from attitude perception to mode switching to precise control, thereby improving the flexibility and precision of gimbal control while quickly adapting to subtle angle changes. This ensures a smooth transition between dynamic tracking and static locking, enhancing the stability of the captured images and the accuracy of control.

[0053] like Figure 1 As shown, some embodiments of this application provide a three-axis gimbal control method for a drone, which includes:

[0054] S101. Upon receiving control commands from the UAV's three-axis gimbal, acquire the UAV's flight status information and the current gimbal control mode.

[0055] S102. Perform attitude calculation based on flight status information to obtain the actual physical angles of each axis of the three-axis gimbal.

[0056] S103. Calculate the angle deviation between each axis of the three-axis gimbal and the target angle specified in the control command based on the actual physical angle of each axis of the three-axis gimbal.

[0057] S104. Based on the angle deviation and the target angle, determine the target control mode that needs to be activated.

[0058] S105. When the target control mode is different from the current gimbal control mode, the three-axis gimbal is controlled accordingly based on the target control mode and the target angle.

[0059] In some embodiments, control commands refer to operation commands used to instruct the UAV's three-axis gimbal to adjust to a specific target angle, which can be issued by the user through devices such as remote controllers and ground stations.

[0060] In some embodiments, flight status information refers to relevant data that reflects the operating conditions of the UAV and the three-axis gimbal, including at least one or more of the following: actual motor speed, motor operating current, rotation angle of each axis of the gimbal, and speed change of each axis of the gimbal.

[0061] In some embodiments, the current gimbal control mode refers to the control mode (such as speed control mode or position control mode) that the UAV three-axis gimbal is in when it receives control commands.

[0062] In some embodiments, attitude calculation refers to the process of processing the acquired flight state information, combining relevant algorithms to estimate gimbal angle changes, static tilt angles and overall UAV attitude, and then deriving the actual physical angles of each axis of the gimbal.

[0063] In some embodiments, the actual physical angle refers to the real spatial angle of each axis of the three-axis gimbal relative to a preset reference (such as the initial attitude or the horizontal plane) at the current moment, obtained through attitude calculation.

[0064] In some embodiments, the target angle refers to the preset angle that each axis of the three-axis gimbal needs to be adjusted to reach, as explicitly specified in the control command.

[0065] In some embodiments, the angle deviation refers to the difference between the actual physical angle of each axis of the three-axis gimbal and the corresponding target angle. This deviation can directly reflect the degree of deviation between the current position and the desired position of the gimbal, and is a key reference for subsequent judgment of the adaptability of the control mode.

[0066] In some embodiments, the target control mode refers to the control mode (such as speed control mode or position control mode) that is currently most suitable for the operation of the three-axis gimbal, determined based on the magnitude of the angle deviation and the characteristics of the target angle change.

[0067] For example, this method can obtain the target angles corresponding to the roll axis, pitch axis, and yaw axis of the gimbal in the control command; then extract the actual physical angles of each axis by attitude calculation; finally, for each axis, calculate the corresponding difference between its target angle and actual physical angle to obtain the independent angle deviation of each of the three axes, ensuring that the deviation calculations of each axis do not interfere with each other.

[0068] For example, this method can pause the execution of the original control commands in the current control mode and obtain the current operating status parameters of each axis of the gimbal (real-time status related to angle and speed); then, according to the control logic of the target control mode, generate transition control commands adapted to the mode switch and send the transition control commands to the motor drive unit to drive each axis of the gimbal to adjust gradually; then, verify in real time whether the operating status of each axis of the gimbal meets the start conditions of the target control mode; and finally, when the status of each axis meets the start conditions, stop the transition control commands, start the formal control commands of the target control mode, and complete the mode switch.

[0069] In the above embodiments, the method can no longer rely on the overall flight mode of the UAV for control. Instead, it dynamically adapts the target control mode by the real-time angle deviation of each axis of the gimbal and the target angle. This achieves a closed-loop response from attitude perception to mode switching to precise control, thereby improving the flexibility and precision of gimbal control while quickly adapting to subtle angle changes. This ensures a smooth transition between dynamic tracking and static locking, thereby enhancing the stability of the captured images and the accuracy of control.

[0070] In some embodiments, the flight status information includes at least one or more of the following: actual motor speed, motor operating current, rotation angle of each axis of the three-axis gimbal, and speed variation of each axis of the three-axis gimbal.

[0071] In some embodiments, the actual rotational speed of the motor refers to the actual rotational speed of the power motor driving the drone (or the motor directly driving the rotation of each axis of the gimbal) at the current moment. This actual rotational speed can be collected in real time by sensing devices such as motor encoders to determine the stability of the motor's output power and the load condition.

[0072] In some embodiments, the motor operating current refers to the actual current consumed by the motor during operation, which is closely related to the motor load and speed. Specifically, when the gimbal load increases (such as increased wind resistance or increased weight of the mounted equipment) or the motor speed is adjusted, the operating current will change accordingly. By monitoring this parameter, the load pressure of the gimbal operation and whether the motor is within the normal operating range can be indirectly determined.

[0073] In some embodiments, the rotation angles of each axis of a three-axis gimbal refer to the real-time rotation angles of the gimbal's roll, pitch, and yaw axes relative to a preset reference (such as the UAV's body coordinate system or the horizontal plane). These rotation angles directly reflect the gimbal's current spatial attitude and position, serving as core foundational data for subsequent attitude calculations and angle deviation calculations.

[0074] In some embodiments, the speed changes of each axis of a three-axis gimbal refer to the rate of change of the angles of the roll, pitch, and yaw axes per unit time (i.e., the real-time speed of each axis rotation), including the magnitude and trend of speed change (such as acceleration, deceleration, and constant speed). These speed changes can reflect the dynamic adjustment state of each axis of the gimbal.

[0075] In the above embodiments, the method can provide accurate data support for attitude calculation and deviation calculation by using multi-dimensional state information such as motor speed, current and angle and speed changes of each axis of the gimbal, making the control mode determination more in line with the real-time working conditions, and improving the accuracy of gimbal control and image stability.

[0076] In some embodiments, attitude calculation is performed based on flight state information to obtain the actual physical angles of each axis of the three-axis gimbal, including:

[0077] Flight status information is preprocessed to obtain preprocessed information;

[0078] Estimate the angular changes of each axis of the three-axis gimbal relative to the initial attitude and the static tilt angle of the three-axis gimbal relative to the horizontal plane based on the preprocessed information.

[0079] The overall flight attitude and vibration status of the UAV are determined based on the preprocessed information;

[0080] Based on the angle change, static tilt angle, overall flight attitude, and vibration state, calculate the actual physical angle of each axis of the three-axis gimbal at the current moment.

[0081] In some embodiments, the method can perform preprocessing such as filtering and noise reduction on the flight status information to obtain preprocessed information.

[0082] In some embodiments, the method can employ appropriate filtering methods for different types of flight status information. For high-frequency fluctuating data such as actual motor speed and motor operating current, the method can use moving average filtering or Kalman filtering to smooth speed / current jumps caused by instantaneous pulse interference by weighted calculation or state estimation of data from multiple consecutive sampling periods. For attitude-related data such as rotation angles and speed changes of each axis of a three-axis gimbal, the GIA method can use median filtering to remove isolated outliers caused by vibration during sensor (such as gyroscopes and encoders) acquisition, while combining low-pass filtering to filter high-frequency noise (such as interference signals transmitted to sensors by UAV body vibration).

[0083] In some embodiments, the method can reduce electromagnetic interference (such as the influence of electromagnetic radiation generated by motor operation on current and speed signals) through hardware-level signal shielding; it can also compensate for angle and speed signals based on the temperature data of the collected environment to avoid measurement deviations caused by temperature changes.

[0084] For example, this method can first establish the relationship between the gimbal coordinate system, the UAV body coordinate system, and the geodetic coordinate system, and clarify the reference for calculating the angles of each axis (such as taking the horizontal plane as the geodetic coordinate system reference and the UAV body centerline as the body coordinate system reference).

[0085] Secondly, based on the preprocessed data of "rotation angle and speed change of each axis of the three-axis gimbal", the angle change of each axis relative to the initial attitude is initially estimated through integral calculation. At the same time, combined with the load status reflected by "actual motor speed and motor operating current", the cumulative error in the integration process is corrected (for example, when the motor operating current is stable, the gimbal load is determined to be stable, and the integral error correction weight is appropriately reduced; when the current fluctuates greatly, the correction weight is increased to offset the angle offset caused by load changes).

[0086] Then, based on the overall flight attitude (such as fuselage tilt and turning state) and vibration state of the UAV reflected in the fused preprocessed information, the initially estimated angle values ​​are compensated. For example, when the UAV fuselage is tilted, the reference of each axis of the gimbal is corrected according to the fuselage tilt angle to avoid the fuselage attitude affecting the gimbal angle determination; when obvious vibration is detected, vibration interference components in the attitude data are removed by combining the vibration frequency and amplitude.

[0087] Finally, by using attitude fusion algorithms (such as complementary filtering and extended Kalman filtering), multi-dimensional data such as angle change, static tilt angle, and fuselage attitude compensation are integrated to calculate the real-time spatial angles of the roll axis, pitch axis, and yaw axis relative to the preset reference, which are the actual physical angles of each axis of the three-axis gimbal.

[0088] In the above embodiments, the method can accurately obtain the actual physical angles of each axis of the gimbal by preprocessing the flight status information and integrating multi-dimensional data such as angle change, static tilt angle, overall flight attitude of the UAV and vibration status.

[0089] In some embodiments, determining the target control mode to be enabled based on the angle deviation and the target angle includes:

[0090] When the angle deviation is lower than the preset angle threshold, or when the target angle is an angle that needs to be continuously followed and changes rapidly, the target control mode to be activated is determined to be the speed control mode.

[0091] When the angle deviation is not lower than the preset angle threshold and the target angle changes slowly, the target control mode to be activated is determined to be the position control mode.

[0092] In some embodiments, speed control mode refers to a control mode that prioritizes response speed with "rotational speed" as the core control object. This mode allows for small deviations in exchange for extremely low response delay.

[0093] For example, when the gimbal approaches the target angle (with small deviation), the method can stabilize the attitude by quickly and finely adjusting the rotation speed without repeated calibration, so a speed control mode is adopted.

[0094] When the target angle changes rapidly and continuously, this method needs to keep up with the rate of change in real time to avoid missing the target; therefore, a speed control mode is adopted.

[0095] In some embodiments, the position control mode refers to a control mode that prioritizes positioning accuracy by focusing on "angular position" as the core control object. It can continuously calibrate deviations through closed-loop feedback until the actual angle and the target angle tend to match, allowing for a slightly slower response in pursuit of precision.

[0096] For example, in scenarios with large deviations and where the target is stationary, this method can use a position control mode to gradually calibrate the deviations, thereby accurately fixing the target's posture.

[0097] This method can also be used in scenarios with large deviations and slow target changes. It can first reduce the deviation by using a position control mode, and then synchronously follow the subsequent slow changes to continuously ensure accuracy.

[0098] In the above embodiments, the method can intelligently switch the speed / position control mode according to the magnitude of the angle deviation and the characteristics of the target angle change, thereby achieving adaptive adjustment under different working conditions and improving the flexibility and accuracy of gimbal control.

[0099] In some embodiments, the three-axis gimbal is controlled according to the target control mode and the target angle, including:

[0100] When the current gimbal control mode is speed control mode and the target control mode is position control mode, an angle correction command is generated based on the position closed-loop algorithm of the position control mode and the target angle.

[0101] The angle correction command drives each axis of the three-axis gimbal to make small-step fine adjustments.

[0102] For example, this method can use a position closed-loop algorithm to correlate the current actual state of each axis of the gimbal with the target angle in real time and generate a precise angle correction command. Then, the command is sent to the motor drive unit so that after receiving the command, the motor drive unit drives the gimbal's roll axis, pitch axis and yaw axis to make small-step fine adjustments, gradually reducing the deviation between the actual angle of each axis and the target angle until the gimbal attitude accurately matches the target angle.

[0103] In the above embodiments, the method can generate angle correction commands through a position closed-loop algorithm, and achieve a smooth switch from speed control mode to position control mode by fine-tuning with small steps, avoiding sudden angle changes during mode switching.

[0104] In some embodiments, the three-axis gimbal is controlled according to the target control mode and the target angle, including:

[0105] When the current gimbal control mode is position control mode and the target control mode is speed control mode, a continuous speed adjustment command is generated based on the motion curve smoothing algorithm of the speed control mode and the target angle.

[0106] The three-axis gimbal is driven to rotate according to the continuous speed adjustment command.

[0107] For example, this method can generate a continuous speed adjustment command based on a motion curve smoothing algorithm and the target angle change requirements; then, the command is sent to the motor drive unit so that after receiving the command, the motor drive unit drives each axis of the gimbal to rotate smoothly according to the speed adjustment logic in the command, ensuring that the gimbal operates without sudden changes or jitter during mode switching, and smoothly adapts to the dynamic response requirements of the target control mode.

[0108] In the above embodiments, the method can generate continuous speed adjustment commands by means of motion curve smoothing algorithm, realize seamless switching from position control mode to speed control mode, and avoid screen jitter caused by sudden speed changes.

[0109] Figure 2 A schematic diagram of a three-axis gimbal control device for a drone is shown. It should be understood that this device is related to... Figure 1 The method executed in the middle corresponds to the steps involved in the aforementioned method. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0110] The three-axis gimbal control device for this drone includes:

[0111] The acquisition unit 210 is used to acquire the flight status information and current gimbal control mode of the UAV when it receives the control command from the UAV three-axis gimbal.

[0112] The first calculation unit 220 is used to perform attitude calculation based on flight status information to obtain the actual physical angles of each axis of the three-axis gimbal.

[0113] The second calculation unit 230 is used to calculate the angle deviation between each axis of the three-axis gimbal and the target angle specified in the control command based on the actual physical angle of each axis of the three-axis gimbal.

[0114] The determining unit 240 is used to determine the target control mode that needs to be activated based on the angle deviation and the target angle.

[0115] The control unit 250 is used to control the three-axis gimbal according to the target control mode and the target angle when the target control mode is different from the current gimbal control mode.

[0116] In some embodiments, the flight status information includes at least one or more of the following: actual motor speed, motor operating current, rotation angle of each axis of the three-axis gimbal, and speed variation of each axis of the three-axis gimbal.

[0117] In some embodiments, the first computing unit 220 includes:

[0118] The preprocessing subunit 221 is used to preprocess the flight status information to obtain preprocessed information;

[0119] The estimation subunit 222 is used to estimate the angular change of each axis of the three-axis gimbal relative to the initial attitude and the static tilt angle of the three-axis gimbal relative to the horizontal plane based on the preprocessed information.

[0120] Subunit 223 is used to determine the overall flight attitude and vibration state of the UAV based on preprocessed information;

[0121] The calculation subunit 224 is used to calculate the actual physical angle of each axis of the three-axis gimbal at the current moment based on the angle change, static tilt angle, overall flight attitude and vibration state.

[0122] In some embodiments, the determining unit 240 is specifically used to determine that the target control mode to be enabled is the speed control mode when the angle deviation is lower than a preset angle threshold, or when the target angle is an angle that needs to be continuously followed and changes rapidly.

[0123] The determination unit 240 is further used to determine the target control mode to be activated as the position control mode when the angle deviation is not lower than the preset angle threshold and the target angle changes slowly.

[0124] In some embodiments, the control unit 250 includes:

[0125] The generation subunit 251 is used to generate an angle correction command based on the position closed-loop algorithm of the position control mode and the target angle when the current gimbal control mode is speed control mode and the target control mode is position control mode.

[0126] The fine-tuning subunit 252 is used to drive each axis of the three-axis gimbal to make small-step fine adjustments according to the angle correction command.

[0127] In some embodiments, the control unit 250 further includes:

[0128] The generation subunit 251 is used to generate a continuous speed adjustment command based on the motion curve smoothing algorithm of the speed control mode and the target angle when the current gimbal control mode is the position control mode and the target control mode is the speed control mode.

[0129] The control subunit 253 is used to drive each axis of the three-axis gimbal to rotate according to the continuous speed adjustment command.

[0130] like Figure 3 As shown, this application provides an electronic device 300, which includes a processor 301 and a memory 302. The processor 301 and the memory 302 are interconnected and communicate with each other through a communication bus 303 and / or other forms of connection mechanism (not shown). The memory 302 stores a computer program that can be executed by the processor 301. When the computing device is running, the processor 301 executes the computer program to perform the method in any of the aforementioned optional implementations.

[0131] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the method in any of the aforementioned optional implementations.

[0132] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0133] This application provides a computer program product, which includes a computer program that, when run by a processor, executes the method in any of the aforementioned optional implementations.

[0134] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for controlling a three-axis gimbal of an unmanned aerial vehicle (UAV), characterized in that, The method comprises the following steps: Upon receiving a control instruction of a three-axis gimbal of a UAV, flight state information of the UAV and a current gimbal control mode are acquired; attitude solving is performed according to the flight state information, to obtain actual physical angles of each axis of the three-axis gimbal; angle deviations between each axis of the three-axis gimbal and target angles specified in the control instruction are calculated according to the actual physical angles of each axis of the three-axis gimbal; a target control mode to be enabled currently is determined according to the angle deviations and the target angles; when the target control mode is different from the current gimbal control mode, the three-axis gimbal is controlled according to the target control mode and the target angles; wherein the determination of the target control mode to be enabled currently according to the angle deviations and the target angles comprises: when the angle deviations are lower than a preset angle threshold or the target angles are angles that need to be followed continuously and change rapidly, the target control mode to be enabled currently is determined to be a speed control mode; when the angle deviations are not lower than the preset angle threshold and the target angles change slowly, the target control mode to be enabled currently is determined to be a position control mode. 2.The unmanned aerial vehicle three-axis gimbal control method of claim 1, wherein, The flight state information at least comprises one or more of actual motor speed, motor working current, rotation angle of each axis of the three-axis gimbal and speed change of each axis of the three-axis gimbal. 3.The unmanned aerial vehicle three-axis gimbal control method of claim 1, wherein, The attitude solving according to the flight state information to obtain the actual physical angles of each axis of the three-axis gimbal comprises: preprocessing of the flight state information is performed to obtain preprocessed information; angle change amounts of each axis of the three-axis gimbal relative to an initial attitude and a static inclination of the three-axis gimbal relative to a horizontal plane are estimated according to the preprocessed information; overall flight attitude and vibration state of the UAV are determined according to the preprocessed information; actual physical angles of each axis of the three-axis gimbal at a current time are calculated according to the angle change amounts, the static inclination, the overall flight attitude and the vibration state. 4.The unmanned aerial vehicle three-axis gimbal control method of claim 1, wherein, The control of the three-axis gimbal according to the target control mode and the target angles comprises: when the current gimbal control mode is the speed control mode and the target control mode is the position control mode, angle correction instructions are generated according to a position closed-loop algorithm of the position control mode and the target angles; each axis of the three-axis gimbal is driven to perform small-step fine adjustment according to the angle correction instructions.

5. The unmanned aerial vehicle three-axis gimbal control method of claim 1, wherein, The control of the three-axis gimbal according to the target control mode and the target angles comprises: when the current gimbal control mode is the position control mode and the target control mode is the speed control mode, continuous rotation speed adjustment instructions are generated according to a motion curve smoothing algorithm of the speed control mode and the target angles; each axis of the three-axis gimbal is driven to rotate according to the continuous rotation speed adjustment instructions.

6. A three-axis gimbal control device for unmanned aerial vehicles (UAVs), characterized in that, The UAV three-axis gimbal control device comprises: an acquisition unit, configured to acquire flight state information of a UAV and a current gimbal control mode when a control instruction of a three-axis gimbal of the UAV is received; a first calculation unit, configured to perform attitude solving according to the flight state information, to obtain actual physical angles of each axis of the three-axis gimbal; The second computing unit is configured to calculate an angle deviation between each axis of the three-axis gimbal and a target angle specified in the control instruction according to actual physical angles of each axis of the three-axis gimbal. The determining unit is configured to determine a target control mode to be activated currently according to the angle deviation and the target angle. The control unit is configured to perform corresponding control on the three-axis gimbal according to the target control mode and the target angle when the target control mode is different from the current gimbal control mode. The determining unit is specifically configured to determine that the target control mode to be activated currently is a speed control mode when the angle deviation is lower than a preset angle threshold or the target angle is an angle that needs to be followed continuously and changed rapidly. The determining unit is specifically configured to determine that the target control mode to be activated currently is a position control mode when the angle deviation is not lower than the preset angle threshold and the target angle changes slowly.

7. An electronic device, comprising: The electronic device includes a memory and a processor, the memory is used to store a computer program, and the processor runs the computer program to make the electronic device execute the three-axis gimbal control method of the unmanned aerial vehicle in any one of claims 1 to 5.

8. A readable storage medium, characterized by, The readable storage medium stores a computer program, and the computer program is run by the processor to execute the three-axis gimbal control method of the unmanned aerial vehicle in any one of claims 1 to 5.

9. A computer program product, characterised in that, The computer program product includes a computer program, and the computer program is run by the processor to execute the three-axis gimbal control method of the unmanned aerial vehicle in any one of claims 1 to 5.

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