CN104932286A - Nacelle three-dimensional dynamic model and control method - Google Patents

Abstract

The invention discloses a three-dimensional dynamic model of a pod and a control method, wherein the three-dimensional dynamic model of the pod includes: a three-dimensional model of the pod, and the structure of the three-dimensional model of the pod corresponds to the structure of the pod entity; A data communication unit, the data communication unit can obtain the motion parameters of the pod entity; a drive unit, the drive unit can drive the three-dimensional model of the pod to move based on the motion parameters, so that the three-dimensional model of the pod The motion state of is consistent with the motion state of the pod entity. In the present invention, the motion state of the three-dimensional model of the pod is consistent with the motion state of the pod entity through the drive unit, and then realizes the synchronous movement of the three-dimensional model of the pod and the entity of the pod, so that the three-dimensional model of the pod can be intuitively judged The real-time state of the pod entity, such as visually judging the position state of the pod entity relative to the target, realizes the purpose of the present invention.

Description

Three-dimensional dynamic model and control method of a pod

technical field

The invention relates to the technical field of pod models, in particular to a three-dimensional dynamic model of a pod and a control method.

Background technique

With the development of science and technology, small general-purpose pods, as a kind of mission equipment for aircraft, are increasingly widely used in the field of aerial photography.

At present, when a small UAV equipped with a pod is controlled, it mainly uses the mission equipment on the pod to shoot the target and complete the shooting task. Intuitively judge the location information status of the target.

Contents of the invention

The purpose of the present invention is to provide a three-dimensional dynamic model and control method of the pod to solve the technical problem in the prior art that the real-time status of the pod cannot be judged intuitively.

The invention provides a three-dimensional dynamic model of a gondola, comprising:

A three-dimensional model of the pod, the structure of the three-dimensional model of the pod corresponds to the structure of the pod entity;

a data communication unit, the data communication unit is capable of acquiring motion parameters of the pod entity;

A driving unit, the driving unit can drive the three-dimensional pod model to move based on the motion parameters, so that the motion state of the three-dimensional pod model is consistent with the motion state of the pod entity.

The above-mentioned three-dimensional dynamic model, preferably, the three-dimensional model of the pod includes:

pod rack;

a spherical body connected to said pod frame;

A mission equipment mount coupled to the spherical body.

The above three-dimensional dynamic model, preferably:

The spherical body can be driven by the drive unit to perform horizontal rotation based on the horizontal rotation angle parameter in the motion parameters, so that the motion state of the spherical body is consistent with the motion state of the spherical body in the pod entity .

For the above three-dimensional dynamic model, preferably, the range of the horizontal rotation angle of the spherical body is: 0 to 360 degrees.

The above three-dimensional dynamic model, preferably:

The task equipment installation frame can be driven by the drive unit to perform pitch and deflection motion based on the pitch motion angle parameter in the motion parameters, so that the motion state of the task equipment installation frame is consistent with the task equipment in the pod entity The motion state of the mounting frame is consistent.

For the above-mentioned three-dimensional dynamic model, preferably, the range of the pitch deflection angle of the mission equipment mounting frame is: -60° to 20° taking the line connecting the pod frame and the mission equipment mounting frame as the center line.

The above three-dimensional dynamic model, preferably, the data communication unit includes:

A data receiving module, configured to receive the motion parameter data packet of the pod entity;

A data decoding module, configured to decode the motion parameter data packet to obtain the motion parameters of the pod entity;

The parameter transmission module is used to transmit the motion parameters to the drive unit.

The present invention also provides a control method applied to the three-dimensional model of the pod, the structure of the three-dimensional model of the pod corresponds to the structure of the pod entity, and the method includes:

Acquiring motion parameters of the pod entity;

The three-dimensional pod model is controlled to move based on the motion parameters, so that the motion state of the three-dimensional pod model is consistent with the motion state of the pod entity.

In the above method, preferably, the acquisition of the motion parameters of the pod entity includes:

receiving a motion parameter data packet of the pod entity;

Decoding the motion parameter data packet to obtain the motion parameters of the pod entity.

In the above method, preferably, the controlling the three-dimensional model of the pod to move based on the motion parameters includes:

controlling the spherical body in the three-dimensional model of the pod to rotate horizontally based on the horizontal rotation angle parameter in the motion parameters, so that the motion state of the spherical body is consistent with the motion state of the spherical body in the pod entity;

And based on the pitch motion angle parameter in the motion parameters, the mission equipment mounting frame in the three-dimensional model of the pod is controlled to perform a pitch and deflection motion, so that the motion state of the mission equipment mounting frame is consistent with the mission equipment installation in the pod entity. The motion state of the frame is consistent.

It can be seen from the above scheme that in the three-dimensional dynamic model and control method of a pod provided by the present invention, two units are set on the three-dimensional model of the pod corresponding to the solid structure of the pod: a data communication unit and a drive unit, and then , after using the data communication unit to obtain the motion parameters of the pod entity, the driving unit is used to drive the three-dimensional model of the pod to move, so that the motion state of the three-dimensional model of the pod is consistent with the motion state of the pod entity, and then the three-dimensional model of the pod is realized Synchronous movement with the pod entity, thus, the real-time state of the pod entity can be intuitively judged through the three-dimensional model of the pod in the present invention, such as intuitively judging the position state of the pod entity relative to the target, etc., to realize the present invention Purpose.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only It is an embodiment of the present invention, and those skilled in the art can also obtain other drawings according to the provided drawings without creative work.

Fig. 1 is the structural schematic diagram of embodiment 1 of the three-dimensional dynamic model of a kind of pod provided by the present invention;

Fig. 2a, Fig. 2b and Fig. 2c are respectively the structural schematic diagrams of the second embodiment of the three-dimensional dynamic model of a pod provided by the present invention;

Fig. 3 is the partial structural representation of the three-dimensional dynamic model of a kind of pod provided by the present invention;

Fig. 4 is a flowchart of Embodiment 4 of a control method provided by the present invention;

Fig. 5 is a partial flowchart of Embodiment 5 of a control method provided by the present invention;

FIG. 6 is a partial flowchart of Embodiment 6 of a control method provided by the present invention.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only some, not all, embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Referring to FIG. 1 , it is a schematic structural diagram of Embodiment 1 of a three-dimensional dynamic model of a pod provided by the present invention, wherein the three-dimensional dynamic model of the pod can provide users with real-time status information of the pod entity, such as the pod The position information status of the pod entity relative to the target, etc. Specifically, the three-dimensional dynamic model of the pod can realize its function through the following structure:

The pod three-dimensional model 1, the structure of the pod three-dimensional model 1 corresponds to the structure of the pod entity.

That is to say, the pod three-dimensional model 1 is a simulated three-dimensional structural model of the pod entity, which can represent the appearance characteristics and structural composition of the pod entity.

Specifically, the three-dimensional model 1 of the pod can be realized by a three-dimensional simulation model, and presented in the form of a three-dimensional picture, such as displayed in the display area of a display device, to intuitively reflect the appearance characteristics and structural composition of the pod entity.

The data communication unit 2 connected to the pod three-dimensional model 1, the data communication unit 2 can obtain the motion parameters of the pod entity.

Wherein, the movement parameters of the pod entity may include information such as position information, moving direction, and movement speed of the pod entity relative to the target, and the movement parameters can indicate the movement state of the pod entity.

It should be noted that the data communication unit 2 can obtain the movement parameters of the pod entity through the carrier of this embodiment, such as a wireless data interface on an electronic device such as a server or a computer.

A drive unit 3 connected to the three-dimensional pod model 1, the drive unit 3 can drive the three-dimensional pod model 1 to move based on the motion parameters, so that the motion state of the three-dimensional pod model 1 is consistent with the three-dimensional model of the pod 1 The motion state of the above-mentioned pod entity is consistent.

Wherein, as mentioned above, the motion parameter can indicate the motion state of the pod entity. In this embodiment, the driving unit 3 is used to drive the pod three-dimensional model 1 to move based on the motion parameter, In order to make the motion state of the three-dimensional pod model 1 correspond to the motion parameters, so that the motion state of the three-dimensional pod model 1 is consistent with the motion state of the pod entity, thereby realizing the pod The three-dimensional model 1 moves synchronously with the pod entity.

It should be noted that the driving unit 3 driving the three-dimensional pod model 1 to move based on the motion parameters includes: driving the three-dimensional pod model 1 to move as a whole based on the motion parameters, and, based on the The motion parameters drive the respective components in the three-dimensional pod model 1 to move accordingly, so that the motion state of the three-dimensional pod model 1 is consistent with the pod entity.

It can be seen from the above scheme that in Embodiment 1 of a three-dimensional dynamic model of a pod provided by the present invention, two units are set on the three-dimensional model of the pod corresponding to the solid structure of the pod: a data communication unit and a drive unit, and then , after using the data communication unit to obtain the motion parameters of the pod entity, the driving unit is used to drive the three-dimensional model of the pod to move, so that the motion state of the three-dimensional model of the pod is consistent with the motion state of the pod entity, and then the three-dimensional model of the pod is realized Synchronous movement with the pod entity, thus, the real-time state of the pod entity can be intuitively judged through the pod three-dimensional model in this embodiment, such as the position state of the pod entity relative to the target, etc., to realize this Example purpose.

Referring to Fig. 2a, it is a schematic structural diagram of a second embodiment of a three-dimensional dynamic model of a pod provided by the present invention, wherein the three-dimensional model 1 of the pod may include the following structures:

Pod rack 4.

Wherein, the pod frame 4 is used to fix the three-dimensional pod model 1 on a drone model or other equipment carrying the three-dimensional pod model 1 .

The spherical main body 5 connected with the pod frame 4 .

Wherein, the spherical body 5 can be horizontally rotated based on the horizontal rotation angle parameter in the motion parameters driven by the drive unit 3, as shown in FIG. 2b, so that the motion state of the spherical body 5 is consistent with The motion state of the spherical body in the pod entity is consistent. For example, when the horizontal rotation angle parameter in the motion parameters indicates the horizontal rotation angle a of the spherical body in the pod entity, in this embodiment, the drive unit 3. Drive the spherical body 5 in the three-dimensional pod model 1 to rotate horizontally by an angle a, so that the motion state of the spherical body 5 in the three-dimensional pod model 1 is consistent with the motion state of the spherical body in the pod entity .

It should be noted that the horizontal rotation angle range of the spherical body in the pod entity is: 0 to 360 degrees. Correspondingly, in this embodiment, the horizontal rotation angle range of the spherical body 5 in the pod three-dimensional model 1 Likewise: 0 to 360 degrees.

A task equipment mounting frame 6 connected to the spherical main body 5 .

Wherein, the task equipment mounting frame 6 can be driven by the drive unit 3 to perform a pitching and deflection motion based on the pitch motion angle parameter in the motion parameters, so that the motion state of the task equipment mounting frame 6 is consistent with the movement state of the crane. The motion state of the mission equipment installation frame in the cabin entity is consistent. For example, when the pitching angle parameter in the motion parameters indicates the pitching deflection angle b of the task equipment mounting frame in the pod entity, in this embodiment, the drive unit 3 is used to drive the three-dimensional model 1 of the pod. The mission equipment mounting frame 6 also pitches and deflects by an angle b, so that the motion state of the mission equipment mounting frame in the three-dimensional pod model 1 is consistent with the motion state of the mission equipment mounting frame in the pod entity.

It should be noted that the pitch deflection angle range of the mission equipment mounting frame in the pod entity is: -60 degrees to 20 degrees (or +20 degrees to -60 degrees), where the positive and negative "+", "-" It is relative to the plus or minus of the center line of the pod frame and the center of the spherical main body in the pod entity. Correspondingly, the range of the pitch deflection angle of the task equipment mounting frame 6 in the pod three-dimensional model 1 is: The connecting line between the pod frame and the mission equipment mounting frame in the three-dimensional model of the pod is -60° to 20° of the center line.

Referring to Fig. 3, it is a schematic structural diagram of the data communication unit 2 in the three-dimensional dynamic model of a pod provided by the present invention, and the data communication unit 2 can be realized by the following structure:

The data receiving module 7 is used for receiving the motion parameter data packet of the pod entity.

Wherein, the data receiving module 7 can receive the motion parameter data packet of the pod entity through the carrier of the three-dimensional dynamic model, such as a wireless data interface on an electronic device such as a server or a computer.

The data decoding module 8 is configured to decode the motion parameter data packet to obtain the motion parameters of the pod entity.

Specifically, the data decoding module 8 extracts the motion parameters of the pod entity in the data packets by decoding and separating the motion parameter data packets.

It should be noted that the data format of the motion parameters at this time may not correspond to the three-dimensional dynamic model 1. For example, the drive unit 3 cannot recognize the motion parameters at this time. Therefore, in this embodiment, the After the data decoding module 8 obtains the motion parameters, it performs data format conversion on the motion parameters, so as to obtain motion parameters that can be recognized by the drive unit 3 .

The parameter transmission module 9 is configured to transmit the motion parameters to the drive unit 3 .

Thus, the drive unit 3 can drive the three-dimensional pod model 1 to move based on the motion parameters, so that the motion state of the three-dimensional pod model 1 is consistent with the motion state of the pod entity, realizing the The three-dimensional pod model 1 moves synchronously with the pod entity, and the movement state of the pod entity is intuitively displayed through the three-dimensional pod model 1 .

Referring to FIG. 4 , it is a flow chart of Embodiment 4 of a control method provided by the present invention, wherein the control method is applied to the three-dimensional model of the pod, and the structure of the three-dimensional model of the pod corresponds to the structure of the pod entity, That is to say, the three-dimensional model of the pod is a simulated three-dimensional structure model of the entity of the pod, which can show the appearance characteristics and structural composition of the entity of the pod. Specifically, the three-dimensional model of the pod can be The simulation model is realized and presented in the form of a three-dimensional picture, which intuitively reflects the appearance characteristics and structural composition of the pod entity.

In this embodiment, the control method can be implemented through the following steps:

Step 401: Obtain the motion parameters of the pod entity.

Wherein, the movement parameters of the pod entity may include information such as position information, moving direction, and movement speed of the pod entity relative to the target, and the movement parameters can indicate the movement state of the pod entity.

It should be noted that, in this embodiment, the motion parameters of the pod entity can be acquired through the carrier of the pod three-dimensional model, such as a wireless data interface on an electronic device such as a server or a computer.

Step 402: Control the three-dimensional pod model to move based on the motion parameters, so that the motion state of the three-dimensional pod model is consistent with the motion state of the pod entity.

Wherein, as mentioned above, the motion parameter can indicate the motion state of the pod entity. In this embodiment, the three-dimensional model of the pod is driven to move based on the motion parameter, so that the movement of the three-dimensional model of the pod The state corresponds to the motion parameter, so that the motion state of the three-dimensional pod model is consistent with the motion state of the pod entity, thereby realizing the synchronous motion of the three-dimensional pod model and the pod entity.

It should be noted that, in this embodiment, driving the three-dimensional pod model 1 to move based on the motion parameters includes: driving the three-dimensional pod model to move as a whole based on the motion parameters, and, based on the motion The parameters drive each component structure in the three-dimensional pod model to perform corresponding movements, so that the motion state of the three-dimensional pod model is consistent with the pod entity.

It can be seen from the above scheme that in Embodiment 4 of a control method provided by the present invention, after acquiring the motion parameters of the pod entity, the three-dimensional model of the pod is driven to move based on the motion parameters, so that the motion state of the three-dimensional model of the pod is It is consistent with the motion state of the pod entity, and then realizes the synchronous movement of the pod 3D model and the pod entity. Therefore, the real-time state of the pod entity can be intuitively judged through the pod 3D model in this embodiment, such as The purpose of this embodiment is achieved by intuitively judging the position and state of the pod entity relative to the target.

It should be noted that, for the specific implementation structure of the three-dimensional pod model, reference may be made to the content of the corresponding three-dimensional pod model in the foregoing embodiments, which will not be described in detail here.

Referring to FIG. 5 , it is a flow chart of implementing step 401 in Embodiment 5 of a control method provided by the present invention, wherein, step 401 can be realized by the following steps:

Step 411: Receive the motion parameter data packet of the pod entity.

Wherein, in this embodiment, the motion parameter data packet of the pod entity can be received through the carrier of the three-dimensional dynamic model, such as a wireless data interface on an electronic device such as a server or a computer.

Step 412: Decode the motion parameter data packet to obtain the motion parameters of the pod entity.

Specifically, in this embodiment, the motion parameters of the pod entity in the data packet can be extracted by performing operations such as decryption and classification on the motion parameter data packet.

It should be noted that the data format of the motion parameters may not correspond to the 3D dynamic model. For example, the 3D model of the pod in the 3D dynamic model cannot recognize the motion parameters at this time. Therefore, this embodiment After obtaining the motion parameters, data format conversion may be performed on the motion parameters to obtain motion parameters that can be recognized by the three-dimensional model of the pod.

Referring to FIG. 6 , it is a flow chart of implementing step 402 in Embodiment 6 of a control method provided by the present invention, wherein, step 402 can be realized by the following steps:

Step 421: Control the spherical body in the three-dimensional model of the pod to rotate horizontally based on the horizontal rotation angle parameter in the motion parameters, so that the motion state of the spherical body is consistent with the motion state of the spherical body in the pod entity. unanimous.

For example, when the horizontal rotation angle parameter in the motion parameters indicates the horizontal rotation angle a of the spherical body in the pod entity, in this embodiment, the spherical body in the three-dimensional model of the pod is controlled to also horizontally rotate the angle a, so that The motion state of the spherical body in the pod three-dimensional model is consistent with the motion state of the spherical body in the pod entity.

It should be noted that the horizontal rotation angle range of the spherical body in the pod entity is: 0 to 360 degrees. Correspondingly, in this embodiment, the horizontal rotation angle range of the spherical body in the pod three-dimensional model is also : 0 to 360 degrees.

Step 422: Based on the pitch motion angle parameter in the motion parameters, control the mission equipment mounting frame in the three-dimensional model of the pod to perform a pitch and deflection motion, so that the motion state of the mission equipment mounting frame is consistent with the task in the pod entity. The motion state of the equipment mounting frame is consistent.

For example, when the pitch motion angle parameter in the motion parameters indicates the pitch deflection angle b of the mission equipment installation frame in the pod entity, in this embodiment, the mission equipment installation frame in the three-dimensional model of the pod is controlled to also pitch deflection The angle b is such that the motion state of the task equipment mounting frame in the pod three-dimensional model is consistent with the motion state of the mission equipment mounting frame in the pod entity.

It should be noted that the pitch deflection angle range of the mission equipment mounting frame in the pod entity is: -60 degrees to 20 degrees (or +20 degrees to -60 degrees), where the positive and negative "+", "-" It is relative to the positive and negative of the center line of the pod frame and the center of the spherical main body in the pod entity. Correspondingly, the pitch deflection angle range of the task equipment mounting frame in the pod three-dimensional model is: The connecting line between the pod frame and the mission equipment mounting frame in the three-dimensional model of the cabin is -60 degrees to 20 degrees from the center line.

It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments. For the same and similar parts in each embodiment, refer to each other, that is, Can.

Finally, it should also be noted that the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements, but also Other elements not expressly listed, or inherent to the process, method, article, or apparatus are also included. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.

The three-dimensional dynamic model and control method of a pod provided by this application have been introduced in detail above. In this paper, specific examples have been used to illustrate the principle and implementation of this application. The description of the above embodiments is only used to help understanding The method of this application and its core idea; at the same time, for those of ordinary skill in the art, according to the idea of this application, there will be changes in the specific implementation and scope of application. In summary, the content of this specification should not understood as a limitation of the application.

Claims (10)

1. a Three-Dimensional Dynamic model for gondola, is characterized in that, comprising:

Gondola three-dimensional model, the structure of described gondola three-dimensional model is corresponding with the structure of gondola entity;

Data communication units, described data communication units can obtain the kinematic parameter of described gondola entity;

Driver element, described driver element can drive described gondola three-dimensional model to move based on described kinematic parameter, makes the motion state of described gondola three-dimensional model consistent with the motion state of described gondola entity.

2. Three-Dimensional Dynamic model according to claim 1, is characterized in that, described gondola three-dimensional model comprises:

Gondola frame;

The spherical main be connected with described gondola frame;

The task device erecting frame be connected with described spherical main.

3. Three-Dimensional Dynamic model according to claim 2, is characterized in that:

Described spherical main can horizontally rotate based on the angle parameter that horizontally rotates in described kinematic parameter under the driving of described driver element, makes the motion state of described spherical main consistent with the motion state of spherical main in described gondola entity.

4. Three-Dimensional Dynamic model according to claim 3, is characterized in that, the horizontal rotation angle scope of described spherical main is: 0 to 360 degree.

5. the Three-Dimensional Dynamic model according to claim 2,3 or 4, is characterized in that:

Described task device erecting frame can carry out pitching yaw motion based on the luffing angle parameter in described kinematic parameter under the driving of described driver element, makes the motion state of described task device erecting frame consistent with the motion state of task device erecting frame in described gondola entity.

6. Three-Dimensional Dynamic model according to claim 5, is characterized in that, the pitching range of deflection angles of described task device erecting frame is: centered by line between described gondola frame and task device erecting frame ,-60 of line spend to 20 degree.

7. Three-Dimensional Dynamic model according to claim 1, is characterized in that, described data communication units comprises:

Data reception module, for receiving the motion parameter data bag of described gondola entity;

Data decode module, for decoding to described motion parameter data bag, to obtain the kinematic parameter of described gondola entity;

Parameter transmission module, for being sent to described driver element by described kinematic parameter.

8. a control method, is characterized in that, is applied to gondola three-dimensional model, and the structure of described gondola three-dimensional model is corresponding with the structure of gondola entity, and described method comprises::

Obtain the kinematic parameter of described gondola entity;

Control described gondola three-dimensional model based on described kinematic parameter to move, make the motion state of described gondola three-dimensional model consistent with the motion state of described gondola entity.

9. method according to claim 8, is characterized in that, the kinematic parameter of the described gondola entity of described acquisition, comprising:

Receive the motion parameter data bag of described gondola entity;

Described motion parameter data bag is decoded, to obtain the kinematic parameter of described gondola entity.

10. method according to claim 8, is characterized in that, describedly controls described gondola three-dimensional model based on described kinematic parameter and moves, and comprising:

Horizontally rotate based on the spherical main that angle parameter controls in described gondola three-dimensional model that horizontally rotates in described kinematic parameter, make the motion state of described spherical main consistent with the motion state of spherical main in described gondola entity;

And carry out pitching yaw motion based on the task device erecting frame that the luffing angle parameter in described kinematic parameter controls in described gondola three-dimensional model, make the motion state of described task device erecting frame consistent with the motion state of task device erecting frame in described gondola entity.