WO2021217408A1

WO2021217408A1 - Unmanned aerial vehicle system, and control method and device therefor

Info

Publication number: WO2021217408A1
Application number: PCT/CN2020/087457
Authority: WO
Inventors: 谢振生; 刘帅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-04-28
Filing date: 2020-04-28
Publication date: 2021-11-04
Also published as: CN113491100A

Abstract

A control method for an unmanned aerial vehicle system. The unmanned aerial vehicle system comprises an unmanned aerial vehicle (100) and a gimbal (200) mounted on the unmanned aerial vehicle. The method comprises: obtaining an operation mode of an unmanned aerial vehicle (S201); determining a following strategy between the unmanned aerial vehicle and a gimbal according to the operation mode (S202); and controlling the unmanned aerial vehicle and the gimble according to the following strategy (S203), the following strategy comprising one of a first following strategy and a second following strategy, wherein under the first following strategy, the unmanned aerial vehicle changes along with the attitude of the gimbal, and under the second following strategy, the gimbal changes along with the attitude of the unmanned aerial vehicle, thereby solving the problem that video photography stability of the gimbal decreases due to gimbal jitter that may exists when the gimbal follows the unmanned aerial vehicle, and solving the problem of unmanned aerial vehicle stability decreasing that may exists when the unmanned aerial vehicle follows the gimbal, thus improving user experience and the reliability of the unmanned aerial vehicle system. Also disclosed are a control device for an unmanned aerial vehicle system and an unmanned aerial vehicle system.

Description

Unmanned aerial vehicle system and its control method and device

Technical field

This application relates to the field of unmanned aerial vehicles, in particular to an unmanned aerial vehicle system and its control method and device.

Background technique

At present, when at least one of the drone and the gimbal is controlled (including fully automatic control and semi-automatic control, but not full manual control), the gimbal will enter the mode of the gimbal following the drone. In the mode of the gimbal following the drone, the drone's control commands are directly responded to by the drone, and the gimbal reads the attitude of the drone, such as reading the yaw attitude of the drone as the target deviation of the gimbal. Navigation attitude. At this time, if the UAV is affected by wind disturbance, the yaw attitude of the UAV will be greatly jittered, and the yaw attitude of the gimbal will follow the yaw attitude of the UAV to a certain extent, which will affect the gimbal. The performance, such as the stability of PTZ shooting video.

Summary of the invention

This application provides an unmanned aerial vehicle system and its control method and device.

In a first aspect, an embodiment of the present application provides a control method of an unmanned aerial vehicle system, the unmanned aerial vehicle system includes an unmanned aerial vehicle and a pan/tilt mounted on the unmanned aerial vehicle, and the method includes:

Acquiring the operating mode of the drone;

Determining a following strategy between the drone and the pan/tilt according to the operating mode;

Control the UAV and the PTZ according to the following strategy;

The following strategy includes one of a first following strategy and a second following strategy, wherein:

Under the first following strategy, the unmanned aerial vehicle changes following the change of the attitude of the pan/tilt;

Under the second following strategy, the pan/tilt head changes following the attitude change of the drone.

In a second aspect, an embodiment of the present application provides a control device for an unmanned aerial vehicle system. The unmanned aerial vehicle system includes an unmanned aerial vehicle and a pan/tilt mounted on the unmanned aerial vehicle, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Acquiring the operating mode of the drone;

Control the UAV and the PTZ according to the following strategy;

In a third aspect, an embodiment of the present application provides an unmanned aerial vehicle system, and the unmanned aerial vehicle system includes:

Drone

The gimbal mounted on the UAV; and

The control device of the unmanned aerial vehicle system is at least partially arranged on the unmanned aerial vehicle and is respectively communicatively connected with the unmanned aerial vehicle and the pan/tilt;

Wherein, the control device of the UAV system includes:

Storage device for storing program instructions; and

Acquiring the operating mode of the drone;

Control the UAV and the PTZ according to the following strategy;

In a fourth aspect, an embodiment of the present application provides a control method of an unmanned aerial vehicle system. The unmanned aerial vehicle system includes an unmanned aerial vehicle, a pan/tilt mounted on the unmanned aerial vehicle, and a first control device, and the method includes :

According to the current performance requirements of the unmanned aerial vehicle system, determine the following strategy between the unmanned aerial vehicle and the pan/tilt through the first control device;

Control the UAV and the PTZ according to the following strategy;

In a fifth aspect, an embodiment of the present application provides a control device for an unmanned aerial vehicle system. The unmanned aerial vehicle system includes an unmanned aerial vehicle, a pan/tilt mounted on the unmanned aerial vehicle, and a first control device, and the device includes :

Storage device for storing program instructions; and

Control the UAV and the PTZ according to the following strategy;

In a sixth aspect, an embodiment of the present application provides an unmanned aerial vehicle system, and the unmanned aerial vehicle system includes:

Drone

The gimbal mounted on the UAV; and

The control device of the unmanned aerial vehicle system is respectively communicatively connected with the unmanned aerial vehicle and the pan/tilt, and the control device of the unmanned aerial vehicle system includes a first control device mounted on the unmanned aerial vehicle;

Wherein, the control device of the unmanned aerial vehicle system further includes:

Storage device for storing program instructions; and

Control the UAV and the PTZ according to the following strategy;

According to the technical solutions provided by the embodiments of this application, this application determines the following strategy between the drone and the gimbal according to the operating mode or the current performance requirements of the UAV system, and selects the following strategy as the drone following the gimbal. One of the first follow strategy and the second follow strategy in which the gimbal follows the drone, which solves the problem that the gimbal jitter that may exist when the gimbal follows the drone causes the stability of the video taken by the gimbal to decrease, and It solves the problem that the stability of the UAV may decrease when the UAV follows the gimbal, thereby improving the user experience and the reliability of the UAV system.

Description of the drawings

In order to more clearly describe the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings that need to be used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained from these drawings without creative labor.

Fig. 1 is a schematic structural diagram of an unmanned aerial vehicle system in an embodiment of the present application;

FIG. 2 is a schematic flowchart of a method for controlling an unmanned aerial vehicle system in an embodiment of the present application;

FIG. 3 is a schematic structural diagram of a control device of an unmanned aerial vehicle system in an embodiment of the present application;

Fig. 4 is a structural block diagram of an unmanned aerial vehicle system in an embodiment of the present application;

FIG. 5 is a schematic flowchart of a method for controlling an unmanned aerial vehicle system in another embodiment of the present application;

FIG. 6 is a schematic structural diagram of a control device of an unmanned aerial vehicle system in another embodiment of the present application;

Fig. 7 is a structural block diagram of an unmanned aerial vehicle system in another embodiment of the present application.

Detailed ways

At present, when the drone and the gimbal are fully controlled manually, such as the user's lever to control the drone and the gimbal, the drone can be controlled separately, the gimbal can be controlled separately, and the drone and gimbal can be controlled at the same time as needed. It can be triggered to enter the mode where the gimbal follows the drone or the mode where the drone follows the gimbal. When at least one of the drone and the gimbal is controlled (including fully automatic control and semi-automatic control, but not full manual control), the drone can be controlled separately, the gimbal separately, and the drone can be controlled at the same time And gimbal, but it will only trigger the mode that the gimbal follows the drone, but not the mode that the drone follows the gimbal.

Exemplarily, when the drone is controlled but the gimbal is not controlled, for example, the navigation module controls the yaw attitude or speed of the drone. At this time, it is considered that the navigation needs to control the drone, so it is currently unmanned. If the drone follows the gimbal mode, the drone will only respond to the navigation control and actively exit the drone following the gimbal mode, and the gimbal will enter the gimbal following the aircraft mode. When the gimbal is controlled but the drone is not, for example, the navigation controls the pitch axis speed of the gimbal, and the yaw attitude of the gimbal follows the yaw attitude of the drone. At this time, even if the drone is currently following In the mode of the gimbal, the gimbal will also actively exit the mode of the drone following the gimbal in response to navigation control. If you want the yaw direction of the gimbal to be aligned with the yaw direction of the drone, and the pitch of the gimbal When the axis and/or roll axis are running in the desired state, the gimbal will enter the mode of the gimbal following the drone. When the drone and the gimbal are controlled at the same time, the drone and the gimbal will respond to control respectively. If you want the yaw direction of the gimbal to be aligned with the yaw direction of the drone at this time, the gimbal will enter the gimbal to follow The pattern of the airplane.

In the mode where the gimbal follows the drone, if the drone shakes, the gimbal will shake following the shake of the drone, which causes the problem of shaking the video captured by the gimbal. For this, this application determines the following strategy between the UAV and the gimbal according to the operating mode or the current performance requirements of the UAV system, and selects the following strategy as the first following strategy and the gimbal of the UAV following the gimbal. One of the second follow-up strategies of following the drone, which solves the problem that the stability of the video taken by the gimbal will decrease due to the possible shaking of the gimbal when the gimbal is following the drone, and solves the problem of the drone following the drone. The stability of the drone may be reduced when the pan/tilt occurs, thereby improving the user experience and the reliability of the drone system.

The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in this application, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of this application.

It should be noted that, in the case of no conflict, the following embodiments and features in the implementation can be combined with each other.

Referring to FIG. 1, the unmanned aerial vehicle system of the embodiment of the present application may include an unmanned aerial vehicle 100 and a pan-tilt 200 mounted on the unmanned aerial vehicle 100. Among them, the UAV 100 may be a multi-rotor UAV or a fixed-wing UAV. The pan/tilt head 200 may be a two-axis pan/tilt, a three-axis pan/tilt, or other types of pan/tilt.

Further, please refer to FIG. 1 again. The unmanned aerial vehicle system may further include a first control device 300 which is mounted on the unmanned aerial vehicle 100. The first control apparatus 300 may be built into the unmanned aerial vehicle 100, or Can be placed outside the drone 100. In the embodiment of the present application, the first control device 300 may be a part of the drone 100. Illustratively, the first control device 300 is a navigation module of the drone 100; of course, the first control device 300 may not be used as a drone. Part of the man-machine 100.

Further, referring to FIG. 1 again, the UAV system may also include a second control device 400 remote from the UAV 100, the second control device 400 can communicate with the UAV 100, for example, the UAV 100 It also includes a flight controller (not shown). The second control device 400 can communicate with the navigation module via the flight controller, and the second control device 400 can also directly communicate with the navigation module. The second control device 400 may be a remote control of the unmanned aerial vehicle 100, or other remote control terminals capable of controlling the unmanned aerial vehicle 100, such as a mobile phone, a tablet computer, or a smart bracelet.

It should be noted that the control method and device of the unmanned aerial vehicle system in the embodiments of the present application are applicable to scenarios where the unmanned aerial vehicle system is under intelligent control, where the intelligent control includes fully automatic control and semi-automatic control. Exemplarily, the first control device is the navigation module of the drone, and the second control device is the remote control of the drone. When the drone system is fully controlled, the navigation module automatically controls the drone and/ Or PTZ; when the UAV system is under semi-automatic control, the UAV and/or PTZ can be controlled through the navigation module and the remote control operated by the user. Among them, when the UAV and/or PTZ are controlled through the navigation module , Can include at least one of the following two situations:

(1) The navigation module automatically controls the UAV and/or PTZ;

(2) The navigation module controls the UAV and/or PTZ according to the control instructions generated when the user operates the remote control.

In addition, it should be noted that whether it is fully automatic or semi-automatically controlled, the flight controller can also participate in the control process of the UAV and/or the gimbal. For example, when the UAV system is under fully automatic control When the UAV sends an automatic control instruction to the navigation module, the navigation module controls the UAV and/or the pan/tilt according to the control instruction; for example, when the UAV system is under semi-automatic control, when the user operates the remote control The generated control instructions are transmitted to the navigation module through the flight controller, and the navigation module controls the drone and/or the pan/tilt according to the control instructions.

It should also be noted that, in addition to drones, the control method and device of the drone system in the embodiments of the present application are also applicable to other movable platforms equipped with pan-tilts. Exemplarily, the movable platforms may include unmanned aerial vehicles. For vehicles, ground-side robots, etc., the embodiment of the present application takes a drone as an example.

In the following, the unmanned aerial vehicle system and its control method and device according to the embodiments of the present application will be described in detail.

Example one

2 is a schematic flow chart of a method for controlling an unmanned aerial vehicle system in an embodiment of the present application; the execution subject of the controlling method for an unmanned aerial vehicle system according to an embodiment of the present application may be the first control device or the device Other controllers used in drones. Referring to FIG. 2, the control method of the unmanned aerial vehicle system in the embodiment of the present application may include steps S201 to S203.

Among them, in S201, the operating mode of the drone is acquired.

In the embodiment of the present application, when the UAV system is under intelligent control, the UAV may be in an operating mode, which may include but is not limited to one of shooting mode, obstacle avoidance mode, return to home mode, and automatic landing mode. kind.

The shooting mode can be used to control the pan/tilt to shoot according to a preset shooting strategy. In the embodiment of the present application, the shooting mode can include but is not limited to at least one of time-lapse shooting mode, one-key movie mode, focus following mode, and panoramic shooting mode. kind.

The time-lapse photography mode can be used to control the pan/tilt to shoot according to the preset shooting time interval. The preset shooting time interval can be the default interval or set by the user. Further, the time-lapse photography mode can also be used to control the camera on the pan/tilt to shoot according to a preset video duration to obtain a video with a preset video duration. The preset video duration can be the default duration or can be set by the user. Exemplarily, the time-lapse photography mode may include, but is not limited to, at least one of a free time-lapse photography mode, a directional time-lapse photography mode, a surround time-lapse photography mode, and a trajectory time-lapse photography mode. It should be noted that when the drone is in the free time-lapse photography mode, the user can freely control the drone and the gimbal; when the drone is in the directional time-lapse photography mode, the drone will automatically follow the preset route Flying; when the drone is in the surround time-lapse photography mode, the drone automatically flies around the target; when the drone is in the trajectory time-lapse photography mode, the drone flies along the set trajectory, during the drone flight , The pitch angle of the gimbal may be adjusted.

The one-click movie mode can be used to control the drone to operate according to the preset flight mode, and generate a video with a duration less than the preset duration based on the images taken by the gimbal while the drone is operating in the preset flight mode. The preset duration can be the default duration or can be set by the user. The preset flight mode may include, but is not limited to, at least one of the asteroid mode, fading mode, orbiting mode, and spiral mode. In the asteroid mode, the drone flies along a trajectory similar to an asteroid; In the far mode, the drone flies from the side close to the target toward the direction away from the target; in the surround mode, the drone flies around the target; in the spiral mode, the drone flies down around the target.

The focus follow mode can be used to track the target object, so that the target object is always in the image shot through the pan-tilt. The focus follow mode may include but is not limited to at least one of focus mode, surround tracking mode, and smart follow mode. In the focus mode, the drone stays at the current position and flies involuntarily, and only the nose and gimbal (including The camera on the gimbal moves with the target. The user can control the movement of the drone by pressing the stick: the roll stick controls the aircraft to rotate around the target, the pitch stick controls the drone to move closer to or away from the target, and the throttle stick controls the height of the aircraft. The joystick controls the composition; in the surround tracking mode, the drone flies around the target (can be a static or dynamic target), and the gimbal locks the target for shooting. The surround tracking mode allows the user to set the speed of the drone flying around the target; In smart follow mode, the gimbal always follows the shooting target. There are two follow modes: smart and parallel. The user can control the movement of the drone by pressing the stick: the roll stick controls the drone to rotate around the target, and the pitch stick controls the drone to approach. Or far away from the target, the throttle stick controls the height of the drone, and the yaw stick controls the composition. Intelligent follow means that the aircraft maintains the current relative distance to the target and follows the target while flying. Parallel following means that the aircraft maintains the shooting and following angle relative to the target. , Realize side follow.

The panoramic shooting mode can be used to control the pan-tilt for panoramic shooting, and the panoramic shooting mode can be selected from the existing panoramic shooting mode, which will not be repeated here.

The obstacle avoidance mode can be used to control the drone to avoid obstacles in at least one direction of the drone. In the obstacle avoidance mode, the user can freely control the drone to fly by leveraging. When encountering obstacles, it will automatically detour to achieve obstacle avoidance. The obstacle avoidance mode may include, but is not limited to, at least one of an omnidirectional obstacle avoidance mode and a unidirectional obstacle avoidance mode.

The return-to-home mode can be used to control the drone to return to the take-off position, and the automatic landing mode can be used to control the drone to automatically land.

In the embodiments of the present application, the UAV can be triggered to enter the corresponding operating mode through an instruction trigger mode, or the UAV can be triggered to enter the corresponding operating mode through other methods. Exemplarily, the drone is triggered to enter the corresponding operating mode through an instruction trigger method. In this embodiment, before acquiring the operating mode of the drone, the control instruction sent by the control device of the drone is acquired. Among them, the control device can control the drone and the pan/tilt, and the control instruction is used to instruct to control at least one of the drone and the pan/tilt. Exemplarily, the control device can control the attitude and/or speed of the drone, and can control the attitude and/or speed of the gimbal, and the control instruction can be used to indicate the attitude and/or speed of at least one of the drone and the gimbal. Take control. Further, in this embodiment, when S201 is implemented, the operation mode of the drone is determined according to the control instruction. Exemplarily, if the control instruction is used to trigger the drone to enter the free time-lapse photography mode, the operating mode is determined to be the free time-lapse photography mode; the control instruction is used to trigger the drone to enter the obstacle avoidance mode, and the operating mode is determined to be obstacle avoidance model.

Optionally, in some embodiments, the control device includes a first control device provided on the drone. In this embodiment, the control instruction can be automatically generated by the first control device. In this case, the drone and the pan/tilt can be automatically controlled by the first control device.

In some embodiments, the control device includes a first control device provided on the drone and a second control device remote from the drone, and the first control device is communicatively connected with the second control device. In this embodiment, the control instruction may be automatically generated by the first control device, or the control instruction may be generated when the user operates the second control device, or the control instruction may include the control instruction automatically generated by the first control device and the second control device operated by the user. The control command generated when the device is installed. Exemplarily, the first control device is a navigation module of the drone. When the control device includes the first control device and the second control device, the navigation module can communicate with the second control device via the flight controller of the drone, or the navigation module can directly communicate with the second control device.

The actions during the execution of the operating mode may include actions performed automatically by the UAV system in accordance with preset rules, and/or actions performed by the UAV system in accordance with operation instructions sent by the remote control device of the UAV. For example, in some embodiments, the UAV system is in a fully automatic controlled scenario, and the actions during the execution of the operating mode are actions performed automatically by the UAV system according to preset rules; in some embodiments, none The human-machine system is in a semi-automatically controlled scenario. The actions during the execution of the operating mode can be the actions performed by the UAV system automatically according to preset rules, or the UAV system can be sent by the UAV system according to the remote control device of the UAV. Actions performed by operating instructions may also include actions performed automatically by the UAV system in accordance with preset rules and actions performed by the UAV system in accordance with operating instructions sent by the remote control device of the UAV.

In the embodiment of the present application, the actions during the execution of the operating mode may include the actions of the drone and the action of the pan/tilt. For example, the actions of the pan/tilt are remotely triggered by the user operating the second control device, and the actions of the drone are Automatic trigger for the first device.

Among them, the preset rule may include the flight strategy of the drone and/or the shooting strategy of the pan/tilt. For example, the drone flies around the target and the pan/tilt tracks the target to shoot. It should be understood that, in this embodiment of the application, the flight strategy of the drone and the shooting strategy of the pan/tilt are both related to the operation mode of the drone determined in S201.

In S202, according to the operating mode, determine the following strategy between the drone and the gimbal; the following strategy includes one of the first following strategy and the second following strategy, where: in the first following strategy, the drone follows The gimbal's attitude changes; in the second following strategy, the gimbal changes with the attitude of the UAV.

Under the first follow strategy, the control instructions of the drone are given to the gimbal first, and the gimbal first responds to the control instructions of the drone, and then the drone reads the attitude of the gimbal as the target attitude of the drone. When the man-machine follows the yaw attitude of the gimbal, the drone can read the yaw attitude of the gimbal as the target yaw attitude of the drone. Since the control accuracy of the gimbal is greater than that of the drone, the gimbal The stability of the gimbal is better, and the gimbal will not shake due to wind disturbance, so the stability of the video shot by the gimbal is better. However, under the first follow strategy, if the gimbal is abnormal, it may cause the UAV to also appear abnormal, resulting in a decrease in the stability of the UAV.

Under the second follow strategy, the control commands of the drone are directly responded to by the drone, and the gimbal reads the attitude of the drone. For example, when the gimbal follows the yaw attitude of the drone, the gimbal reads the unmanned The yaw attitude of the aircraft is used as the target yaw attitude of the gimbal. At this time, if the gimbal is abnormal, the UAV will not be affected, which is beneficial to the stability of the UAV system. However, under the second follow strategy, if the drone is affected by wind disturbance, the attitude of the drone will be greatly jittered, and the attitude of the gimbal will follow the attitude of the drone to a certain extent, which will affect the attitude of the gimbal. Performance, such as the stability of PTZ shooting video.

Therefore, the control method of the unmanned aerial vehicle system in the embodiment of the present application selects the following strategy between the unmanned aerial vehicle and the pan/tilt as one of the first following strategy and the second following strategy according to the operating mode of the unmanned aerial vehicle. This solves the problem of pan-tilt shooting video jitter caused by the possible pan-tilt shaking when the pan-tilt follows the drone, and solves the problem of the drone stability that may exist when the drone follows the pan-tilt. Thereby improving the user experience and the reliability of the UAV system.

In the embodiments of this application, the performance requirements of the UAV system corresponding to different operation modes may be different. Therefore, when determining the follow-up strategy between the UAV and the PTZ according to the operation mode, the UAV system corresponding to the different operation modes can be determined according to the different operation modes. The performance requirements of the human-machine system determine the following strategy between the UAV and the PTZ. Exemplarily, if in the operating mode, the importance of the first performance of the UAV system is higher than the importance of the second performance of the UAV system, it is determined that the following strategy between the UAV and the PTZ is the first One follow the strategy. If in the operating mode, the importance of the first performance of the UAV system is lower than the importance of the second performance of the UAV system, then the following strategy between the UAV and the pan/tilt is determined to be the second following strategy.

Exemplarily, the first performance may include the stability of the pan/tilt used for shooting, and the second performance may include the safety of the drone. If in the operating mode, the stability of the pan/tilt used for shooting is more important than none. If the safety of humans and machines is important, the following strategy between the drone and the gimbal is determined as the first follow strategy to ensure that the gimbal can capture images with strong stability; if in the operating mode, the gimbal is used for The importance of the stability of the shooting is lower than the importance of the safety of the UAV, and the following strategy between the UAV and the gimbal is determined as the second following strategy to ensure the safety of the UAV flight. It should be understood that the first performance and the second performance may also be other.

Exemplarily, the operation mode may include one of a shooting mode, an auxiliary flight mode, a return-to-home mode, and an automatic landing mode. The shooting mode may include a first shooting mode. When the operation mode is the first shooting mode or the auxiliary flight mode, the cloud The stability of the camera for shooting is more important than the safety of the drone. At this time, the follow strategy is selected as the first follow strategy to ensure that the drone is in the first shooting mode or obstacle avoidance mode. The stability of the image taken by the pan/tilt. Wherein, the first shooting mode may include at least one of a time-lapse shooting mode, a one-button short film mode, a focus following mode, and a panoramic shooting mode. The time-lapse photography mode may include at least one of a free time-lapse photography mode, a directional time-lapse photography mode, a surround time-lapse photography mode, and a trajectory time-lapse photography mode. It should be noted that the auxiliary flight mode is usually when the drone is used in a complex environment (such as an environment with many obstacles), and there is a high possibility that the camera needs to be photographed. Therefore, the auxiliary flight mode is usually when the drone is in a complex environment. When used in an environment (such as an environment with many obstacles), it is very likely that the gimbal is needed for shooting. When the operating mode is the auxiliary flight mode, the stability of the gimbal for shooting is more important than that of the drone. The importance of safety.

When the operation mode is the return home mode or the automatic landing mode, the stability of the gimbal for shooting is less important than the safety of the drone. At this time, the following strategy is selected as the second following strategy to ensure that there is no The safety of man and machine in the process of returning home or automatically landing.

Further, after determining the following strategy between the drone and the pan-tilt according to the operating mode, if the following strategy is the first following strategy, the first information is sent to the drone and the second information is sent to the pan-tilt. Among them, the first information is used to instruct the drone to request the gimbal to follow the gimbal, and the second information is to instruct the gimbal to allow the drone to follow the gimbal. In this way, the drone is realized to follow the gimbal, and the stability of the gimbal for shooting is ensured. Optionally, when the drone is triggered to enter the corresponding operating mode by a control instruction, if the stability of the camera for shooting is more important than the safety of the drone, the first information And the second information can be carried in the control instruction. Optionally, after determining the following strategy between the drone and the pan/tilt according to the operating mode, if the following strategy is the first following strategy, the first information and the second information are generated.

Further, after determining the following strategy between the drone and the pan/tilt according to the operating mode, if the following strategy is the second following strategy, the third information is sent to the drone and the fourth information is sent to the pan/tilt. Among them, the third information is used to instruct the gimbal to request the drone to follow the drone, and the fourth information is to instruct the drone to allow the gimbal to follow the drone. In this way, the gimbal follows the drone to ensure the safety of the drone and the gimbal. Of course, it is understandable that in practical applications, it is not necessary to send the fourth information to the gimbal, that is, the gimbal can enter the gimbal and airplane mode without the permission of the drone.

In S203, the UAV and PTZ are controlled according to the follow strategy.

When the follow strategy is the first follow strategy, control the drone and the gimbal to enter the first follow strategy. At this time, both the drone and the gimbal are in the mode of the drone following the gimbal; when the follow strategy is the second When following the strategy, the control drone and the gimbal enter the second following strategy. At this time, both the drone and the gimbal are in the mode of the gimbal following the drone.

Exemplarily, the unmanned aerial vehicle system further includes a first control device provided on the unmanned aerial vehicle. When S203 is implemented, the unmanned aerial vehicle and the pan/tilt are controlled by the first control device according to the following strategy, so as to pass the first control The device automatically controls the UAV and PTZ to enter the corresponding follow strategy.

Further, in other embodiments, the operating mode of the drone may not be considered, but based on the environmental information around the drone (such as obstacle information) and/or the status information of the drone (such as the speed of the drone). ), to determine whether the safety of the drone is more important than the stability of the gimbal for shooting, or the stability of the gimbal for shooting is more important than the safety of the drone . If based on the environmental information around the drone and/or the status information of the drone, it is determined that the safety of the drone is more important than the stability of the gimbal for shooting, then control the drone and cloud The platform enters the mode of the gimbal following the drone; if based on the environmental information around the drone and/or the status information of the drone, it is determined that the stability of the gimbal for shooting is more important than the safety of the drone The degree of importance of the drone and the gimbal is controlled to enter the mode that the drone follows the gimbal.

Exemplarily, when the number of obstacles around the drone is greater than the preset number threshold, it is more likely that the drone will automatically avoid obstacles based on the images taken by the gimbal. Therefore, the gimbal is required to obtain stable images at this time. That is, when the number of obstacles around the drone is greater than the preset number threshold, the importance of determining the stability of the gimbal for shooting is higher than the importance of the safety of the drone; for example, when the drone is When the speed of is less than the preset speed threshold and the gimbal is not currently in the process of returning, the importance of determining the safety of the drone is higher than the importance of the stability of the gimbal for shooting. Optionally, based on the environmental information around the drone and/or the status information of the drone, it is judged whether the safety of the drone is more important than the stability of the gimbal for shooting, or the cloud Before the importance of the stability of the camera for shooting is higher than the importance of the safety of the drone, the user is asked whether to allow the drone system to enter this judgment method, if it is allowed, enter the judgment method; otherwise, it is prohibited Enter this judgment mode.

Corresponding to the control method of an unmanned aerial vehicle system in the foregoing embodiment, an embodiment of the present application also provides a control device for an unmanned aerial vehicle system. Referring to FIG. 3, the control device of the unmanned aerial vehicle system in the embodiment of the present application may include a first storage device and one or more first processors.

Among them, the first storage device is used to store program instructions. One or more first processors call program instructions stored in the first storage device, and when the program instructions are executed, the one or more first processors are individually or collectively configured to perform the following operations: obtain The operation mode of the UAV; according to the operation mode, determine the follow strategy between the UAV and the gimbal; according to the follow strategy, control the UAV and the gimbal; the follow strategy includes the first follow strategy and the second follow strategy One of the following: Under the first following strategy, the UAV changes with the attitude of the UAV; under the second following strategy, the UAV changes with the attitude of the UAV.

The first processor of this embodiment can implement the control method of the unmanned aerial vehicle system as shown in the embodiment shown in FIG. The control device will be described.

Further, an embodiment of the present application also provides an unmanned aerial vehicle system, please refer to FIG. 1 and FIG. Device. Wherein, the PTZ 200 is mounted on the UAV 100, the control device of the UAV system is at least partially provided on the UAV 100, and the control device of the UAV system communicates with the UAV 100 and the PTZ 200 respectively.

Example two

Referring to FIG. 1, the unmanned aerial vehicle system of the embodiment of the present application may include an unmanned aerial vehicle 100, a pan/tilt 200 and a first control device 300, where the pan/tilt 200 and the first control device 300 are mounted on the unmanned aerial vehicle 100.

Fig. 5 is a schematic flow chart of a method for controlling an unmanned aerial vehicle system in another embodiment of the present application; the execution subject of the controlling method for an unmanned aerial vehicle system according to an embodiment of the present application may be the first control device or Other controllers located in the drone. Referring to FIG. 5, the control method of the unmanned aerial vehicle system in the embodiment of the present application may include steps S501 to S502.

Among them, in S501, according to the current performance requirements of the UAV system, the following strategy between the UAV and the PTZ is determined by the first control device; the following strategy includes one of the first following strategy and the second following strategy. Among them: under the first following strategy, the UAV changes with the attitude of the UAV; under the second following strategy, the UAV changes with the attitude of the UAV.

In S502, the UAV and PTZ are controlled according to the follow strategy.

According to the control method of the unmanned aerial vehicle system of the embodiment of the present application, according to the current performance requirements of the unmanned aerial vehicle system, the following strategy between the unmanned aerial vehicle and the gimbal is selected as one of the first following strategy and the second following strategy. This solves the problem of pan-tilt shooting video jitter caused by the possible pan-tilt shaking when the pan-tilt follows the drone, and solves the problem that the drone stability may decrease when the drone follows the pan-tilt. Thereby improving the user experience and the reliability of the UAV system.

Optionally, according to the current performance requirements of the UAV system, the first control device is used to determine the follow-up strategy between the UAV and the gimbal, including: If the current performance requirements of the UAV system indicate the first UAV system The importance of the first performance is higher than the importance of the second performance of the unmanned aerial vehicle system, and the following strategy between the unmanned aerial vehicle and the pan/tilt is determined as the first following strategy through the first control device.

Optionally, according to the current performance requirements of the UAV system, the first control device is used to determine the follow-up strategy between the UAV and the gimbal, including: If the current performance requirements of the UAV system indicate the first UAV system The importance of one performance is lower than the importance of the second performance of the unmanned aerial vehicle system, and the following strategy between the unmanned aerial vehicle and the pan/tilt is determined as the second following strategy through the first control device.

Optionally, the first performance includes the stability of the pan/tilt used for shooting, and the second performance includes the safety of the drone.

Optionally, the current performance requirements are determined according to the operating mode of the drone. In this embodiment of the application, the performance requirements of the drone systems corresponding to different operating modes may be different. Therefore, the drone systems corresponding to different operating modes may be determined according to different operating modes. The performance requirements of the system determine the following strategy between the UAV and the PTZ.

Optionally, the operating mode includes one of shooting mode, obstacle avoidance mode, return-to-home mode, and automatic landing mode; the shooting mode includes the first shooting mode. When the operating mode is the first shooting mode or the obstacle avoidance mode, the pan/tilt The importance of the stability of shooting is higher than the importance of the safety of the drone; when the operating mode is the return-to-home mode or the automatic landing mode, the stability of the gimbal for shooting is less important than the safety of the drone. The importance of sex.

Optionally, the first shooting mode includes at least one of a time-lapse photography mode, a one-button short film mode, a focus following mode, and a panoramic shooting mode; wherein: the time-lapse photography mode is used to control the pan/tilt according to a preset shooting time interval Take shots; the one-click video mode is used to control the drone to operate in the preset flight mode, and generate videos with a duration less than the preset time based on the image; the focus follow mode is used to track the target object, so that the target object is always passing through the cloud In the images taken by the platform; the panoramic shooting mode is used to control the pan-tilt for panoramic shooting.

Optionally, the time-lapse photography mode includes at least one of a free time-lapse photography mode, a directional time-lapse photography mode, a surround time-lapse photography mode, and a trajectory time-lapse photography mode.

Optionally, the action during the execution of the operation mode is an action automatically performed by the UAV system in accordance with preset rules; and/or the action during the execution of the operation mode includes the UAV system in accordance with the remote control device of the UAV The action performed by the sent operation command.

Optionally, according to the current performance requirements of the unmanned aerial vehicle system, before determining the following strategy between the unmanned aerial vehicle and the gimbal through the first control device, the method further includes: obtaining the operating mode of the unmanned aerial vehicle through the first control device.

Optionally, before acquiring the operating mode of the drone through the first control device, it further includes: acquiring the control instruction sent by the control device of the drone through the first control device, wherein the control device of the drone can control the drone. For man-machine and pan-tilt, the control instruction is used to instruct to control at least one of the drone and pan-tilt; obtaining the operating mode of the drone through the first control device includes: according to the control instruction, the first control device determines that no one is The operating mode of the machine.

Optionally, the unmanned aerial vehicle system further includes a second control device remote from the unmanned aerial vehicle, and the first control device is communicatively connected with the second control device.

Optionally, the control instruction is automatically generated by the first control device and/or the control instruction is generated when the user operates the second control device.

Optionally, the first control device is a navigation module of the drone.

Optionally, controlling the UAV and the PTZ according to the following strategy includes: controlling the UAV and the PTZ through the first control device according to the following strategy.

Optionally, according to the current performance requirements of the UAV system, after the first control device determines the following strategy between the UAV and the pan/tilt, it also includes: if the following strategy is the first following strategy, send the UAV to Send the first information, and send the second information to the pan/tilt; where the first information is used to instruct the drone to request the pan/tilt to follow the pan/tilt, and the second information is used to instruct the pan/tilt to allow the drone to follow the pan/tilt.

For the remaining unexpanded parts, please refer to the description of the corresponding parts in the above-mentioned embodiment 1, which will not be repeated here.

Corresponding to the control method of an unmanned aerial vehicle system in the second embodiment, an embodiment of the present application also provides a control device of an unmanned aerial vehicle system. Referring to FIG. 6, the control device of the unmanned aerial vehicle system of the embodiment of the present application may include a first storage device and two or more second processors.

Among them, the second storage device is used to store program instructions. One or more second processors call the program instructions stored in the second storage device. When the program instructions are executed, the one or more second processors are individually or collectively configured to perform the following operations: According to the current performance requirements of the UAV system, the following strategy between the UAV and the gimbal is determined through the first control device; the UAV and the gimbal are controlled according to the following strategy; the following strategy includes the first following strategy and the second following strategy. One of the two following strategies, in which: in the first following strategy, the UAV changes with the attitude of the PTZ; in the second following strategy, the PTZ changes with the attitude of the UAV.

The second processor of this embodiment can implement the control method of the unmanned aerial vehicle system in the embodiment shown in FIG. The control device will be described.

Further, please refer to FIG. 1 and FIG. 7. An embodiment of the present application provides an unmanned aerial vehicle system. The unmanned aerial vehicle system includes an unmanned aerial vehicle 100, a pan-tilt 200, and the control device for an unmanned aerial vehicle system described in the second embodiment. Among them, the PTZ 200 is mounted on the UAV 100. Among them, the control device of the unmanned aerial vehicle system may include the first control device 300 mounted on the unmanned aerial vehicle 100, of course, it may not be included.

Exemplarily, the second processor includes the processor of the first control apparatus 300; Exemplarily, the second processor is in communication connection with the first control apparatus 300.

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

The processor of the foregoing embodiment may be a central processing unit (Central Processing Unit, CPU), or other general-purpose processors, digital signal processors (Digital Signal Processor, DSP), and Application Specific Integrated Circuit (ASIC) , Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor or the like.

In addition, an embodiment of the present application also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, it realizes the steps of the control method of the unmanned aerial vehicle system in the first embodiment or the second embodiment.

The computer-readable storage medium may be an internal storage unit of the drone system described in any of the foregoing embodiments, such as a hard disk or a memory. The computer-readable storage medium may also be an external storage device of the UAV system, such as a plug-in hard disk, a smart media card (SMC), an SD card, and a flash card (Flash Card) equipped on the device. )Wait. Further, the computer-readable storage medium may also include both an internal storage unit of the drone system and an external storage device. The computer-readable storage medium is used to store the computer program and other programs and data required by the UAV system, and can also be used to temporarily store data that has been output or will be output.

A person of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be implemented by instructing relevant hardware through a computer program. The program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments. Wherein, the storage medium can be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

The above-disclosed are only some of the embodiments of this application, which of course cannot be used to limit the scope of rights of this application. Therefore, equivalent changes made in accordance with the claims of this application still fall within the scope of this application.

Claims

A control method of an unmanned aerial vehicle system, characterized in that the unmanned aerial vehicle system includes an unmanned aerial vehicle and a pan/tilt mounted on the unmanned aerial vehicle, and the method includes:

Acquiring the operating mode of the drone;

Determining a following strategy between the drone and the pan/tilt according to the operating mode;

Control the UAV and the PTZ according to the following strategy;

The following strategy includes one of a first following strategy and a second following strategy, wherein:

Under the first following strategy, the unmanned aerial vehicle changes following the change of the attitude of the pan/tilt;

Under the second following strategy, the pan/tilt head changes following the attitude change of the drone.
The method according to claim 1, wherein the determining a follow-up strategy between the drone and the pan-tilt according to the operating mode comprises:

If in the operating mode, the importance of the first performance of the UAV system is higher than the importance of the second performance of the UAV system, it is determined that the UAV and the PTZ The time following strategy is the first following strategy.
The method according to claim 1, wherein the determining a follow-up strategy between the drone and the pan-tilt according to the operating mode comprises:

If in the operating mode, the importance of the first performance of the UAV system is lower than the importance of the second performance of the UAV system, it is determined that the UAV and the PTZ The time following strategy is the second following strategy.
The method according to claim 2 or 3, wherein the first performance includes the stability of the pan-tilt for shooting, and the second performance includes the safety of the drone.
The method according to claim 4, wherein the operating mode includes one of a shooting mode, an obstacle avoidance mode, a return-to-home mode, and an automatic landing mode;

The shooting mode includes a first shooting mode, and when the operating mode is the first shooting mode or the obstacle avoidance mode, the stability of the camera for shooting is more important than the drone The importance of safety;

When the operation mode is the return-to-home mode or the automatic landing mode, the importance of the stability of the pan/tilt for shooting is lower than the importance of the safety of the drone.
The method according to claim 5, wherein the first shooting mode comprises at least one of a time-lapse photography mode, a one-button short film mode, a focus following mode, and a panoramic shooting mode; wherein:

The time-lapse photography mode is used to control the pan/tilt to control the shooting according to a preset shooting time interval;

The one-button short film mode is used to control the drone to operate in a preset flight mode, and generate a video with a duration less than the preset duration based on the images shot by the pan/tilt;

The focus following mode is used to track a target object, so that the target object is always in the image shot through the pan-tilt;

The panoramic shooting mode is used to control the pan-tilt to perform panoramic shooting.
The method according to claim 6, wherein the time-lapse photography mode includes at least one of a free time-lapse photography mode, a directional time-lapse photography mode, a surround time-lapse photography mode, and a trajectory time-lapse photography mode.
The method according to claim 1, wherein before said obtaining the operating mode of the drone, further comprising:

Obtain the control instruction sent by the control device of the drone, where the control device can control the drone and the pan/tilt, and the control instruction is used to instruct the drone and the At least one of the pan/tilt is controlled;

The obtaining the operation mode of the drone includes:

According to the control instruction, the operation mode of the drone is determined.
The method according to claim 8, wherein the control device comprises a first control device provided on the drone.
The method according to claim 9, wherein the control device further comprises a second control device remote from the drone, and the first control device is communicatively connected with the second control device.
The method according to claim 10, wherein the control instruction is automatically generated by the first control device and/or the control instruction is generated when a user operates the second control device.
The method according to claim 1, wherein the UAV system further comprises a first control device provided on the UAV, and the following strategy is used to control the UAV and the UAV according to the following strategy. The PTZ control includes:

According to the following strategy, the drone and the pan/tilt are controlled by the first control device.
The method according to claim 9 or 12, wherein the first control device is a navigation module of the drone.
The method according to claim 1, wherein after determining the following strategy between the drone and the pan/tilt according to the operating mode, the method further comprises:

If the following strategy is the first following strategy, sending first information to the drone, and sending second information to the pan/tilt;

The first information is used to instruct the drone to request the pan/tilt to follow the pan/tilt, and the second information is to instruct the pan/tilt to allow the drone to follow the pan/tilt. .
The method according to claim 1, wherein the action during the execution of the operating mode is an action automatically performed by the UAV system according to a preset rule; and/or

The actions during the execution of the operating mode include actions performed by the unmanned aerial vehicle system in accordance with the operation instructions sent by the remote control device of the unmanned aerial vehicle.
A control device for an unmanned aerial vehicle system, characterized in that the unmanned aerial vehicle system includes an unmanned aerial vehicle and a pan/tilt mounted on the unmanned aerial vehicle, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

Acquiring the operating mode of the drone;

Determining a following strategy between the drone and the pan/tilt according to the operating mode;

Control the UAV and the PTZ according to the following strategy;

The following strategy includes one of a first following strategy and a second following strategy, wherein:

Under the first following strategy, the unmanned aerial vehicle changes following the change of the attitude of the pan/tilt;

Under the second following strategy, the pan/tilt head changes following the attitude change of the drone.
The control device according to claim 16, wherein the one or more processors individually or It is collectively further configured to implement the following operations:

If in the operating mode, the importance of the first performance of the UAV system is higher than the importance of the second performance of the UAV system, it is determined that the UAV and the PTZ The time following strategy is the first following strategy.
The control device according to claim 16, wherein the one or more processors individually or It is collectively further configured to implement the following operations:

If in the operating mode, the importance of the first performance of the UAV system is lower than the importance of the second performance of the UAV system, it is determined that the UAV and the PTZ The time following strategy is the second following strategy.
The control device according to claim 17 or 18, wherein the first performance includes the stability of the pan-tilt for shooting, and the second performance includes the safety of the drone.
The control device according to claim 19, wherein the operation mode includes one of a shooting mode, an obstacle avoidance mode, a return-to-home mode and an automatic landing mode;

The shooting mode includes a first shooting mode, and when the operating mode is the first shooting mode or the obstacle avoidance mode, the stability of the camera for shooting is more important than the drone The importance of safety;

When the operation mode is the return-to-home mode or the automatic landing mode, the importance of the stability of the pan/tilt for shooting is lower than the importance of the safety of the drone.
The control device according to claim 20, wherein the first shooting mode comprises at least one of a time-lapse photography mode, a one-button short film mode, a focus following mode, and a panoramic shooting mode; wherein:

The time-lapse photography mode is used to control the pan/tilt to control the shooting according to a preset shooting time interval;

The one-button short film mode is used to control the drone to operate in a preset flight mode, and generate a video with a duration less than the preset duration based on the images shot by the pan/tilt;

The focus following mode is used to track a target object, so that the target object is always in the image shot through the pan-tilt;

The panoramic shooting mode is used to control the pan-tilt to perform panoramic shooting.
The control device according to claim 21, wherein the time-lapse photography mode includes at least one of a free time-lapse photography mode, a directional time-lapse photography mode, a surround time-lapse photography mode, and a trajectory time-lapse photography mode.
The control device according to claim 16, wherein the one or more processors are separately or collectively configured to perform the following operations before acquiring the operating mode of the drone:

Obtain the control instruction sent by the control device of the drone, where the control device can control the drone and the pan/tilt, and the control instruction is used to instruct the drone and the At least one of the pan/tilt is controlled;

When the one or more processors obtain the operating mode of the UAV, individually or collectively, they are further configured to perform the following operations:

According to the control instruction, the operation mode of the drone is determined.
The control device according to claim 23, wherein the control device comprises a first control device provided on the drone.
The control device according to claim 24, wherein the control device further comprises a second control device remote from the drone, and the first control device is communicatively connected with the second control device.
The control device according to claim 25, wherein the control instruction is automatically generated by the first control device and/or the control instruction is generated when a user operates the second control device.
The control device according to claim 16, wherein the unmanned aerial vehicle system further comprises a first control device provided on the unmanned aerial vehicle, and the one or more processors are in accordance with the following strategy, When controlling the UAV and the PTZ, they are separately or jointly further configured to implement the following operations:

According to the following strategy, the drone and the pan/tilt are controlled by the first control device.
The control device according to claim 24 or 27, wherein the first control device is a navigation module of the drone.
The control device according to claim 16, wherein the one or more processors separately or It is also collectively configured to implement the following operations:

If the following strategy is the first following strategy, sending first information to the drone, and sending second information to the pan/tilt;

The first information is used to instruct the drone to request the pan/tilt to follow the pan/tilt, and the second information is to instruct the pan/tilt to allow the drone to follow the pan/tilt. .
The control device according to claim 16, wherein the action during the execution of the operating mode is an action automatically performed by the UAV system according to a preset rule; and/or

The actions during the execution of the operating mode include actions performed by the unmanned aerial vehicle system in accordance with the operation instructions sent by the remote control device of the unmanned aerial vehicle.
An unmanned aerial vehicle system, characterized in that the unmanned aerial vehicle system includes:

Drone

The gimbal mounted on the UAV; and

The control device of the unmanned aerial vehicle system according to any one of claims 16 to 30, which is at least partially provided in the unmanned aerial vehicle and is respectively communicatively connected with the unmanned aerial vehicle and the pan/tilt.
A control method of an unmanned aerial vehicle system, characterized in that the unmanned aerial vehicle system includes an unmanned aerial vehicle, a pan/tilt mounted on the unmanned aerial vehicle, and a first control device, and the method includes:

According to the current performance requirements of the unmanned aerial vehicle system, determine the following strategy between the unmanned aerial vehicle and the pan/tilt through the first control device;

Control the UAV and the PTZ according to the following strategy;

The following strategy includes one of a first following strategy and a second following strategy, wherein:

Under the first following strategy, the unmanned aerial vehicle changes following the change of the attitude of the pan/tilt;

Under the second following strategy, the pan/tilt head changes following the attitude change of the drone.
The method according to claim 32, wherein the following strategy between the drone and the pan/tilt is determined by the first control device according to the current performance requirements of the unmanned aerial vehicle system ,include:

If the current performance requirements of the UAV system indicate that the importance of the first performance of the UAV system is higher than the importance of the second performance of the UAV system, it is determined by the first control device The following strategy between the drone and the pan/tilt is the first following strategy.
The method according to claim 32, wherein the following strategy between the drone and the pan/tilt is determined by the first control device according to the current performance requirements of the unmanned aerial vehicle system ,include:

If the current performance requirements of the UAV system indicate that the importance of the first performance of the UAV system is lower than the importance of the second performance of the UAV system, it is determined by the first control device The following strategy between the drone and the pan/tilt is the second following strategy.
The method according to claim 33 or 34, wherein the first performance includes the stability of the pan-tilt for shooting, and the second performance includes the safety of the drone.
The method according to claim 35, wherein the current performance requirement is determined according to the operating mode of the drone.
The method according to claim 36, wherein the operating mode includes one of a shooting mode, an obstacle avoidance mode, a return-to-home mode, and an automatic landing mode;

The shooting mode includes a first shooting mode, and when the operating mode is the first shooting mode or the obstacle avoidance mode, the stability of the camera for shooting is more important than the drone The importance of safety;

When the operation mode is the return-to-home mode or the automatic landing mode, the importance of the stability of the pan/tilt for shooting is lower than the importance of the safety of the drone.
The method according to claim 37, wherein the first shooting mode comprises at least one of a time-lapse photography mode, a one-button short film mode, a focus following mode, and a panoramic shooting mode; wherein:

The time-lapse photography mode is used to control the pan/tilt to control the shooting according to a preset shooting time interval;

The one-button short film mode is used to control the drone to operate in a preset flight mode, and generate a video with a duration less than the preset duration based on the images shot by the pan/tilt;

The focus following mode is used to track a target object, so that the target object is always in the image shot through the pan-tilt;

The panoramic shooting mode is used to control the pan-tilt to perform panoramic shooting.
The method of claim 38, wherein the time-lapse photography mode comprises at least one of a free time-lapse photography mode, a directional time-lapse photography mode, a surround time-lapse photography mode, and a trajectory time-lapse photography mode.
The method according to claim 36, wherein the action during the execution of the operating mode is an action automatically performed by the UAV system according to a preset rule; and/or

The actions during the execution of the operating mode include actions performed by the unmanned aerial vehicle system in accordance with the operation instructions sent by the remote control device of the unmanned aerial vehicle.
The method according to claim 36, wherein the following strategy between the drone and the pan/tilt is determined by the first control device according to the current performance requirements of the unmanned aerial vehicle system Before, it also included:

The operation mode of the drone is acquired through the first control device.
The method according to claim 41, wherein before acquiring the operating mode of the drone through the first control device, the method further comprises:

The control instruction sent by the control device of the drone is acquired through the first control device, wherein the control device of the drone can control the drone and the pan/tilt, and the control instruction is used for Instructs to control at least one of the drone and the pan/tilt;

The obtaining the operating mode of the drone through the first control device includes:

According to the control instruction, the operation mode of the drone is determined by the first control device.
The method according to claim 42, wherein the UAV system further comprises a second control device remote from the UAV, and the first control device is communicatively connected with the second control device.
The method according to claim 43, wherein the control instruction is automatically generated by the first control device and/or the control instruction is generated when a user operates the second control device.
The method according to claim 32, wherein the first control device is a navigation module of the drone.
The method according to claim 32, wherein the controlling the drone and the pan/tilt according to the following strategy comprises:

According to the following strategy, the drone and the pan/tilt are controlled by the first control device.
The method according to claim 32, wherein the following strategy between the drone and the pan/tilt is determined by the first control device according to the current performance requirements of the unmanned aerial vehicle system After that, it also includes:

If the following strategy is the first following strategy, sending first information to the drone, and sending second information to the pan/tilt;

The first information is used to instruct the drone to request the pan/tilt to follow the pan/tilt, and the second information is to instruct the pan/tilt to allow the drone to follow the pan/tilt. .
A control device for an unmanned aerial vehicle system, characterized in that the unmanned aerial vehicle system includes an unmanned aerial vehicle, a pan/tilt mounted on the unmanned aerial vehicle, and a first control device, and the device includes:

Storage device for storing program instructions; and

One or more processors call program instructions stored in the storage device, and when the program instructions are executed, the one or more processors are individually or collectively configured to implement the following operations:

According to the current performance requirements of the unmanned aerial vehicle system, determine the following strategy between the unmanned aerial vehicle and the pan/tilt through the first control device;

Control the UAV and the PTZ according to the following strategy;

The following strategy includes one of a first following strategy and a second following strategy, wherein:

Under the first following strategy, the unmanned aerial vehicle changes following the change of the attitude of the pan/tilt;

Under the second following strategy, the pan/tilt head changes following the attitude change of the drone.
The control device according to claim 48, wherein the one or more processors determine the relationship between the UAV and the UAV based on the current performance requirements of the UAV system through the first control device. When describing the follow strategy between PTZs, individually or collectively, they are further configured to implement the following operations:

If the current performance requirements of the UAV system indicate that the importance of the first performance of the UAV system is higher than the importance of the second performance of the UAV system, it is determined by the first control device The following strategy between the drone and the pan/tilt is the first following strategy.
The control device according to claim 48, wherein the one or more processors determine the relationship between the UAV and the UAV based on the current performance requirements of the UAV system through the first control device. When describing the follow strategy between PTZs, individually or collectively, they are further configured to implement the following operations:

If the current performance requirements of the UAV system indicate that the importance of the first performance of the UAV system is lower than the importance of the second performance of the UAV system, it is determined by the first control device The following strategy between the drone and the pan/tilt is the second following strategy.
The control device according to claim 49 or 50, wherein the first performance includes the stability of the pan-tilt for shooting, and the second performance includes the safety of the drone.
The control device according to claim 51, wherein the current performance requirement is determined according to the operating mode of the drone.
The control device according to claim 52, wherein the operation mode includes one of a shooting mode, an obstacle avoidance mode, a return-to-home mode, and an automatic landing mode;

The shooting mode includes a first shooting mode, and when the operating mode is the first shooting mode or the obstacle avoidance mode, the stability of the camera for shooting is more important than the drone The importance of safety;

When the operation mode is the return-to-home mode or the automatic landing mode, the importance of the stability of the pan/tilt for shooting is lower than the importance of the safety of the drone.
The control device according to claim 53, wherein the first shooting mode comprises at least one of a time-lapse photography mode, a one-button short film mode, a focus following mode, and a panoramic shooting mode; wherein:

The time-lapse photography mode is used to control the pan/tilt to control the shooting according to a preset shooting time interval;

The one-button short film mode is used to control the drone to operate in a preset flight mode, and generate a video with a duration less than the preset duration based on the images shot by the pan/tilt;

The focus following mode is used to track a target object, so that the target object is always in the image shot through the pan-tilt;

The panoramic shooting mode is used to control the pan-tilt to perform panoramic shooting.
The control device according to claim 54, wherein the time-lapse photography mode comprises at least one of a free time-lapse photography mode, a directional time-lapse photography mode, a surround time-lapse photography mode, and a trajectory time-lapse photography mode.
The control device according to claim 52, wherein the action during the execution of the operating mode is an action automatically performed by the UAV system according to a preset rule; and/or

The actions during the execution of the operating mode include actions performed by the unmanned aerial vehicle system in accordance with the operation instructions sent by the remote control device of the unmanned aerial vehicle.
The control device according to claim 52, wherein the one or more processors determine the relationship between the UAV and the UAV based on the current performance requirements of the UAV system through the first control device. Before the following strategy between the pan-tilts is described, individually or collectively, it is also configured to implement the following operations:

The operation mode of the drone is acquired through the first control device.
The control device according to claim 57, wherein the one or more processors are individually or collectively further configured to Used to implement the following operations:

The control instruction sent by the control device of the drone is acquired through the first control device, wherein the control device of the drone can control the drone and the pan/tilt, and the control instruction is used for Instructs to control at least one of the drone and the pan/tilt;

When the one or more processors acquire the operating mode of the drone through the first control device, they are individually or collectively also configured to perform the following operations:

According to the control instruction, the operation mode of the drone is determined by the first control device.
The control device according to claim 58, wherein the UAV system further comprises a second control device remote from the UAV, and the first control device is in communication connection with the second control device .
The control device according to claim 59, wherein the control instruction is automatically generated by the first control device and/or the control instruction is generated when a user operates the second control device.
The control device according to claim 48, wherein the first control device is a navigation module of the drone.
The control device according to claim 48, wherein the one or more processors are individually or jointly controlled by the UAV and the PTZ according to the following strategy. It is further configured to implement the following operations:

According to the following strategy, the drone and the pan/tilt are controlled by the first control device.
The control device according to claim 48, wherein the one or more processors determine the relationship between the UAV and the UAV based on the current performance requirements of the UAV system through the first control device. After the follow-up strategy between the pan-tilts is described, individually or collectively, it is also configured to implement the following operations:

If the following strategy is the first following strategy, sending first information to the drone, and sending second information to the pan/tilt;

The first information is used to instruct the drone to request the pan/tilt to follow the pan/tilt, and the second information is to instruct the pan/tilt to allow the drone to follow the pan/tilt. .
An unmanned aerial vehicle system, characterized in that the unmanned aerial vehicle system includes:

Drone

The gimbal mounted on the UAV; and

The control device of the unmanned aerial vehicle system according to any one of claims 48 to 63, which is respectively communicatively connected to the unmanned aerial vehicle and the platform, and the control device of the unmanned aerial vehicle system includes the unmanned aerial vehicle mounted on the unmanned aerial vehicle. The first control device on board.