UAV gimbal control methods, UAVs and related devices

Abstract

This application discloses a method for controlling a drone gimbal, a drone, and related devices. The method includes: acquiring sensing data, mission command data, and gimbal status data of the drone; determining the drone's mission status information based on the sensing data and mission command data; determining the drone's environmental condition information based on the sensing data and gimbal status data; and determining the power consumption mode corresponding to the gimbal on the drone based on the mission status information and environmental condition information. The power consumption mode includes a normal mode, a low-power mode, and a power-off mode, with power consumption decreasing sequentially. Through the above methods, this application can improve the control accuracy of the drone gimbal and enhance the drone's endurance.

Description

Technical Field

[0001] This application relates to the field of unmanned aerial vehicle (UAV) technology, and in particular to a UAV gimbal control method, a UAV, and related devices. Background Technology

[0002] The endurance of drones is a crucial factor limiting their widespread application. The drone gimbal is the most energy-consuming component besides the power system. Conventional drone gimbal control methods typically involve keeping it on throughout flight or switching it on and off at set intervals, resulting in low control precision and difficulty in effectively managing gimbal power consumption. Therefore, improving the control precision of drone gimbals to enhance drone endurance has become an urgent problem to be solved. Summary of the Invention

[0003] The main technical problem addressed in this application is to provide a method for controlling a drone gimbal, a drone, and related devices, which can improve the control accuracy of the drone gimbal and enhance the drone's endurance.

[0004] To address the aforementioned technical problems, this application provides a method for controlling a drone gimbal, comprising: acquiring sensing data, mission command data, and gimbal status data of the drone; determining mission status information of the drone based on the sensing data and the mission command data; determining environmental condition information of the drone based on the sensing data and the gimbal status data; and determining a power consumption mode corresponding to the gimbal on the drone based on the mission status information and the environmental condition information; wherein the power consumption mode includes a normal mode, a low power consumption mode, and a power-off mode with power consumption decreasing sequentially.

[0005] To address the aforementioned technical problems, a second aspect of this application provides a drone, which includes a drone body, a gimbal, a sensing module, and a control module, wherein the control module is configured to perform the method described in the first aspect.

[0006] To address the aforementioned technical problems, a third aspect of this application provides an electronic device comprising: a memory and a processor coupled to each other, wherein the memory stores program data, and the processor invokes the program data to execute the method described in the first aspect.

[0007] To address the aforementioned technical problems, a fourth aspect of this application provides a computer-readable storage medium storing program data thereon, wherein the program data, when executed by a processor, implements the method described in the first aspect.

[0008] The beneficial effects of this application are as follows: Unlike existing technologies, this application acquires the drone's sensing data, mission command data, and gimbal status data. Based on the drone's sensing data and mission command data, it determines the drone's mission status information to provide feedback on the drone's mission execution status. Based on the drone's sensing data and gimbal status data, it determines the drone's environmental condition information to provide feedback on the drone's mission execution conditions. Based on the mission status information and environmental condition information, it selects a matching power consumption mode for the gimbal on the drone. This power consumption mode includes a normal mode, a low-power mode, and a power-off mode, with power consumption decreasing sequentially. By combining the mission status and environmental conditions, the application adaptively selects the power consumption mode with the highest matching degree from multiple different power consumption modes for the gimbal, improving the control accuracy of the drone gimbal and enhancing the drone's endurance. Attached Figure Description

[0009] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 This is a flowchart illustrating one embodiment of the UAV gimbal control method of this application; Figure 2 This is a flowchart illustrating another embodiment of the UAV gimbal control method of this application; Figure 3 This is a structural schematic diagram of one embodiment of the UAV of this application; Figure 4 This is a schematic diagram of the structure of one embodiment of the electronic device of this application; Figure 5 This is a schematic diagram of one embodiment of the computer-readable storage medium of this application. Detailed Implementation

[0010] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments, and different implementation methods can be adaptively combined. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0011] In this paper, the terms "system" and "network" are often used interchangeably. The term "and / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. Additionally, the character " / " generally indicates that the preceding and following related objects have an "or" relationship. Furthermore, "many" in this paper means two or more.

[0012] The UAV gimbal control method provided in this application is used to control the gimbal on the UAV. The corresponding execution subject is a processing unit capable of data processing, which can be integrated into the UAV main controller or set up independently.

[0013] Please see Figure 1 , Figure 1 This is a flowchart illustrating one embodiment of the UAV gimbal control method of this application, which includes: S101: Acquires the drone's sensor data, mission command data, and gimbal status data.

[0014] Specifically, it acquires the drone's sensor data, drone's mission command data, and drone's gimbal status data.

[0015] In one embodiment, the system acquires real-time sensing data collected by the acquisition and sensing devices on the drone, as well as real-time task command data triggered or received on the drone and gimbal status data corresponding to the gimbal on the drone.

[0016] In one embodiment, the sensor data collected by the acquisition device and the sensing device within a preset time period before the current time point is acquired, and the task command data triggered or received on the drone and the gimbal status data corresponding to the gimbal on the drone are acquired within the preset time period.

[0017] In some implementation scenarios, the sensing data includes the drone's flight status data and environmental perception data. The flight status data includes data related to the drone collected during the flight phase, and the environmental perception data includes data related to the flight environment collected during the flight phase. The sensing data is collected in real time, and mission command data and gimbal status data are monitored in real time.

[0018] In some implementation scenarios, the sensing data includes image acquisition data and sensor acquisition data of the drone, and the acquisition of image acquisition data and sensor acquisition data within a preset time period, task command data triggered or received on the drone within the preset time period, and gimbal status data corresponding to the gimbal on the drone.

[0019] It is understandable that obtaining information from different sources corresponding to the drone can provide richer and more accurate information for the gimbal's power consumption mode decision.

[0020] S102: Based on sensing data and mission command data, determine the mission status information of the UAV; based on sensing data and gimbal status data, determine the environmental condition information of the UAV.

[0021] Specifically, based on the drone's sensing data and mission command data, the drone's mission status information is determined so as to provide feedback on the drone's mission execution status. Based on the drone's sensing data and gimbal status data, the drone's environmental condition information is determined so as to provide feedback on the drone's mission execution conditions.

[0022] In one embodiment, based on the UAV's sensing data and mission command data, the current mission stage of the UAV and gimbal and the distance relative to the mission waypoint are confirmed to obtain the UAV's mission status information. Based on the UAV's sensing data and gimbal status data, the current environmental status of the UAV and the gimbal control status are confirmed to obtain the UAV's environmental condition information.

[0023] In one embodiment, the flight mission and gimbal mission of the UAV are confirmed based on the UAV's sensing data and mission command data to obtain the UAV's mission status information. Based on the UAV's sensing data and gimbal status data, the mission execution environment matched to the flight mission and the gimbal control environment matched to the gimbal mission are confirmed to obtain the UAV's environmental condition information.

[0024] In some implementation scenarios, the sensing data includes the UAV's flight status data and environmental perception data. Based on the UAV's flight status data and mission command data, the current mission stage of the UAV and gimbal is determined, as well as the distance of the UAV from the mission waypoint in the corresponding mission stage, thus obtaining the UAV's mission status information. Based on the UAV's environmental perception data and gimbal status data, the current environmental state of the UAV and the gimbal control state are evaluated. Using the environmental state evaluation results and control state evaluation results, the UAV's environmental condition information is generated.

[0025] In some implementation scenarios, the sensing data includes image acquisition data and sensor acquisition data of the UAV. Based on the UAV's sensing data and mission command data, the flight mission and gimbal mission of the UAV within the current preset time period are determined, and the mission status information of the UAV is obtained. Based on the UAV's environmental perception data and gimbal status data, the mission execution environment matched with the flight mission and the gimbal control environment matched with the gimbal mission are confirmed, and the environmental condition information of the UAV is obtained.

[0026] Understandably, the mission status of the UAV is accurately identified based on sensing data and mission command data to obtain mission status information, and the flight environment of the UAV is accurately judged based on sensing data and gimbal status data to obtain environmental condition information. Finally, two dimensions of decision information for controlling the gimbal are obtained.

[0027] S103: Based on mission status information and environmental condition information, determine the power consumption mode corresponding to the gimbal on the UAV; among which, the power consumption modes include the normal mode, the low power mode and the power-off mode, with power consumption decreasing sequentially.

[0028] Specifically, based on mission status information and environmental condition information, a matching power consumption mode is selected for the gimbal on the drone. The power consumption modes include a normal mode, a low power consumption mode, and a power-off mode, with power consumption decreasing sequentially.

[0029] In one embodiment, a preset rule base is obtained, which includes matching relationships between different combinations of task status information and environmental condition information and corresponding power consumption modes. The combination corresponding to the current task status information and environmental condition information is matched with the matching relationship in the rule base to determine the power consumption mode corresponding to the gimbal on the UAV.

[0030] In one embodiment, task state information and environmental condition information are input into a pre-trained matching model to obtain the power consumption pattern output by the matching model. The matching model is obtained through supervised training using different combinations of task state information and environmental condition information, as well as the corresponding power consumption patterns set for those combinations.

[0031] Understandably, by combining task status and environmental conditions, the gimbal can adaptively select the power consumption mode with the highest matching degree from a variety of different power consumption modes, thereby improving the control accuracy of the drone gimbal and enhancing the drone's endurance.

[0032] In some implementation scenarios, power consumption modes include a normal mode, a low-power mode, and a power-off mode, with power consumption decreasing sequentially. In the normal mode, the gimbal motor outputs a preset torque, and various sensors sample at a preset sampling frequency. In the low-power mode, the gimbal motor outputs less torque than in the normal mode, and / or the sampling frequency of various sensors is lower than in the normal mode. In other words, the normal mode is a high-performance mode compared to the low-power mode. Furthermore, the power-off mode interrupts power supply to the gimbal motor to minimize power consumption.

[0033] Understandably, for each combination of task status information and environmental condition information, one mode is selected from the normal mode, low power mode, and power-off mode as the final gimbal working mode. Based on the corresponding matching relationship, a rule base can be established or used to train a matching model.

[0034] The above scheme acquires the drone's sensor data, mission command data, and gimbal status data. Based on the sensor data and mission command data, it determines the drone's mission status information to provide feedback on the drone's mission execution status. It also determines the drone's environmental conditions based on the sensor data and gimbal status data to provide feedback on the drone's mission execution conditions. Based on the mission status and environmental conditions, it selects a suitable power consumption mode for the drone's gimbal. These power consumption modes include a normal mode, a low-power mode, and a power-off mode, with power consumption decreasing sequentially. By combining the mission status and environmental conditions, the scheme adaptively selects the power consumption mode with the highest matching degree from multiple different power consumption modes, improving the control accuracy of the drone gimbal and enhancing the drone's endurance.

[0035] Please see Figure 2 , Figure 2 This is a flowchart illustrating another embodiment of the UAV gimbal control method of this application, the method comprising: S201: Acquire drone sensor data, mission command data, and gimbal status data.

[0036] Specifically, it acquires the drone's sensor data, drone's mission command data, and drone's gimbal status data.

[0037] In some implementation scenarios, sensing data is collected by acquisition and sensing devices on the drone. Task command data includes commands issued to the drone and commands issued to the gimbal. Gimbal status data includes the current power consumption mode of the gimbal, as well as the torque of the gimbal motor and the sampling frequency of the attitude sensor under the corresponding power consumption mode.

[0038] S202: Based on sensing data and mission command data, determine the mission status information of the UAV; based on sensing data and gimbal status data, determine the environmental condition information of the UAV.

[0039] Specifically, the sensing data includes the drone's flight status data and environmental perception data. Based on the drone's sensing data and mission command data, the drone's mission status information is determined. Based on the drone's sensing data and gimbal status data, the drone's environmental condition information is determined.

[0040] In one embodiment, the sensing data includes the UAV's flight status data. Based on the sensing data and mission command data, determining the UAV's mission status information includes: obtaining the UAV's flight mission and gimbal mission, as well as the UAV's expected flight distance from the mission waypoint; and determining the UAV's mission status information based on the flight mission, gimbal mission, and expected flight distance.

[0041] Specifically, the sensing data includes the drone's flight status data. Based on the drone's current flight status data and the task command data triggered or received by the drone, the drone's flight mission and gimbal mission are obtained. The flight mission includes the mission waypoint, confirming the drone's distance to the mission waypoint.

[0042] Furthermore, based on the flight mission, gimbal mission, and distance to be flown, the mission status information of the UAV is comprehensively determined, thereby determining the mission stage of the UAV and gimbal, as well as the mission execution status within the corresponding mission stage, ensuring the accuracy of the mission status information.

[0043] Understandably, flight status data includes at least the UAV's flight mode, speed, altitude, attitude angles, and position coordinates. Mission command data includes flight control commands for the UAV itself and gimbal control commands for the gimbal. Based on the flight status data and the flight control commands for the UAV itself, the flight mission and the UAV's expected flight distance from the mission waypoint are determined. Based on the gimbal control commands for the gimbal, the gimbal mission is determined. Using the flight mission, gimbal mission, and expected flight distance, the UAV's mission status information is generated.

[0044] In some implementation scenarios, based on flight status data and mission command data, the UAV's flight mission and gimbal mission, as well as the UAV's expected flight distance to the mission waypoint, are obtained. This includes: determining the UAV's flight mission and mission waypoint based on the flight control commands used to control the UAV in the mission command data; determining the UAV's gimbal mission based on the gimbal control commands used to control the gimbal in the mission command data; and obtaining the UAV's current position based on the flight status data, and using the current position and mission waypoint, determining the UAV's expected flight distance to the mission waypoint.

[0045] Specifically, based on the flight control commands used to control the UAV in the mission command data, the UAV's flight mission and the mission waypoints included in the flight mission are determined. Based on the gimbal control commands used to control the gimbal in the mission command data, the UAV's gimbal mission is determined. This clarifies whether the UAV currently has a flight mission, and if so, the mission waypoints included in the flight mission. It also clarifies whether the current mission includes a gimbal mission that requires gimbal participation.

[0046] Furthermore, based on flight status data, the current position of the UAV is obtained, the distance between the current position and the nearest mission waypoint is calculated, and the expected flight distance of the UAV to the mission waypoint is determined, ensuring the real-time performance and accuracy of the expected flight distance.

[0047] In one embodiment, the sensing data includes environmental perception data of the UAV. Based on the sensing data and gimbal status data, the environmental condition information of the UAV is determined, including: determining the flight environment status, battery status, and gimbal control status of the UAV based on the environmental perception data and gimbal status data; and determining the environmental condition information of the UAV based on the flight environment status, battery status, and gimbal control status.

[0048] Specifically, the sensing data includes the drone's environmental perception data. Based on the environmental perception data and gimbal status data collected by the drone, the flight environment around the drone, the remaining battery power, and the gimbal status are analyzed to obtain the drone's flight environment status, battery status, and gimbal control status.

[0049] Furthermore, based on the flight environment status, battery status, and gimbal control status, the environmental condition information of the UAV is comprehensively determined, thereby determining the environmental conditions faced by the UAV and the current gimbal control status, ensuring the accuracy of the environmental condition information.

[0050] Understandably, environmental perception data is adapted to the UAV's hardware configuration and can include visual information from cameras, ranging information from radar modules, measurement data from the Inertial Measurement Unit (IMU), lighting conditions, and remaining battery power. Environmental perception data is used to evaluate the UAV's environment to quantify the quality of the mission environment. Gimbal status data is used to analyze the gimbal's current power consumption mode and power consumption. By combining the mission environment and gimbal status, environmental condition information can be obtained.

[0051] S203: Based on mission status information and environmental condition information, determine the power consumption mode corresponding to the gimbal on the UAV; among which, the power consumption modes include the normal mode, the low power mode and the power-off mode, with power consumption decreasing sequentially.

[0052] Specifically, based on mission status information and environmental condition information, a matching power consumption mode is selected for the gimbal on the drone. The power consumption modes include a normal mode, a low power consumption mode, and a power-off mode with power consumption decreasing sequentially. Thus, by combining mission status and environmental conditions, the gimbal adaptively selects the power consumption mode with the highest matching degree from a variety of different power consumption modes.

[0053] In one embodiment, determining the power consumption mode corresponding to the gimbal on the UAV based on task status information and environmental condition information includes: matching the task status information and environmental condition information with a preset rule base to determine the power consumption mode matched by the task status information and environmental condition information; wherein, the rule base includes the matching relationship between the power consumption mode and a variety of preset conditions, and each preset condition includes at least one of flight mission, gimbal mission, waiting flight distance, flight environment status, battery status and gimbal control status.

[0054] Specifically, the preset rule base includes the matching relationship between the corresponding power consumption mode and the preset conditions. Each preset condition includes at least one of the following: flight mission, gimbal mission, waiting flight distance, flight environment status, power status, and gimbal control status. The preset conditions may contain only one type of information or a combination of multiple types of information.

[0055] Understandably, based on the current task status information and environmental condition information, the corresponding preset conditions are determined, and then the power consumption mode matching the preset conditions is determined in the preset rule base, so as to efficiently determine the power consumption mode of the gimbal.

[0056] In a specific implementation scenario, the triggering conditions for the power outage mode are as follows: a. The drone is in the flight path phase and has no current shooting task, and the distance to the next task waypoint is greater than the upper limit threshold (such as 100 meters or 120 meters); b. The remaining battery power is lower than the safe battery power threshold (such as 15% or 20%), and there is no gimbal task that requires gimbal participation (such as emergency obstacle avoidance or target tracking); c. The ambient light conditions are lower than the illuminance threshold (such as 20 lux or 30 lux), there is no supplementary lighting equipment, and no other sensors rely on gimbal data.

[0057] In a specific implementation scenario, the triggering conditions for the low-power mode are as follows: a. The drone is hovering or in a low-speed state (e.g., speed <1m / s), and the nearest mission waypoint is between the upper and lower distance thresholds; b. There are no gimbal control commands input within a specified time (e.g., 5 seconds or 10 seconds).

[0058] In a specific implementation scenario, the triggering conditions corresponding to the normal mode are as follows: a. The distance to the preset shooting point is less than the lower limit threshold (such as 20 or 30 meters) or the user is about to enter the mission flight path; b. The user actively operates the gimbal, that is, the gimbal joystick receives input gimbal control commands; c. Based on the flight mission or gimbal mission, it is determined that the drone needs to perform high-precision operations or visual assistance.

[0059] In one embodiment, determining the power consumption mode of the gimbal on the UAV based on task status information and environmental condition information includes: inputting the task status information and environmental condition information into a matching model to obtain the power consumption mode output by the matching model; wherein the matching model is trained using multiple training samples and their matched power consumption modes, and each training sample includes a combination of task status information and environmental condition information.

[0060] Specifically, task status information and environmental condition information are input into the matching model to obtain the power consumption mode adaptively output by the matching model as the latest power consumption mode of the gimbal. The matching mode is obtained by training multiple training samples and their matched power consumption modes. Each training sample includes a combination of task status information and environmental condition information. Thus, through the matching model with learning ability, the corresponding power consumption mode is adaptively output for the current task status information and environmental condition information, thereby improving the accuracy and adaptability of power consumption mode selection in different scenarios.

[0061] Understandably, the matching model can be built based on networks such as neural networks or long short-term memory networks. During the training process of the matching model, supervised training is carried out using the power consumption patterns of the matching training samples as labels.

[0062] S204: Based on the power consumption mode of the gimbal on the drone, generate gimbal mode control commands and send them to the gimbal.

[0063] Specifically, based on the power consumption mode of the gimbal on the drone, a gimbal mode control command matching the latest gimbal mode is generated and sent to the gimbal.

[0064] It should be noted that when the latest power consumption mode is the normal mode, the gimbal mode control command is used to control the gimbal motor to output the first torque and the attitude sensor to sample at the first sampling frequency. When the latest power consumption mode is the low power consumption mode, the gimbal mode control command is used to control the gimbal motor to output the second torque and / or the attitude sensor to sample at the second sampling frequency. When the latest power consumption mode is the power-off mode, the gimbal mode control command is used to disconnect the power supply to the gimbal. The first torque is greater than the second torque, and the first sampling frequency is greater than the second sampling frequency.

[0065] Understandably, in normal mode, the gimbal control commands are used to control the gimbal motor and attitude sensor to operate according to preset parameters, including controlling the gimbal motor to output a first torque and the attitude sensor to sample at a first sampling frequency. In low-power mode, the gimbal control commands are used to control the gimbal to reduce the motor torque and / or decrease the sampling frequency of the attitude sensor compared to normal mode, thereby reducing power consumption compared to normal mode. In power-down mode, the gimbal control commands are used to disconnect the power supply to the gimbal, so that the gimbal is in a zero-power state during the corresponding stage.

[0066] In some implementation scenarios, the low-power mode includes multiple low-power sub-modes. The sampling frequency requirement of the UAV is determined based on the task status information, and the wind resistance torque requirement of the UAV is determined based on the environmental condition information. According to the wind resistance torque requirement and the sampling frequency requirement, the low-power sub-mode of the UAV is selected and the corresponding gimbal mode control command is generated. The low-power sub-mode includes a first sub-mode, a second sub-mode, and a third sub-mode. The first sub-mode is used to control the gimbal motor to output a second torque and the attitude sensor to sample at a first sampling frequency. The second sub-mode is used to control the gimbal motor to output a first torque and the attitude sensor to sample at a second sampling frequency. The third sub-mode is used to control the gimbal motor to output a second torque and the attitude sensor to sample at a second sampling frequency.

[0067] Understandably, the first sub-mode is used when the current task of the drone requires the attitude sensor to sample at a high sampling frequency and the wind resistance feedback from the environmental conditions does not exceed the drag threshold; the second sub-mode is used when the current task of the drone does not require the attitude sensor to sample at a high sampling frequency and the wind resistance feedback from the environmental conditions exceeds the drag threshold; and the third sub-mode is used when the current task of the drone requires the attitude sensor to sample at a high sampling frequency and the wind resistance feedback from the environmental conditions exceeds the drag threshold.

[0068] S205: In response to the gimbal executing the gimbal mode control command, obtain the current power consumption of the gimbal.

[0069] Specifically, after the gimbal executes the gimbal mode control command, it obtains the current power consumption of the gimbal, thereby monitoring the power consumption of the gimbal in real time and forming a closed-loop control.

[0070] Understandably, by controlling the power consumption mode of the gimbal, the main power-consuming component, can be adjusted more precisely, thereby effectively reducing the power consumption of the gimbal and improving the drone's endurance.

[0071] Please see Figure 3 , Figure 3 This is a schematic diagram of the structure of one embodiment of the UAV of this application. The UAV 30 includes a UAV body 301, a gimbal 302, a sensing module 303 and a control module 304. The control module 304 is configured to execute the method in any of the above embodiments. For related descriptions, please refer to the detailed description of the above method embodiments, which will not be repeated here.

[0072] Please see Figure 4 , Figure 4This is a schematic diagram of the structure of an embodiment of the electronic device of this application. The electronic device 40 includes a memory 401 and a processor 402 coupled to each other. The memory 401 stores program data (not shown in the figure). The processor 402 calls the program data to implement the method in any of the above embodiments. For the description of the relevant content, please refer to the detailed description of the above method embodiments, which will not be repeated here.

[0073] Please see Figure 5 , Figure 5 This is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application. The computer-readable storage medium 50 stores program data 500. When the program data 500 is executed by a processor, it implements the method in any of the above embodiments. For related descriptions, please refer to the detailed description of the above method embodiments, which will not be repeated here.

[0074] It should be noted that the units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0075] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0076] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute all or part of the steps of the methods of various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0077] The above description is merely an embodiment of this application and does not limit the scope of protection of this application. Any equivalent structural or procedural transformations made based on the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the scope of protection of this application.

Claims

1. A method for controlling a UAV gimbal, characterized in that, include: Acquire sensor data, mission command data, and gimbal status data from the drone; Based on the sensing data and the mission command data, the mission status information of the UAV is determined, and based on the sensing data and the gimbal status data, the environmental condition information of the UAV is determined. Based on the task status information and the environmental condition information, the power consumption mode corresponding to the gimbal on the UAV is determined; wherein, the power consumption mode includes a normal mode, a low power consumption mode and a power-off mode with power consumption decreasing sequentially. The sensing data includes the flight status data of the UAV; determining the mission status information of the UAV based on the sensing data and the mission command data includes: obtaining the flight mission and gimbal mission of the UAV, and the distance to be flown from the UAV to the mission waypoint of the flight mission, based on the flight status data and the mission command data; determining the mission status information of the UAV based on the flight mission, the gimbal mission, and the distance to be flown. The sensing data includes the environmental perception data of the UAV; determining the environmental condition information of the UAV based on the sensing data and the gimbal status data includes: determining the flight environment status, battery status and gimbal control status of the UAV based on the environmental perception data and the gimbal status data; and determining the environmental condition information of the UAV based on the flight environment status, battery status and gimbal control status.

2. The UAV gimbal control method according to claim 1, characterized in that, The process of obtaining the UAV's flight mission and gimbal mission, as well as the UAV's expected flight distance from the mission waypoint, based on the flight status data and the mission command data, includes: Based on the flight control commands used to control the UAV in the mission command data, the flight mission and the mission waypoint of the UAV are determined. Based on the gimbal control commands used to control the gimbal in the mission command data, the gimbal mission of the UAV is determined. Based on the flight status data, the current position of the UAV is obtained. Using the current position and the mission waypoint, the distance to be flown by the UAV from the mission waypoint of the flight mission is determined.

3. The UAV gimbal control method according to claim 1, characterized in that, The step of determining the power consumption mode corresponding to the gimbal on the drone based on the task status information and the environmental condition information includes: The task status information and the environmental condition information are matched with a preset rule base to determine the power consumption mode matched by the task status information and the environmental condition information; wherein, the rule base includes the matching relationship between the power consumption mode and a variety of preset conditions, and each preset condition includes at least one of the flight mission, the gimbal mission, the distance to be flown, the flight environment status, the battery status and the gimbal control status.

4. The UAV gimbal control method according to any one of claims 1-2, characterized in that, The step of determining the power consumption mode corresponding to the gimbal on the drone based on the task status information and the environmental condition information includes: The task status information and the environmental condition information are input into the matching model to obtain the power consumption pattern output by the matching model; wherein, the matching model is trained using multiple training samples and their matched power consumption patterns, and each training sample includes a combination of the task status information and the environmental condition information.

5. The UAV gimbal control method according to claim 1, characterized in that, The gimbal of the drone includes a gimbal motor and an attitude sensor. After determining the power consumption mode corresponding to the gimbal on the drone based on the task status information and the environmental condition information, the method further includes: Based on the power consumption mode of the gimbal on the UAV, a gimbal mode control command is generated and sent to the gimbal; wherein, when the latest power consumption mode is the normal mode, the gimbal mode control command is used to control the gimbal motor to output a first torque and the attitude sensor to sample at a first sampling frequency; when the latest power consumption mode is the low power consumption mode, the gimbal mode control command is used to control the gimbal motor to output a second torque and / or the attitude sensor to sample at a second sampling frequency; when the latest power consumption mode is the power-off mode, the gimbal mode control command is used to disconnect the power supply to the gimbal; the first torque is greater than the second torque, and the first sampling frequency is greater than the second sampling frequency; In response to the gimbal executing the gimbal mode control command, the current power consumption of the gimbal is obtained.

6. A drone, characterized in that, include: The unmanned aerial vehicle (UAV) includes a main body, a gimbal, a sensing module, and a control module, wherein the control module is configured to perform the method as described in any one of claims 1-5.

7. An electronic device, characterized in that, include: A memory and a processor are coupled to each other, wherein the memory stores program data, and the processor invokes the program data to perform the method as described in any one of claims 1-5.

8. A computer-readable storage medium storing program data thereon, characterized in that, When the program data is executed by the processor, the method as described in any one of claims 1-5 is implemented.

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