Multi-holder target tracking system

Abstract

The invention relates to the technical field of unmanned aerial vehicle target tracking, in particular to a multi-holder target tracking system which tracks a moving target through an unmanned aerial vehicle, a first camera of a first holder obtains first image information, and a second camera of a second holder obtains second image information. The controller also synchronously controls the laser sensor to emit laser to mark a target; the cameras of the double holders correct respective joint rotation angles and focal lengths by detecting laser marks of a target, and continuously transmit a plurality of pieces of first image information and second image information to the controller for analysis and calculation; the controller is used for controlling the first camera and the second camera to carry out corresponding joint rotation angle adjustment and focal length adjustment in the second-time adjustment according to the corresponding joint rotation angle and the corresponding focal length according to the control of the first camera and the second camera in the second-time adjustment based on the instruction. According to the invention, the problem of insufficient positioning precision of a single camera is solved, and the target tracking precision is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of unmanned aerial vehicle target tracking, and particularly relates to a multi-gimbal target tracking system. BACKGROUND

[0002] The unmanned aerial vehicle target tracking system has been widely applied in multiple fields. In the field of emergency rescue, the unmanned aerial vehicle can track the search and rescue target in real time, penetrate the thick smoke or complex terrain to lock the position of the trapped personnel, and provide accurate navigation for the rescue team. In the field of agricultural and forestry plant protection, the unmanned aerial vehicle can follow the agricultural machine or the operation personnel to accurately spray pesticide or monitor the growth of crops.

[0003] However, the existing unmanned aerial vehicle usually has only one gimbal, and the visual camera and the operation equipment are difficult to be independent, and there is a coupling problem. Moreover, the operation equipment will interfere with the system when performing operation, thereby affecting the visual stability and flight stability. Therefore, the single-camera positioning accuracy is insufficient, the distance estimation of the tracked target is inaccurate, and the camera field of view is limited by the operation equipment, and the tracked target is easy to be lost. SUMMARY

[0004] Therefore, the present application provides a multi-gimbal target tracking system to solve the problem that the unmanned aerial vehicle is easy to lose the target when tracking by using a single camera.

[0005] To achieve the above-mentioned purpose, the present application provides a multi-gimbal target tracking system, comprising: an unmanned aerial vehicle configured to track a target; a first gimbal connected with the unmanned aerial vehicle, comprising a first camera configured to continuously collect image of the target to obtain a plurality of first image information; a second gimbal connected with the unmanned aerial vehicle, comprising a second camera configured to continuously collect image of the target to obtain a plurality of second image information; a main gimbal connected with the unmanned aerial vehicle, comprising a laser sensor configured to emit a laser mark to mark the target when the second camera starts image collection; a controller connected with the unmanned aerial vehicle, the first camera, the second camera and the laser sensor, respectively; the controller is configured to adjust the second camera for the first time based on a plurality of first image information to continuously collect image of the target, and determine the joint rotation angle and focal length corresponding to the first and second cameras for the second time based on a plurality of first image information, a plurality of second image information and the laser mark.

[0006] Further, the controller is configured to calculate the spatial position of the target according to a plurality of first image information, a plurality of second image information and the attitude information of the first and second cameras themselves. The controller is further configured to determine second adjustments of the joint angles, the focal lengths and the movement speed of the unmanned aerial vehicle corresponding to the first camera and the second camera respectively based on the spatial position of the target and the laser marker.

[0007] Further, a power supply device is connected to the unmanned aerial vehicle, the controller, the first gimbal, the second gimbal and the main gimbal respectively to provide power for each component.

[0008] Further, the first gimbal further comprises a first motor group mechanism connected to the unmanned aerial vehicle, the first camera, the power supply device and the controller respectively. The first motor group mechanism is configured to drive the first camera to move around the unmanned aerial vehicle.

[0009] Further, the second gimbal further comprises a second motor group mechanism connected to the unmanned aerial vehicle, the second camera, the power supply device and the controller respectively; the second motor group mechanism is configured to drive the second camera to move around the unmanned aerial vehicle.

[0010] Further, the main gimbal further comprises a third motor group mechanism connected to the unmanned aerial vehicle, the laser sensor, the power supply device and the controller respectively. The third motor group mechanism is configured to drive the laser sensor to move around the unmanned aerial vehicle.

[0011] Further, the main gimbal further comprises a working device connected to the third motor group mechanism and the controller respectively. The third motor group mechanism is configured to drive the working device to move around the unmanned aerial vehicle.

[0012] Further, the first motor group mechanism and the second motor group mechanism have a rated rotation speed greater than or equal to a preset first rotation speed and a rated torque less than or equal to a preset first torque respectively. The third motor group mechanism has a rated rotation speed less than or equal to a preset second rotation speed and a rated torque greater than or equal to a preset second torque respectively. The preset first rotation speed is greater than the preset second rotation speed, and the preset first torque is less than the preset second torque.

[0013] Further, the first gimbal, the second gimbal and the main gimbal further comprise a gyroscope arranged at a corresponding position respectively, each gyroscope is configured to calculate the attitude information of the first gimbal, the second gimbal and the main gimbal corresponding to the unmanned aerial vehicle and the attitude information in space respectively.

[0014] Further, the first holder, the second holder and the laser sensor are staggered in vertical direction and horizontal direction.

[0015] Compared with the prior art, the multi-holder target tracking system has the beneficial effects that the unmanned aerial vehicle tracks the moving target, the first camera of the first holder acquires first image information, the second camera of the second holder acquires second image information, and the controller also controls the laser sensor to emit laser to mark the target; the cameras of the double holders correct the joint rotation angle and the focal length by detecting the laser mark of the target, continuously transmit the first image information and the second image information to the controller for analysis and calculation to generate the joint rotation angle control instruction and the focal length control instruction corresponding to the first camera and the second camera in the subsequent adjustment process, and control the first camera and the second camera to adjust according to the corresponding joint rotation angle and focal length based on the instruction in the second adjustment through the controller; the controller also controls the laser sensor to rotate the joint rotation angle to mark the target in real time. The system solves the problem of insufficient positioning accuracy of the single camera and improves the accuracy of target tracking. BRIEF DESCRIPTION OF DRAWINGS

[0016] Figure 1 Figure 1 is a schematic diagram of a multi-holder target tracking system according to the present application; Figure 2 Figure 2 is an isometric view of a multi-holder target tracking system according to the present application; Figure 3 Figure 3 is a front view of a multi-holder target tracking system according to the present application; Figure 4 Figure 4 is a side view of a multi-holder target tracking system according to the present application.

[0017] In the drawings: 1, unmanned aerial vehicle; 2, first holder; 21, first camera; 22, first motor group mechanism; 3, second holder; 31, second camera; 32, second motor group mechanism; 4, main holder; 41, laser sensor; 42, third motor group mechanism; 43, working device; 5, controller; 6, power supply device. DETAILED DESCRIPTION

[0018] In order to make the purpose and advantages of the present application more clear and explicit, the present application will be further described below in conjunction with examples; it should be understood that the specific examples described herein are only used to explain the present application and do not limit the present application.

[0019] The preferred embodiments of the present application will be described below with reference to the accompanying drawings. Those skilled in the art should understand that these embodiments are only used to explain the technical principles of the present application and do not limit the protection scope of the present application.

[0020] It should be noted that in the description of the present application, the terms "upper", "lower", "left", "right", "inner", "outer" and the like indicate the direction or positional relationship based on the direction or positional relationship shown in the drawings, which is merely for the convenience of description, and does not indicate or imply that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present application.

[0021] In addition, it should also be noted that in the description of the present application, unless otherwise explicitly specified and limited, the term "connection" should be understood broadly, for example, it can be fixedly connected, or detachably connected, or integrally connected; it can be mechanically connected, or electrically connected; it can be directly connected, or indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For those skilled in the art, the specific meaning of the above-mentioned terms in the present application can be understood according to the specific circumstances.

[0022] Please refer to Figure 1 , Figure 2 , Figure 3 and Figure 4 , Figure 1 is a module schematic diagram of a multi-gimbal target tracking system in the embodiment, Figure 2 is an isometric view of a multi-gimbal target tracking system in the embodiment, Figure 3 is a front view of a multi-gimbal target tracking system in the embodiment, Figure 4 is a side view of a multi-gimbal target tracking system in the embodiment. The system comprises a UAV 1, a first gimbal 2, a second gimbal 3, a main gimbal 4 and a controller 5. Among them, the UAV 1 is used to track the target; the first gimbal 2 is connected with the UAV 1, comprising a first camera 21 used to continuously collect images of the target to obtain a plurality of first image information; the second gimbal 3 is connected with the UAV 1, comprising a second camera 31 used to continuously collect images of the target to obtain a plurality of second image information; the main gimbal 4 is connected with the UAV 1, comprising a laser sensor 41 configured to emit a laser mark to mark the target when the second camera 31 starts image collection; the controller 5 is connected with the UAV 1, the first camera 21, the second camera 31 and the laser sensor 41 respectively; the controller 5 is used to adjust the second camera 31 for the first time based on a plurality of first image information to continuously collect images of the target, and determine the joint rotation angle and focal length corresponding to the first camera 21 and the second camera 31 respectively for the second time based on a plurality of first image information, a plurality of second image information and the laser mark.

[0023] Specifically, in the present embodiment, the moving target is tracked in real time by the UAV 1, the first camera 21 in the first gimbal 2 carried on the UAV 1 first performs continuous image acquisition on the target to obtain a plurality of first image information, the first image information is transmitted to the controller 5 for identification and detection to preliminarily determine whether the target is detected; after the target is detected, the controller 5 performs first adjustment on the second camera 31 in the second gimbal 3, controls the second camera 31 to perform continuous image acquisition to obtain a plurality of second image information, when the second camera 31 starts to perform image acquisition, the controller 5 also synchronously controls the laser sensor 41 to emit laser to mark the target, the cameras of the double gimbals correct the respective joint rotation angles and focal lengths by detecting the laser mark of the target; the plurality of first image information and the plurality of second image information are continuously transmitted to the controller 5 for analysis and calculation to generate the joint rotation angle control instructions and the focal length control instructions corresponding to the first camera 21 and the second camera 31 respectively in the subsequent adjustment process, the controller 5 controls the first camera 21 and the second camera 31 to adjust according to the corresponding joint rotation angles and focal lengths based on the instructions in the second adjustment, at this time, only the second camera 31 is adjusted in the first adjustment, and the second camera 31 and the first camera 21 are adjusted simultaneously in the second adjustment; the controller 5 also controls the laser sensor 41 to rotate the joint rotation angle to mark the target in real time. The first camera 21 and the second camera 31 can use different focal lengths to realize the "coarse-fine" target detection method, so as to improve the target tracking precision and reduce the possibility of target escaping from the camera field of view. The system solves the problems of insufficient positioning accuracy of single camera and inaccurate distance estimation of tracked target.

[0024] Further, the controller 5 is used to solve according to a plurality of the first image information, a plurality of the second image information and the attitude information of the first camera 21 and the second camera 31 to obtain the spatial position of the target; the controller 5 is also used to determine the joint rotation angle, the focal length and the movement speed of the UAV 1 corresponding to the first camera 21 and the second camera 31 respectively based on the spatial position of the target and the laser mark for secondary adjustment. At the same time, the controller 5 also sends the speed instruction of the UAV 1 to the flight control of the UAV 1, and the UAV 1 also performs corresponding movement, so as to adjust the distance from the target. When the target is detected to start moving, the first camera 21 and the second camera 31 start to perform target image acquisition to realize the coordinate position identification of the target, and the double gimbals and the devices carried thereon and the UAV 1 are continuously regulated and controlled.

[0025] Specifically, in the embodiment, the controller 5 obtains the spatial position of the target by obtaining the first image information and the second image information, and the position information of the first camera 21 and the second camera 31 relative to the unmanned aerial vehicle 1, and then obtaining the attitude information of the first camera 21 and the second camera 31, and then calculating the spatial position of the target based on the first image information, the second image information and the attitude information. Then the controller 5 can also determine the joint angle adjustment instruction and the focal length adjustment instruction corresponding to the first camera 21 and the second camera 31 based on the spatial position of the target and the laser mark, and then the controller 5 controls the first motor group mechanism 22 in the first holder 2 and the second motor group mechanism 32 in the second holder 3 based on the joint angle adjustment instruction to adjust the joint angle, so that the shooting axis of the first camera 21 and the second camera 31 is aligned with the target, and the controller 5 controls the focal length of the first camera 21 and the second camera 31 based on the focal length adjustment instruction to increase the definition of the shooting picture, and the controller 5 can also determine the motion speed adjustment instruction of the unmanned aerial vehicle 1, and adjust the motion speed of the unmanned aerial vehicle 1 based on the motion speed adjustment instruction, so that the unmanned aerial vehicle 1 can track the target in real time.

[0026] Further, the power supply device 6 is connected with the unmanned aerial vehicle 1, the controller 5, the first holder 2, the second holder 3 and the main holder 4 respectively to provide power supply for each component.

[0027] Specifically, in the embodiment, the multi-holder target tracking system further comprises a separate power supply device 6, which provides power supply for each power-consuming component in the system.

[0028] Further, the first holder 2 further comprises a first motor group mechanism 22 connected with the unmanned aerial vehicle 1, the first camera 21, the power supply device 6 and the controller 5 respectively; the first motor group mechanism 22 is used to drive the first camera 21 to move around the unmanned aerial vehicle 1.

[0029] Specifically, in the embodiment, the first holder 2 further comprises a first motor group mechanism 22, the first holder 2 is fixedly connected with the unmanned aerial vehicle 1 through the first motor group mechanism 22, the power supply device 6 provides power supply for the first motor group mechanism 22, and the controller 5 controls the first motor group mechanism 22 to work, the first motor group mechanism 22 comprises three motors respectively used to drive the first camera 21 to move independently along the pitch axis, the roll axis and the heading axis, and the first motor group mechanism 22 drives the first camera 21 to rotate or move around the unmanned aerial vehicle 1 after receiving the control instruction of the controller 5.

[0030] Further, the second holder 3 further comprises a second motor group 32 connected with the unmanned aerial vehicle 1, the second camera 31, the power supply device 6 and the controller 5 respectively; the second motor group 32 is used to drive the second camera 31 to move around the unmanned aerial vehicle 1.

[0031] Specifically, in the embodiment, the second holder 3 further comprises a second motor group 32, the second holder 3 is fixedly connected with the unmanned aerial vehicle 1 through the second motor group 32, the power supply device 6 is used to provide power supply for the second motor group 32, the controller 5 is used to control the second motor group 32 to work, the second motor group 32 comprises three motors respectively used to drive the second camera 31 to independently move along the pitch axis, the roll axis and the heading axis, the second motor group 32 drives the second camera 31 to rotate or move around the unmanned aerial vehicle 1 after receiving the control instruction of the controller 5.

[0032] Further, the main holder 4 further comprises a third motor group 42 connected with the unmanned aerial vehicle 1, the laser sensor 41, the power supply device 6 and the controller 5 respectively; the third motor group 42 is used to drive the laser sensor 41 to move around the unmanned aerial vehicle 1.

[0033] Specifically, in the embodiment, the main holder 4 further comprises a third motor group 42, the main holder 4 is fixedly connected with the unmanned aerial vehicle 1 through the third motor group 42, the power supply device 6 is used to provide power supply for the third motor group 42, the controller 5 is used to control the third motor group 42 to work, the third motor group 42 comprises three motors respectively used to drive the laser sensor 41 to independently move along the pitch axis, the roll axis and the heading axis, the third motor group 42 can drive the laser sensor 41 to rotate or move around the unmanned aerial vehicle 1 after receiving the control instruction of the controller 5.

[0034] Further, the main holder 4 further comprises a work device 43 connected with the third motor group 42 and the controller 5 respectively; the third motor group 42 is used to drive the work device 43 to move around the unmanned aerial vehicle 1.

[0035] Specifically, in the embodiment, the main holder 4 further comprises a working device 43, which can be driven to rotate or move around the unmanned aerial vehicle 1 by the third motor group after receiving the control instruction of the controller 5, and the working device 43 also works according to the control instruction of the controller 5. The working device 43 is arranged separately from the first camera 21 and the second camera 31 through the main holder 4, the camera and the working device 43 are separated by using multiple holder systems to form a system with "eyes outside hands", which not only greatly reduces the influence of the working device 43 on the camera, but also expands the field of view of the camera, thereby improving the target tracking accuracy.

[0036] Further, the corresponding rated rotation speed of the first motor group mechanism 22 and the second motor group mechanism 32 is greater than or equal to a preset first rotation speed, and the corresponding rated torque is less than or equal to a preset first torque; the corresponding rated rotation speed of the third motor group mechanism 42 is less than or equal to a preset second rotation speed, and the corresponding rated torque is greater than or equal to a preset second torque; wherein the preset first rotation speed is greater than the preset second rotation speed, and the preset first torque is less than the preset second torque.

[0037] Specifically, in the embodiment, for example, the preset first rotation speed can be set to 10000 rpm, the preset second rotation speed can be set to 800 rpm, the preset first torque can be set to 3.2 N·m, and the preset second torque can be set to 50 N·m; therefore, three high-rotation-speed and low-torque type motors are selected in the first motor group mechanism 22 and the second motor group mechanism 32, so as to ensure that the first camera 21 and the second camera 31 can rotate quickly during target identification and detection, thereby ensuring the rapidity and ensuring real-time feedback, and three low-rotation-speed and high-torque type motors are selected in the third motor group mechanism 42, because the working device 43 in the main holder 4 will generate relatively large vibration during working, the low-rotation-speed and high-torque type motor can ensure the stability of the working device 43 and the laser sensor 41 in the main holder 4 during rotation, wherein the motor in the first motor group mechanism 22 and the motor in the second motor group mechanism 32 can be selected as a brushless direct current motor with large rated rotation speed and small rated torque, and the corresponding motor in the third motor group mechanism 42 can be selected as a permanent magnet synchronous motor or a brushless direct current motor with small rated rotation speed and large rated torque, thereby ensuring the stability of the main holder 4 during working; at the same time, the selection of each motor is also related to the weight of the first holder 2, the second holder 3 and the main holder 4, the greater the weight, the greater the corresponding rated torque of the motor. Each motor needs to be installed with an encoder.

[0038] The power supply system (including the power supply device 6) and the controller 5 are fixed on the unmanned aerial vehicle 1, the first holder 2, the second holder 3 and the main holder 4 are each fixed on a thickened carbon plate of the unmanned aerial vehicle 1, thereby forming a typical rootless tree system, so as to ensure the stability of the field of view of the first camera 21 and the second camera 31.

[0039] Further, the first holder 2, the second holder 3 and the main holder 4 each further include a gyroscope arranged at a corresponding position, and each gyroscope is used to calculate the attitude information of the first holder 2, the second holder 3 and the main holder 4 relative to the unmanned aerial vehicle 1 and the attitude information in space.

[0040] Specifically, in the embodiment, the first holder 2, the second holder 3 and the main holder 4 each further include a gyroscope (not shown in the figure), and each gyroscope is arranged on the first motor group mechanism 22, the second motor group mechanism 32 and the third motor group mechanism 42, respectively. Each gyroscope can be selected to have a power supply by itself, or can be selected to be connected with the power supply device 6 and to obtain the power of the power supply device 6. The gyroscope calculates the rotation matrix of each holder according to the Euler angle of ZYX, and then calculates the attitude of each holder relative to the unmanned aerial vehicle 1 and the attitude of each holder in space. Each gyroscope is connected with the controller 5 and transmits the calculated attitude information to the controller 5, thereby providing reference data information for the controller 5 to generate corresponding instructions of the first camera 21, the second camera 31 and the laser sensor 41.

[0041] Further, the first holder 2, the second holder 3 and the laser sensor 41 are staggered along the vertical direction and also staggered along the horizontal direction.

[0042] Specifically, in the embodiment, by staggering the first holder 2, the second holder 3 and the laser sensor 41 along the vertical direction and the horizontal direction, the separate arrangement can optimize the viewing angle, completely eliminate the overlapping of the field of view of adjacent holders or mechanical interference, and after the laser sensor 41 emits the laser mark on the target, the first camera 21 in the first holder 2 and the second camera 31 in the second holder 3 can use different focal lengths to realize the tracking of the target using the "coarse-fine" target detection method, and the two cameras correct the tracking angles of the two cameras by detecting the laser mark on the target, thereby realizing stable and high-precision continuous tracking. At the same time, such arrangement can also increase the heat dissipation space.

[0043] In the embodiment, the unmanned aerial vehicle 1 is provided with a three-gimbal scheme: the working device 43 (including a water gun, a fire thrower, a fire extinguishing bomb launcher, etc.) is often carried on a gimbal, and the vibration, temperature and other factors of the working device 43 can greatly affect the visual target detection. Because the visual imaging needs to be stable, a plurality of gimbal systems are used to isolate the camera (including the first camera 21 and the second camera 31) and the working device 43, separate the working of the working device 43 and the camera, form a system with the eye outside the hand, which can not only greatly reduce the influence of the working device 43 on the camera, but also expand the field of view of the camera, thereby improving the target tracking accuracy.

[0044] The principle of gimbal cooperative tracking: a double-gimbal camera (the first camera 21 and the second camera 31) is used in cooperation with the template tracking scheme of the laser sensor 41 on the main gimbal 4. One of the advantages of the double-gimbal camera is that it can achieve the function of binocular ranging, which improves the distance estimation accuracy of the target (which has a great influence on the tracking accuracy). The second is that the double-gimbal camera can use different focal lengths to realize the "coarse-fine" target detection method, which can improve the target tracking accuracy while reducing the possibility of target escaping from the field of view of the camera. The third is that the laser emitted by the laser sensor 41 is strong green light, which will form a light spot on the target, which is a typical visual detection mark. The camera corrects the tracking angle by detecting the mark, thereby achieving stable and high-precision continuous tracking.

[0045] It can be understood that in the embodiment of the application, any one of the preset parameters or critical parameters is not specifically limited, and the above values are not limited thereto. Those skilled in the art can adjust the preset parameters or critical parameters according to the actual needs or analysis of historical data, or the use of the device.

[0046] The above description is only the preferred embodiment of the present application and is not used to limit the present application. For those skilled in the art, the present application can have various changes and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A multi-gimbal target tracking system, characterized in that, include: Drones are used to track targets; A first gimbal, which is connected to the drone, includes a first camera for continuously acquiring images of the target to obtain a number of first image information; The second gimbal, which is connected to the drone, includes a second camera for continuously acquiring images of the target to obtain several second image information; The main gimbal, which is connected to the drone, includes a laser sensor configured to emit a laser marker to mark the target when the second camera begins image acquisition; The controller is connected to the drone, the first camera, the second camera, and the laser sensor, respectively. The controller is used to adjust the second camera for continuous image acquisition of the target based on a plurality of first image information, and to determine the joint angle and focal length corresponding to the first camera and the second camera respectively for a second adjustment based on a plurality of first image information, a plurality of second image information and the laser mark.

2. The multi-panel target tracking system according to claim 1, characterized in that, The controller is used to calculate the spatial position of the target based on a plurality of first image information, a plurality of second image information, and the attitude information of the first camera and the second camera themselves. The controller is used to determine, based on the spatial position of the target and the laser marker, the joint angle, the focal length, and the movement speed of the UAV for the second adjustment of the first and second cameras, respectively.

3. The multi-panel target tracking system according to claim 1, characterized in that, It also includes a power supply device, which is connected to the drone, the controller, the first gimbal, the second gimbal and the main gimbal respectively, to provide power to each component.

4. The multi-panel target tracking system according to claim 3, characterized in that, The first gimbal also includes a first motor assembly mechanism that is connected to the drone, the first camera, the power supply device, and the controller respectively; The first motor assembly is used to drive the first camera to move around the drone.

5. The multi-panel target tracking system according to claim 4, characterized in that, The second gimbal also includes a second motor assembly mechanism that is connected to the drone, the second camera, the power supply device, and the controller respectively; The second motor assembly is used to drive the second camera to move around the drone.

6. The multi-panel target tracking system according to claim 5, characterized in that, The main gimbal also includes a third motor unit mechanism that is connected to the UAV, the laser sensor, the power supply device, and the controller respectively; The third motor unit is used to drive the laser sensor to move around the drone.

7. The multi-panel target tracking system according to claim 6, characterized in that, The main gimbal also includes a working device that is connected to the third motor unit and the controller respectively; The third motor unit is used to drive the working device to move around the drone.

8. The multi-panel target tracking system according to claim 7, characterized in that, The rated speeds of the first motor assembly and the second motor assembly are both greater than or equal to the preset first speed, and the rated torques of the corresponding motor assemblies are both less than or equal to the preset first torque. The rated speed of the third motor unit is less than or equal to the preset second speed, and the rated torque is greater than or equal to the preset second torque. Wherein, the preset first rotational speed is greater than the preset second rotational speed, and the preset first torque is less than the preset second torque.

9. The multi-panel target tracking system according to claim 1, characterized in that, The first gimbal, the second gimbal, and the main gimbal each include a gyroscope located at a corresponding position. Each gyroscope is used to calculate the attitude information of the first gimbal, the second gimbal, and the main gimbal in relation to the UAV and their attitude information in space.

10. The multi-panel target tracking system according to claim 1, characterized in that, The first gimbal, the second gimbal, and the laser sensor are arranged alternately in both the vertical and horizontal directions.

Images