WO2021102645A1

WO2021102645A1 - Gimbal control method, gimbal, unmanned aerial vehicle, and storage medium

Info

Publication number: WO2021102645A1
Application number: PCT/CN2019/120686
Authority: WO
Inventors: 王文杰; 苏铁
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-11-25
Filing date: 2019-11-25
Publication date: 2021-06-03
Also published as: CN112292320A

Abstract

A gimbal control method, a gimbal, an unmanned aerial vehicle, and a storage medium. The method comprises: obtaining the operation state information of the gimbal in a preset detection time period (S201); determining, according to the operation state information, whether control parameters of the gimbal match the load configured on the gimbal (S202); and if the control parameters of the gimbal do not match the load configured on the gimbal, determining that the load configured on the gimbal is changed (S203). By obtaining the operation state information of the gimbal, determining, according to the operation state information, whether the control parameters of the gimbal match the load configured on the gimbal, and if the control parameters of the gimbal do not match the load configured on the gimbal, accurately and effectively determining that the load configured on the gimbal is changed, the gimbal can automatically recognize whether the load is changed, thereby improving the timeliness and reliability of the recognition of the matching degree between the load and the gimbal, and improving the stability and reliability of the gimbal control.

Description

Control method of gimbal, gimbal, unmanned aerial vehicle and storage medium

Technical field

The embodiment of the present invention relates to the technical field of a pan/tilt, in particular to a method for controlling a pan/tilt, a pan/tilt, an unmanned aerial vehicle, and a storage medium.

Background technique

The variable load stabilizer can adapt to different loads, for example: various camera and lens combinations, etc., the difference in size, quality, and different installation positions and structural stress states will lead to different dynamic models Parameters and frequency response characteristics. When the stabilizer is working, it is often through manual operation to identify whether the load on the stabilizer has been replaced, and when the user neglects this operation, it will cause the stabilizer to still adopt unified control parameters to the stabilizer after the load is replaced. For control, it will not be able to adapt to the load changes well, which will affect the stability enhancement performance of the stabilizer.

Summary of the invention

The embodiment of the present invention provides a pan/tilt control method, a pan/tilt, an unmanned aerial vehicle, and a storage medium, which are used to solve the problem of identifying whether the load on the stabilizer has been replaced through manual operation in the prior art, and After the load is replaced, when the stabilizer is controlled by unified control parameters, it affects the stability enhancement performance of the stabilizer.

The first aspect of the present invention is to provide a method for controlling a PTZ, including:

Obtain the operating status information of the PTZ in the preset detection time period;

Determining whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating status information;

When the control parameter of the pan/tilt does not match the load set on the pan/tilt, it is determined that the load set on the pan/tilt is replaced.

The second aspect of the present invention is to provide a pan-tilt, including:

Memory, used to store computer programs;

The processor is configured to run a computer program stored in the memory to realize:

The third aspect of the present invention is to provide a handheld PTZ, including:

Handheld

The pan-tilt described in the second aspect is installed on the hand-held part.

The fourth aspect of the present invention is to provide an unmanned aerial vehicle, including:

body;

A power system installed on the fuselage and used to provide power for the unmanned aerial vehicle;

The pan/tilt head described in the above second aspect is mounted on the fuselage.

The fifth aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the first aspect. The control method of the PTZ described above.

The control method of the pan/tilt, the pan/tilt, the unmanned aerial vehicle, and the storage medium provided by the embodiment of the present invention can identify the control parameters of the pan/tilt and the load set on the pan/tilt by acquiring the operating state information of the pan/tilt. Whether it matches or not, when the control parameters of the pan/tilt do not match the load set on the pan/tilt, it can be accurately and effectively determined that the load set on the pan/tilt has been replaced, effectively realizing automatic identification of the load on the pan/tilt. Whether the replacement process occurs, improves the timeliness and reliability of the recognition of the matching degree between the load and the pan/tilt, and is conducive to the stability and reliability of the control of the pan/tilt, and further improves the practicability of the method, which is beneficial to the market Promotion and application.

Description of the drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:

Figure 1 is a schematic diagram of the principle of a stabilizer provided by an embodiment of the present invention;

FIG. 2 is a schematic flowchart of a method for controlling a PTZ according to an embodiment of the present invention;

FIG. 3 is a schematic flowchart of another method for controlling a PTZ according to an embodiment of the present invention;

4 is a schematic flowchart of another method for controlling a pan/tilt head according to an embodiment of the present invention;

FIG. 5 is a schematic diagram 1 of a process for detecting whether the pan-tilt meets preset conditions according to an embodiment of the present invention;

6 is a schematic diagram of a process of identifying whether the pan/tilt is in a stationary state according to the acceleration information according to an embodiment of the present invention;

FIG. 7 is a second schematic diagram of a process for detecting whether the pan-tilt meets preset conditions according to an embodiment of the present invention;

FIG. 8 is a schematic diagram 1 of the process of determining whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating status information according to an embodiment of the present invention;

FIG. 9 is a second schematic diagram of the process of determining whether the control parameters of the pan/tilt and the load set on the pan/tilt match according to the operating state information according to an embodiment of the present invention;

FIG. 10 is a schematic diagram 3 of the process of determining whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating state information according to an embodiment of the present invention;

FIG. 11 is a schematic flow chart of torque jump detection provided by an application embodiment of the present invention;

FIG. 12 is a schematic diagram of a flow chart of the self-tuning operation of the control parameters provided by the application embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a pan-tilt according to an embodiment of the present invention;

Figure 14 is a schematic structural diagram of a handheld pan/tilt provided by an embodiment of the present invention;

FIG. 15 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

In order to understand the specific implementation process of the technical solution in this embodiment, first, the working principle of the stabilizer will be described with reference to Figure 1. Specifically, the actual posture of the camera device is detected first, and the actual posture is compared with the target posture to obtain Control deviation; then perform negative feedback control according to the control deviation, determine the motor torque in the stabilizer based on the control deviation, and then send the motor torque to the motor in the stabilizer to reduce the control deviation and ensure the actual posture and target posture of the camera equipment The deviation is as small as possible, so that the image captured by the camera device is as stable as possible, or the actual posture of the camera device is as close as possible to the target posture and the shooting is performed in the target posture.

In specific applications, the stabilizer can be adapted to different loads, such as: various camera and lens combinations, etc., the difference in size and quality, and different installation positions and structural stress conditions will lead to different dynamics Model parameters and frequency response characteristics. After the load is replaced, if the stabilizer still uses uniform control parameters to control the stabilizer, it will not be able to adapt to the load change well, which will affect the control performance of the stabilizer. That is, the change of the load will affect the change of the control performance of the pan-tilt, for example, the decrease of the control performance.

At present, for the variable load stabilizer, the adaptation methods of its control parameters include the following types:

1. The stabilizer with non-adjustable control parameters can only adapt to loads within a certain shape and weight range. If it exceeds the rated range, it cannot achieve a better control effect.

2. The control parameters of the stabilizer selected according to the high, medium and low gears (or more gears) require the user to judge and select the controlled gear, and the choice is small.

3. You can manually adjust the control parameters, such as the strength and strength of the stabilizer. The user needs to subjectively adjust the strength of the motor and the response speed of the load pose according to the shape, weight, and actual control effect of the load to achieve better Control effect.

4. For the stabilizer with self-tuning control parameters, the user can manually trigger the function after changing the load; among them, the self-tuning of control parameters refers to the identification of the model parameters of the controlled object, the combination of the stabilizer and the camera, through the method of system identification. , Adjust the configuration of control parameters according to the identified model, so that the stabilizer can achieve good control performance when adapting to different loads.

For the above four control methods, the second, third, and fourth adjustment methods mentioned above have a larger load range supported by the method. However, after the load is replaced, the user needs to determine the load replacement and choose the control independently. Parameters, or the function of controlling parameter self-tuning triggered by the user.

Therefore, timely and accurate identification of the stabilizer replacement load, and adaptive adjustment of the stabilizer control parameters are important for improving the reliability of the stabilizer, increasing the stability, extending the service life, protecting the load from damage, and improving the user experience. Meaning.

Among them, it has been found that the change of the load can be reflected by the change of the control parameter, that is, the control parameter may not change when the load is not changed. The effect of the control performance of the stabilizer can be reflected by the strength of the control parameters. For example, for the stabilizer, when the control parameter of the stabilizer is too weak, the control error of the stabilizer is too large, and the stability enhancement effect becomes poor or The shooting pose cannot meet expectations; when the control parameters of the stabilizer are too strong, it will cause the stabilizer to shake, which will cause abnormal output of the motor on the stabilizer. The above two problems are problems that can affect the normal use of the stabilizer, and jitter will affect the reliability of the load. Therefore, the change of the control parameter can be identified through the association of the control parameter and the operating state information of the stabilizer, and then the change of the load can be identified.

In the following, some embodiments of the present invention will be described in detail with reference to the accompanying drawings. As long as there is no conflict between the embodiments, the following embodiments and the features in the embodiments can be combined with each other.

Figure 2 is a schematic flow chart of a method for controlling a pan/tilt head provided by an embodiment of the present invention; referring to FIG. 2, in order to solve the above problem, taking the pan/tilt head as a stabilizer as an example, this embodiment provides a pan/tilt head This method can solve the problems caused by the mismatch between the pan/tilt parameters and the load after the variable load stabilizer changes the load, such as the large control error and pan/tilt jitter caused by the mismatch of the control parameters and the load. Specifically, the method may include:

S201: Obtain the operating state information of the pan/tilt during a preset detection time period.

For the pan/tilt, its operating state may include: shutdown state, power-on state, working state, sleep state, and wake-up state; the detection time period in this embodiment may be the time period after the pan/tilt is in the preset working state. When the time, the preset working state may include at least one of the following: a power-on state and a wake-up state. In addition, this embodiment does not limit the length of the detection time period. Those skilled in the art can set it according to specific application scenarios and design requirements. For example, the detection time period may be 5 min, 10 min, 15 min, or 30 min.

After the pan/tilt is in the preset working state, the operating state information of the pan/tilt may be acquired within the preset detection time period, and the operating state information may include at least one of the following: the control error of the pan/tilt in at least one direction, and The operating parameters corresponding to the force information of the motor on the pan/tilt. Among them, the operating parameters include at least one of the following: output torque information and torque frequency spectrum information.

It is understandable that the operating status information in this example is not limited to the above examples, and may also include other information, such as current information, voltage information, output torque information, etc. corresponding to the motor on the pan/tilt. Personnel can set different operating status information according to specific application requirements, which will not be repeated here.

S202: Determine whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating status information.

After the operating status information is obtained, the operating status information can be analyzed and processed, so as to determine whether the control parameters of the pan/tilt match the load set on the pan/tilt, wherein the control parameters may include at least one of the following: The strength information of the upper motor, the response speed to the load pose, and the configuration parameters of the filter on the pan/tilt. Specifically, this embodiment does not limit the specific implementation method for determining whether the control parameters of the pan/tilt are matched with the load set on the pan/tilt based on the operating status information. Those skilled in the art can perform this according to specific application requirements and design requirements. Setting, for example: when the operating status information includes the control error of the pan/tilt in at least one direction, the control error can be compared with a preset threshold, and when the control error is greater than the preset threshold, the control parameters of the pan/tilt can be determined The load set on the pan/tilt does not match, and when the control error is less than or equal to the preset threshold, it can be determined that the control parameter of the pan/tilt matches the load set on the pan/tilt.

Of course, those skilled in the art can also use other methods to determine whether the control parameters of the pan/tilt match the load set on the pan/tilt, as long as the control parameters of the pan/tilt and the load set on the pan/tilt can be guaranteed. It is sufficient to match the accuracy and reliability of the analysis and processing, and will not be repeated here.

S203: When the control parameter of the pan/tilt does not match the load set on the pan/tilt, it is determined that the load set on the pan/tilt is replaced.

When the control parameters of the pan/tilt do not match the load set on the pan/tilt, it can be determined that the load set on the pan/tilt has been replaced, and the changed load and the control parameters of the pan/tilt are not compatible with each other. As for the pan/tilt, if the historical control parameters are used to control the pan/tilt, the control performance of the pan/tilt does not meet the expected conditions, for example, it will decrease. Specifically, the performance of the control performance degradation may include: control parameters are too weak and control parameters are too strong, when the control parameters are too weak, the control error of controlling the pan/tilt will be larger; when the control parameters are too strong, it is easy to cause cloud Station jitter, thereby reducing the stability and reliability of load work. Wherein, the change of the load on the pan/tilt may include, but is not limited to, changing from one load to another load, or changing the installation position, size, structure, etc. of the same load.

Specifically, when the control parameters of the pan/tilt do not match the load set on the pan/tilt, the pan/tilt may be self-tuning, or the user may be prompted to perform a tuning operation on the pan/tilt, so that the control parameters of the pan/tilt are in line with the load set on the pan/tilt. Load matching set on the pan/tilt.

The control method of the pan/tilt provided in this embodiment can identify whether the control parameters of the pan/tilt match the load set on the pan/tilt by obtaining the operating state information of the pan/tilt. When the load set on the pan/tilt does not match, it can be accurately and effectively determined that the load set on the pan/tilt has been replaced, and the process of automatically identifying whether the load on the pan/tilt The timeliness and reliability of the recognition of the matching degree between the pan/tilt platforms are conducive to the stability and reliability of the control of the pan/tilt platforms, which further improves the practicability of the method and is beneficial to market promotion and application.

Fig. 3 is a schematic flow chart of another method for controlling the pan/tilt head provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to Fig. 3, after determining that the load set on the pan/tilt head has been replaced, The method in this embodiment may further include:

S301: Detect whether the pan/tilt meets preset self-tuning conditions.

After determining that the load set on the pan/tilt has been replaced, if historical control parameters corresponding to the pan/tilt are used to control the pan/tilt and the load set on the pan/tilt, problems such as large control errors and pan/tilt jitter are likely to occur. Therefore, in order to avoid the above-mentioned problems, the control parameters of the pan/tilt can be adjusted by performing self-tuning operations on the control parameters of the pan/tilt. Specifically, it can first detect whether the pan/tilt meets the preset self-tuning conditions. When the pan/tilt meets the preset self-tuning conditions, the pan/tilt can be excluded from external interference that affects the auto-tuning operation, or the pan/tilt can be set to a reference Complete the auto-tuning operation under the conditions. Among them, the auto-tuning conditions in this embodiment refer to the state conditions that the gimbal needs to meet before the gimbal is self-tuning. Specifically, the auto-tuning conditions may include: the motor shaft angle of the motor on the gimbal is at a preset Angle range; the angle between the axis of the base of the pan/tilt head and the vertical direction is less than the preset angle threshold. Among them, the preset angle range is the angle range corresponding to the preset 0 position. The specific numerical range is not limited in this embodiment. Those skilled in the art can set it according to specific application requirements and design requirements, for example: The angle range can be -5° to 5°, -3° to 3°, or -1° to 1°, and so on. When the motor shaft angle of the motor on the pan/tilt head is any value (including the boundary value) in the aforementioned preset angle range, it can be determined that the motor shaft angle on the pan/tilt head is within the preset angle range.

In addition, the axis of the base of the pan/tilt refers to a straight line around which the base of the pan/tilt can rotate (for example, a straight line parallel to the longitudinal section of the base), which is also called the central axis. The angle between the axis of the base and the vertical direction is smaller than the preset angle threshold, that is, the pan/tilt is basically in a horizontal state. Specifically, the angle threshold in this embodiment is preset threshold information for identifying whether the pan/tilt is in a horizontal state. This embodiment does not limit its specific value range, and those skilled in the art can follow specific application requirements. Set according to design requirements, such as: angle threshold 0.5°, 0.3° or 0.1°, etc.; specifically, when the angle between the axis of the base of the pan/tilt and the vertical direction is less than the above-mentioned angle threshold, you can It is determined that the pan/tilt is basically in a horizontal state, and when the angle between the axis of the base of the pan/tilt and the vertical direction is greater than or equal to the above-mentioned angle threshold, it can be determined that the pan/tilt is not in a horizontal state.

It should be noted that when detecting whether the pan/tilt meets the preset self-tuning conditions, it is necessary to detect the angle between the motor shaft angle of the pan/tilt motor and the axis of the base of the pan/tilt and the vertical direction at the same time. Only when the motor shaft angle of the motor on the gimbal is in the preset angle range, and the angle between the axis of the base of the gimbal and the vertical direction is less than the preset angle threshold, it is determined that the gimbal meets the preset angle. Auto-tuning conditions, other conditions are the cases where the pan/tilt does not meet the auto-tuning conditions.

S302: When the pan/tilt satisfies the self-tuning conditions, perform the self-tuning operation on the control parameters of the pan/tilt.

When it is determined that the pan/tilt meets the above-mentioned self-tuning conditions, the control parameters of the pan/tilt can be self-tuning, that is, the step disturbance experiment is performed with the control parameters of the pan/tilt, and the setting parameter value is calculated according to the operating state of the pan/tilt. operating. Among them, this embodiment does not limit the specific implementation of the self-tuning operation of the control parameters of the pan/tilt. Those skilled in the art can set the corresponding implementation of the self-tuning according to the specific control parameters. The force information is taken as an example of the control parameter of the pan/tilt. It provides a realization process of self-tuning operation of the force information of the motor, including the following steps:

In a predetermined period of time, given the target torque, the motor is powered on and rotated, and the angular velocity of the motor at multiple frequency points is measured. As an example, the preset time period may be 5-6 seconds; within the preset time period, the frequency of the motor gradually increases, for example, from 10 Hz to 100 Hz. The angular velocity of the motor at multiple frequency points in the frequency range can be collected by the gyroscope.

Then, the angular velocity at each frequency point is differentiated to obtain the angular acceleration at each frequency point. Then, the moment of inertia is obtained according to the ratio of the target moment to the angular acceleration, and the moment of inertia is related to the weight of the load.

Finally, the strength of the motor is adjusted to a preset strength corresponding to the moment of inertia. Since the moment of inertia is related to the weight of the load, the preset force corresponding to the moment of inertia matches the weight of the load. Thus, the strength of the motor after calibration is adapted to the weight of the current load.

Further, in the process of calibrating the motor in the above-mentioned manner, a filter can also be set for filtering, so as to improve the stability enhancement performance of the pan/tilt. Wherein, the parameters of the filter may include an attenuation coefficient and a cut-off frequency, and frequency point filtering in the working process of the motor is realized by adjusting the attenuation coefficient and the cut-off frequency.

In addition, it should be noted that the adjustment of the response speed of the load pose can be achieved through the adjustment of the motor strength value. Adjusting the motor strength value can affect the speed of the position control and reduce the attitude error of the pan/tilt. Among them, the motor strength value is related to the inertia of the load, the corresponding setting strategy is: mapping according to the inertia of the load, the larger the inertia, the smaller the corresponding motor strength value.

By self-tuning the control parameters of the pan/tilt, the control parameters of the pan/tilt can be matched with the load on the pan/tilt that has been replaced, and the quality and effect of the operation of the pan/tilt and the load set on the pan/tilt can be ensured.

It is conceivable that the method in this embodiment may further include:

S304: When the pan/tilt does not meet the self-tuning condition, a status reminder message corresponding to the pan/tilt is generated to prompt the user to adjust the pan/tilt to meet the preset self-tuning condition.

When the gimbal does not meet the self-tuning conditions, and the control parameters of the gimbal do not match the load on the gimbal, it means that the gimbal needs to be self-tuning. At this time, in order to improve the stability and reliability of the gimbal, The status reminder information corresponding to the PTZ can be generated. The status reminder information may include identification information for identifying that the PTZ currently does not meet the self-tuning conditions. The generated status reminder information can remind the user to adjust the PTZ to meet The preset auto-tuning conditions enable the pan/tilt to perform auto-tuning operations. In a specific application, the status reminder information can remind the user to adjust the pan/tilt to meet the preset self-tuning conditions by means of sound reminders and/or vibration reminders. For example: after generating the status reminder information corresponding to the PTZ, the status reminder information can be sent to the client, and the client triggers the corresponding reminder method through the status reminder information. The reminder method can include sound reminder and/or vibration reminder When the sound reminder mode is triggered, the user can broadcast the preset content, such as "You have new information, please pay attention to check it", etc.; when the vibration reminder mode is triggered, the client can be controlled to vibrate to remind the user in time Check the corresponding status reminder information.

In addition, the method in this embodiment may further include:

S305: When the pan/tilt satisfies the self-tuning condition, a status reminder message corresponding to the pan/tilt is generated to remind the user that the pan/tilt satisfies the preset self-tuning condition.

When the control parameters of the pan/tilt do not match the load on the pan/tilt, it means that the pan/tilt needs to be self-tuning. At this time, if the pan/tilt meets the self-tuning conditions, it can generate status reminders corresponding to the pan/tilt. The status reminder information can include identification information for identifying that the pan/tilt meets the self-tuning conditions. The generated status reminder information can remind the user that the pan/tilt can perform the self-tuning operation. Similarly, the status reminder information can be reminded by sound and / Or vibration reminding method to remind the user that the current state of the PTZ satisfies the self-tuning conditions, and the corresponding self-tuning operation can be performed.

In this embodiment, after it is determined that the load set on the pan/tilt has been replaced, it is detected whether the pan/tilt satisfies the preset self-tuning conditions, and when the pan/tilt satisfies the self-tuning conditions, the control parameters of the pan/tilt can be automatically adjusted. The tuning operation effectively realizes the process of adaptively adjusting the control parameters of the pan/tilt, so that the control parameters of the pan/tilt match the load that occurs on the pan/tilt, which not only guarantees the quality and effect of the pan/tilt and the load. And it also improves the stabilization performance of the pan/tilt, and further improves the practicability of the method.

Figure 4 is a schematic flow diagram of another method for controlling a pan/tilt head provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to FIG. 4, the reason for the decrease in the control performance of the pan/tilt head is not limited to the setting When the load on the pan/tilt is replaced, it also includes other situations, such as: the pan/tilt is in motion, or the target attitude of the pan/tilt changes, etc.; in order to be able to eliminate the decrease in the control performance of the pan/tilt caused by other conditions, To further improve the accuracy and reliability of the method, the operating status information in this embodiment may include the control error of the pan/tilt in at least one direction. At this time, before obtaining the operating status information of the pan/tilt, the method in this embodiment It can also include:

S401: Detect whether the pan/tilt meets a preset condition.

S402: When the pan/tilt meets the preset condition, obtain the operating state information of the pan/tilt within the preset detection time period.

When acquiring the operating status information of the pan/tilt, in order to ensure the timely reliability of the acquisition of the operating status information, it is possible to first detect whether the pan/tilt meets a preset condition, and the preset condition may include at least one of the following: the pan/tilt is in a static state; the cloud The target posture of the station remains unchanged. Specifically, when the preset condition includes that the pan/tilt is in a stationary state, referring to FIG. 5, detecting whether the pan/tilt satisfies the preset condition in this embodiment may include:

S501: Acquire acceleration information corresponding to the pan-tilt.

S502: Identify whether the pan/tilt is in a stationary state according to the acceleration information.

In this embodiment, the acceleration information of the pan/tilt can be used to identify whether the pan/tilt is in a static state. Specifically, the acceleration information corresponding to the pan/tilt can be acquired through the sensor first, and then the acceleration information is analyzed and processed to identify whether the pan/tilt is in a stationary state. Stationary state. Among them, it can be understood that the static state is a relative concept. For example, if the entire pan/tilt moves at a constant speed with the base, in this case, the measurement information of the accelerometer basically does not change, although the entire pan/tilt is relative to the ground. Movement, but based on the output of the accelerometer, it is still considered to be a static state. Among them, this embodiment does not limit the specific implementation of identifying whether the pan/tilt is in a stationary state based on acceleration information, and those skilled in the art can make settings according to specific application scenarios and design requirements. For example, refer to FIG. 6 In this embodiment, identifying whether the pan/tilt is in a stationary state according to the acceleration information may include:

S601: Acquire the acceleration variance corresponding to the acceleration information.

S602: When the acceleration variance is less than the preset variance threshold, it is determined that the pan/tilt is in a stationary state, or when the acceleration variance is greater than or equal to the preset variance threshold, it is determined that the pan/tilt is in motion.

Specifically, after the acceleration information is obtained, the acceleration information can be analyzed and processed, so that the acceleration variance corresponding to the acceleration information can be obtained. After the acceleration variance is obtained, the acceleration variance can be analyzed with the preset variance threshold. By comparison, when the acceleration variance is less than the variance threshold, it means that the acceleration information at this time has a small change range, so that it can be determined that the pan/tilt is in a static state; when the acceleration variance is greater than or equal to the variance threshold, it means that the acceleration information at this time is The magnitude of the change is large, so that it can be determined that the PTZ is in motion.

In this embodiment, by acquiring acceleration information corresponding to the pan/tilt, and identifying whether the pan/tilt is in a static state according to the acceleration information, the analysis and identification of whether the pan/tilt is in a static state is effectively realized, and the implementation method is simple, timely, and at the same time It also improves the speed and quality of identifying whether the pan/tilt is in a static state.

In addition, when the preset condition may include that the target posture of the pan/tilt head remains unchanged, referring to FIG. 7, the detecting whether the pan/tilt head meets the preset condition in this embodiment may include:

S701: Acquire the current target posture corresponding to the current moment of the PTZ and the historical target posture corresponding to the previous moment of the PTZ.

S702: Determine the attitude error between the current target attitude and the historical target attitude.

S703: When the attitude error is less than the preset attitude threshold, determine that the target attitude of the pan/tilt head remains unchanged, or, when the attitude error is greater than or equal to the preset attitude threshold, determine that the target attitude of the pan/tilt head changes.

Specifically, when detecting whether the target posture of the PTZ camera remains unchanged, the current target posture corresponding to the current time of the PTZ camera and the historical target posture corresponding to the previous time of the PTZ camera can be obtained first, where the current target posture and The historical target posture can be pre-configured or input by the user. The current target posture is the posture that the gimbal currently needs to approach, and the historical target tense is the posture that the gimbal needs to approach at the corresponding historical moment; then the current target is obtained. The posture error between the posture and the historical target posture. The posture error can be the posture difference between the current target posture and the historical target posture, or the posture error can also be the posture ratio between the current target posture and the historical target posture. . After the attitude error is obtained, the attitude error can be analyzed and compared with the preset attitude threshold, and the attitude difference is taken as an example of the attitude error. When the attitude error is less than the attitude threshold, the current target of the gimbal at the current moment is explained. The attitude error between the attitude and the historical target attitude at the previous moment of the gimbal is small, and then it can be determined that the target attitude of the gimbal remains unchanged; if the attitude error is greater than or equal to the attitude threshold, it indicates the current target of the gimbal at the current moment The posture error between the posture and the historical target posture at a moment before the gimbal is large, and it is determined that the target posture of the gimbal has changed.

In this embodiment, by acquiring the current target posture corresponding to the current moment of the pan/tilt and the historical target posture corresponding to the previous moment of the pan/tilt, and then determining the posture error between the current target posture and the historical target posture, it is possible to The attitude error is used to determine that the target attitude of the pan/tilt remains unchanged, which effectively realizes the recognition and detection of the preset conditions for keeping the target attitude of the pan/tilt unchanged, thereby improving the stability and reliability of the method.

FIG. 8 is a schematic diagram 1 of the process for determining whether the control parameters of the pan/tilt and the load set on the pan/tilt match according to the operating status information provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, continue to refer to FIG. 8 This embodiment does not limit the specific implementation method for determining whether the control parameters of the pan/tilt are matched with the load set on the pan/tilt according to the operating status information. Those skilled in the art can make settings according to specific application requirements and design requirements. For the identification process of too weak control parameters, for example, determining whether the control parameters of the pan/tilt and the load set on the pan/tilt match according to the operating status information in this embodiment may include:

S801: In the detection time period, obtain the number of errors in which the control error continuously exceeds the preset error interval.

Among them, the preset error interval is a preset error interval range, and this embodiment does not limit the size of its specific numerical range; in the detection period, a counter can be used to obtain the number of errors in which the control error continuously exceeds the preset error interval. . Specifically, when the control error at the previous moment exceeds the preset error interval, the counter corresponding to the control error is increased by one; when the control error at the current moment does not exceed the preset error interval, the control error is made to correspond to the control error. The counter is cleared; then, the data recorded on the counter during the detection time period is counted, that is, the number of errors in which the control error continuously exceeds the preset error interval can be obtained.

Of course, those skilled in the art can also use other methods to obtain the number of errors in which the control error continuously exceeds the preset error interval, as long as the accuracy and reliability of obtaining the number of errors in which the control error continuously exceeds the preset error interval can be guaranteed. , I won’t repeat it here.

S802: When the number of errors is greater than or equal to the preset first number threshold, it is determined that the control parameter does not match the load set on the pan/tilt.

After the error times are obtained, the error times can be analyzed and compared with the preset first times threshold. When the error times are greater than or equal to the first times threshold, it means that the control error of the pan/tilt is large at this time. It can then be determined that the control parameters of the pan/tilt do not match the load on the pan/tilt. When the number of errors is less than the first number threshold, it means that the control error of the pan/tilt is small at this time, and then it can be determined that the control parameters of the pan/tilt match the load on the pan/tilt.

Another achievable way is to obtain the number of errors in which the control error exceeds the preset error interval during the detection time period. At this time, the number of errors obtained can be non-continuous; when the number of errors is greater than or equal to the preset threshold value It can also be determined that the control parameter does not match the load set on the pan/tilt; when the number of errors is less than the preset number threshold, it can also be determined that the control parameter matches the load set on the pan/tilt.

In this embodiment, by obtaining the number of errors in which the control error continuously or discontinuously exceeds the preset error interval during the detection time period, and then when the number of errors is greater than or equal to the preset first number threshold, the control parameters and the number of errors can be determined The load set on the pan/tilt does not match, which realizes the effective identification of whether the control parameter matches the load set on the pan/tilt; then, it is convenient to adjust the control method of the pan/tilt based on the identification result, that is, the control parameter When it matches the load on the pan/tilt, the control parameters of the pan/tilt can be kept unchanged. When the control parameters do not match the load on the pan/tilt, the control parameters of the pan/tilt can be adjusted to further ensure the control of the cloud. Accurate and reliable control of the station.

9 is a schematic diagram of the second process of determining whether the control parameters of the pan/tilt and the load set on the pan/tilt match according to the operating status information provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, continue to refer to FIG. 9 For the identification process with excessively strong control parameters, this embodiment provides another achievable way to determine whether the control parameters of the pan/tilt match the load set on the pan/tilt based on the operating status information. Specifically, this In the embodiment, determining whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating status information may include:

S901: In the detection time period, obtain information about the number of times that the output torque information meets the preset change condition.

The preset change condition may include at least one of the following: the output torque information changes from a preset maximum torque threshold to a preset minimum torque threshold; the output torque information changes from a preset minimum torque threshold to a preset maximum torque threshold . Specifically, the change information of the output torque information can be acquired within the detection time period, and the number of times that the change information meets the above-mentioned preset change condition can be counted by the counter.

S902: When the number of times information is greater than or equal to the preset second number of times threshold, it is determined that the control parameter does not match the load set on the pan-tilt.

After obtaining the information of the number of times that the output torque information meets the preset change condition, the information of the number of times can be analyzed and compared with the preset second number of times threshold. When the number of times information is greater than or equal to the second number of times threshold, it can be determined that the control parameters and The load set on the pan/tilt does not match, and the control parameters at this time are too strong, which will easily cause the pan/tilt to shake; and when the times information is less than the second times threshold, it can be determined that the control parameters of the pan/tilt are in line with the load on the pan/tilt match.

In this embodiment, by acquiring information about the number of times that the output torque information meets the preset change condition within the detection time period, and then when the number of times information is greater than or equal to the preset second number threshold, the control parameters can be determined and set in the pan/tilt. The load on the PTZ is not matched, which realizes the effective identification of whether the control parameters and the load set on the PTZ are matched; then, it is convenient to adjust the control method of the PTZ based on the identification results, that is, the control parameters and the load on the PTZ When the load is matched, the control parameters of the pan/tilt can be kept unchanged. When the control parameters do not match the load on the pan/tilt, the control parameters of the pan/tilt can be adjusted to further ensure the control of the pan/tilt. Accurate and reliable.

FIG. 10 is a schematic diagram of the third process of determining whether the control parameters of the pan/tilt and the load set on the pan/tilt match according to the operating status information provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, continue to refer to FIG. 10 For the identification process with excessively strong control parameters, this embodiment provides yet another achievable way to determine whether the control parameters of the pan/tilt match the load set on the pan/tilt according to the operating status information. Specifically, the present embodiment In the embodiment, determining whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating status information may include:

S1001: Acquire spectral peak information in the torque frequency spectrum information.

S1002: When the spectral peak information is greater than or equal to a preset peak threshold, it is determined that the control parameter does not match the load set on the pan/tilt.

Specifically, when the operating parameters include torque spectrum information, after obtaining the torque spectrum information of the motor on the PTZ, the spectrum peak information in the torque spectrum information can be obtained. It is conceivable that the number of the spectrum peak information can be one Or more. After the spectral peak information is obtained, the spectral peak information can be analyzed and compared with the preset peak threshold. When at least one spectral peak information is greater than or equal to the peak threshold, the control parameters can be determined and set in the pan/tilt If the load on the PTZ is not matched, the control parameters at this time are too strong, which will easily cause the pan-tilt jitter; and when the spectral peak information is less than the peak threshold, it can be determined that the control parameters of the pan-tilt match the load on the pan-tilt.

In this embodiment, by acquiring the spectral peak information in the torque spectral information during the detection time period, and then when the spectral peak information is greater than or equal to the preset peak threshold, it can be determined that the control parameter does not match the load set on the pan/tilt. , Realizes the effective identification of whether the control parameter matches the load set on the pan/tilt; then, it is convenient to adjust the control method of the pan/tilt based on the identification result, that is, when the control parameter matches the load on the pan/tilt , The control parameters of the pan/tilt can be kept unchanged. When the control parameters do not match the load on the pan/tilt, the control parameters of the pan/tilt can be adjusted to further ensure the accuracy and reliability of the control of the pan/tilt.

On the basis of the foregoing embodiment, the method in this embodiment may further include:

S1101: Restore the control parameters of the pan/tilt to the preset default values.

In order to avoid the situation that the control parameters are too strong and cause the pan-tilt to shake in time, the control parameters of the pan-tilt can be restored to the preset default values. Specifically, one achievable way is to restore the control parameters of the pan-tilt to the default value when the pan-tilt meets the self-tuning conditions; another achievable way is, when the pan-tilt does not meet the self-tuning conditions, Restore the control parameters of the pan/tilt to the default values. Therefore, the operation of restoring to the default value has nothing to do with whether the pan/tilt meets the auto-tuning conditions. For specific applications, the preset time period can be used as a reference factor, that is, when the preset time period is met, the control parameters of the pan/tilt head can be restored to The preset default value can effectively ensure the stability and reliability of the pan/tilt.

It should be noted that the technical solutions and technical features in each of the above embodiments can be singly or combined without conflict, as long as they do not exceed the cognitive scope of those skilled in the art, they fall within the protection scope of this application. The equivalent embodiment.

In specific applications, a three-axis pan/tilt is used as a stabilizer as an example. This application embodiment provides a control method for the pan/tilt. The control method can adaptively adjust the control parameters of the pan/tilt after changing the load, so as to ensure It improves the work quality and efficiency of the pan-tilt and the load located on the pan-tilt. Specifically, the method may include the following stages: (1) detection after the pan/tilt may change its load; (2) detection of whether the control performance of the pan/tilt is reduced; (3) detection of whether the operating state of the pan/tilt meets the control parameter self-tuning Starting conditions. The specific implementation process of the above three stages is described in detail below:

1. Detection period

When the load set on the pan/tilt is replaced, the motor on the pan/tilt cannot provide power. At this time, the pan/tilt is in the shutdown state or sleep state. Then after the pan/tilt is powered on or wakes up from sleep, it can be considered that the load of the pan/tilt may have been replaced, and the pan/tilt can be detected within the preset detection time period T _detect .

2. Judgment of control performance degradation

The mismatch between the load and the control parameters of the pan/tilt can include two manifestations: (1) the control parameter of the pan/tilt is too weak and the control error is too large; (2) the control parameter of the pan/tilt is too strong, causing the pan/tilt to shake. Detecting whether the control performance of the pan/tilt is degraded, that is, judging whether the control parameters of the pan/tilt meet the above two states. The following is a detailed description of the detection methods of the above two states:

(A) When detecting whether the control parameters of the pan/tilt are too weak, the detection can be achieved by whether the control error exceeds the preset standard; however, for the pan/tilt, the reasons that cause the control error of the pan/tilt to become larger are: a) The pan/tilt is in motion, b) the target attitude of the pan/tilt changes, and c) the control parameters are weak and do not match the load. Therefore, in order to be able to accurately determine that the control error caused by the mismatch between the pan/tilt and the load is increased, it is necessary to first determine that the pan/tilt is in a stationary state and the target attitude of the pan/tilt has not changed.

Specifically, the method for detecting that the pan/tilt is in a stationary state includes the following steps:

step1: In the preset detection time period T _detect , use the preset detection time interval t _w to obtain the accelerometer sampling value at time t

Calculate the variance amplitude of acceleration by accelerometer sampled value:

among them,

Expressed as the accelerometer sampling value corresponding to the X-axis of the gimbal at time t,

Is the accelerometer sampling value corresponding to the Y-axis of the gimbal at time t,

Is the accelerometer sampling value corresponding to the Z-axis of the gimbal at time t;

Represents the signal at time t

Of variance information,

Represents the signal at time t

Of variance information,

Represents the signal at time t

At this time, the length of the time interval for calculating the variance information is t _w , and σ ² is the sample value of the accelerometer

Corresponding magnitude of variance.

step2: Combine the variance information σ ² with the pre-configured variance threshold

Make a comparison to determine whether the pan/tilt is in a static state based on the comparison result.

Since the variance information can reflect _{the change characteristics of the acceleration of the pan/tilt within t w} , when the pan/tilt is at rest, the variance information is the smallest; when the pan/tilt is in motion, the variance information is larger and the movement of the pan/tilt is more intense, The greater the variance information. Therefore, the comparison result of the variance information and the variance threshold can be used to determine whether the pan/tilt is in a static state; specifically, as shown in the following formula (2),

, Then result = STATIC, that is, the pan/tilt is in a static state;

Then result=MOVE, that is, the pan/tilt is in motion.

In addition, the method for detecting the target attitude of the PTZ without changing includes the following steps:

Step11: At the beginning of the detection, record the historical target attitude of the pan/tilt at the previous moment as target _0. During the detection time period T _detect , obtain the current target attitude target corresponding to the current time of the pan/tilt, and determine the difference between target and target ₀ The attitude difference between.

step12: Analyze and compare the posture difference with the preset posture threshold target _threshold , and determine whether the target posture of the pan/tilt has changed according to the result of the analysis and comparison.

Specifically, if the attitude difference is less than the attitude threshold target _threshold , the target attitude of the pan/tilt is considered unchanged. As shown in the following formula (3), when ‖target-target ₀ ‖<target _threshold , result=CONSTANT, which means that the target attitude of the pan/tilt does not change.

result = CONSTANT, ‖target-target ₀ ‖＜target _threshold (3)

In addition, the detection method for the excessive control error of the pan/tilt includes the following steps:

step111: Obtain the control error of the pan/tilt in at least one direction;

Specifically, when the pan/tilt is in a static state and the target attitude of the pan/tilt does not change, it is necessary to determine whether the control error of the pan/tilt is large due to too weak control parameters. The manifestation is that the control error is biased towards a certain For one direction, take a three-axis gimbal as an example, record its control error in the three directions as error=(error _x , error _y , error _z ), where error _x is the control error of the gimbal in the X-axis direction , Error _y is the control error of the gimbal in the Y-axis direction, and error _z is the control error of the gimbal in the Z-axis direction.

step112: Analyze and compare the control error with the preset threshold error _{threshold_i} , where i=x, y, z, and determine whether the control error of the pan/tilt is too large according to the comparison result.

Specifically, a preset threshold for judging a large control error is error _{threshold_i} , where i=x, y, z is pre-configured, and the threshold for judging a large control error is error_times _{threshold in} advance. Then, the control error is analyzed and compared with the corresponding preset threshold. When the control error error _i > error _{threshold_i} or error _i <-error _{threshold_i} , the control error counter error_count _{i of the} corresponding direction is accumulated, and the control error -error _{threshold_i} ＜error _i ＜error _{threshold_i} , then the control error counter error_count _{i of the} corresponding direction is cleared, so that within the detection time period, the error times error_count _x , error_count _y and error_count _{z of the} control error continuously exceeding the preset error interval can be obtained.

Then the error times error_count _x , error_count _y and error_count _z are analyzed and compared with the corresponding times threshold error_times _threshold respectively. When the analysis and comparison result is error_count _x ＞error_times _threshold , and/or error_count _y ＞error_times _threshold , and/or error_count _z ＞ At error_times _threshold , it can be determined that result=ERROR_LARGE, which means that the control error is too large, indicating that the control parameters of the pan/tilt do not match the load set on the pan/tilt.

In summary, when the gimbal is in a static state and the target attitude of the gimbal remains unchanged, if the control error of the gimbal is large, it can be determined that the control parameters do not match the load set on the gimbal. In terms of the current load set on the platform, the control parameters of the pan/tilt are weak.

(B) The control parameters of the pan/tilt are too strong, which leads to the detection of pan/tilt shaking

According to the jitter situation of the pan/tilt, specifically, it is possible to detect whether the pan/tilt shakes or not according to the change rule of the motor output torque of the pan/tilt. Detection methods are divided into two methods: jump detection and spectrum peak detection.

Specifically, referring to FIG. 11, the method of torque jump detection includes:

step21: Obtain the output torque torq of the motor on the pan/tilt during the detection period T _detect;

Among them, the detection counter is used to record time information, so as to implement torque jump detection _{in a detection time period T detect.}

step22: Obtain information about the number of times the output torque information meets the preset change conditions.

The preset change condition includes at least one of the following: the output torque information changes from a preset maximum torque threshold to a preset minimum torque threshold; the output torque information changes from a preset minimum torque threshold to a preset maximum torque threshold. Assuming that the torque threshold is preset to torq _threshold , if the output torque torq of the motor changes from torq _threshold to -torq _threshold or from -torq _threshold to torq _threshold , it is recorded as a jump. At this time, the jump counter counter _oscillate accumulates. Within the specified detection period of period _detect _{, the information counter oscillate} of the number of times that the output torque information meets the preset change condition can be obtained through the jump counter. In addition, it should be noted that after each detection time period T _detect , the hopping counter can be cleared once.

step23: Analyze and compare the number of times information with the preset threshold of jump times, and determine whether the control parameters of the pan/tilt are too strong according to the results of the analysis and comparison.

The hop frequency threshold times _{threshold is} preset, and the frequency information is analyzed and compared with the preset hop frequency threshold. When the frequency information counter _oscillate >times _threshold , the pan/tilt jitter is determined. And, when the time period of the detection counter reaches the preset detection time period T _detect , the detection counter counter _detect can be set to zero, the hopping counter counter _{oscillate is} set to zero, and the output torque information is set to zero for the next detection time period T. The torque jump detection operation of _detect2.

In addition, methods of spectrum peak detection include:

step31: Obtain the torque frequency spectrum information, and determine the frequency spectrum peak information in the torque frequency spectrum information.

Specifically, every time period T _fft , the torque spectrum information of the output torque torq of the motor during this period of time is calculated by fast Fourier transform, and the spectrum peak information of the torque spectrum information obtained is denoted as torq_peak.

step32: Analyze and compare the spectral peak information with the preset peak threshold torq_peak_threshold, and determine whether the pan/tilt is jittered according to the analysis and comparison results.

Specifically, if the spectrum peak information torq_peak>the peak threshold torq_peak_threshold, then the pan/tilt jitter is determined. If the spectrum peak information torq _peak ≤ the peak threshold torq_peak_threshold, it is determined that the pan/tilt is not jittered.

Regarding the above two methods for detecting whether the pan/tilt is shaking, whether it is the method of torque jump detection or the method of spectrum peak detection, as long as there is one method that can determine the pan/tilt shaking, the pan/tilt shaking can be determined. In specific applications, those skilled in the art can only use one of these methods to realize the jitter detection of the pan/tilt head. It can be understood that when detecting whether the output torque information meets the preset change condition in FIG. 11, if not, it can continue to detect whether the output torque information meets the preset change condition in real time or at intervals (not shown in the figure).

3. Check the status of the PTZ

After the gimbal is powered on or wakes up from sleep, it is checked whether the gimbal meets the preset auto-tuning conditions. The auto-tuning conditions include: the motor shaft angle of the motor on the gimbal is in the preset angle range; the axis of the base of the gimbal The angle between the vertical direction and the vertical direction is less than the preset angle threshold. For ease of description, when the motor shaft angle of the motor on the pan/tilt is in the preset angle range, it can be said that the pan/tilt is in the centered state at this time. , When the angle between the axis of the base of the pan/tilt and the vertical direction is less than the preset angle threshold, it can be said that the base of the pan/tilt is kept in a horizontal state at this time; that is, when the pan/tilt is in When returning to the center state and the base of the pan/tilt is kept in a horizontal state, it is considered that the state of the pan/tilt satisfies the conditions for the self-tuning of the control parameters. The specific judgment basis is as follows:

Taking a three-axis gimbal as an example, the rotation angle of the gimbal measured by the motor is recorded as angle _i , where i=x, y, z, and an angle threshold angle _{threshold_i is} pre-configured, where i=x, y, z. According to the attitude of the gimbal and the rotation angle measured by the motor, the attitude of the gimbal base can be calculated, and the angle between the base of the gimbal and the vertical direction can be calculated. The angle is mainly determined by the central axis of the base. The angle formed with the vertical direction is recorded as the base tilt angle base_tilt, and the angle threshold base_tilt _{threshold is} pre-configured. If in the detection process, for i=x, y, z, angle _i |＜angle _{threshold_i} and |base_tilt|＜base_tilt _threshold , then it can be determined that the base of the pan/tilt is basically in a horizontal state and the cloud The platform is in the centering state, which means that the state of the pan/tilt at this time meets the conditions for starting the control parameter auto-tuning.

4. Control parameters for self-tuning operation

Specifically, as shown in Fig. 12, in the detection time period T _detect after the pan/tilt is turned on or wakes up from sleep, the counter is used to perform a timing operation t++. When the timing time t<the preset detection time period T _detect , Then you can judge the state of the pan/tilt and determine whether the control performance of the pan/tilt has decreased; when the control performance of the pan/tilt has decreased and the state of the pan/tilt meets the conditions for the start of the control parameter auto-tuning, you can control the control of the pan/tilt. The control parameters are self-tuning.

If it is determined that the control performance of the pan/tilt is degraded, but the state of the pan/tilt does not meet the conditions for the start of the control parameter auto-tuning, a message can be pushed to the client to prompt the user to adjust the state of the pan/tilt so that the pan/tilt can be in a horizontal state, and The joint angles of the motors are all at the position of 0°, so that the control parameters of the pan/tilt can be controlled for self-tuning operation.

In addition, in specific applications, after determining that the control performance of the pan/tilt is degraded, you can also perform the following operations:

(1) When the pan/tilt meets the self-tuning conditions, the control parameters of the pan/tilt can be controlled to be restored to the default values, and the user will be prompted to make the user understand the current operating status of the pan/tilt, and can control the cloud based on the current operating status of the pan/tilt. The platform performs timely and effective control, for example, triggers the pan/tilt to perform self-tuning.

(2) When the pan/tilt does not meet the self-tuning conditions, the control parameters of the pan/tilt can be controlled to restore to the default values, and the user will be prompted so that the user can operate the pan/tilt and make the pan/tilt meet the self-tuning conditions, for example, prompt the user to change The pan/tilt is placed on the surface of the water platform, so that it can automatically perform the self-tuning operation or trigger the self-tuning operation.

The control method of the pan/tilt provided in this application embodiment can solve the problem caused by the mismatch between the parameters of the pan/tilt and the load after the load of the pan/tilt is replaced, and can effectively solve the phenomenon that the control performance of the pan/tilt becomes worse. , The control parameters of the pan/tilt can be adjusted adaptively, so that the jitter of the stabilizer caused by the excessively strong control parameters can be stopped in time, and the control performance of the pan/tilt can be improved, and the quality of the pan/tilt and the load on the pan/tilt can be guaranteed. Efficiency, and also effectively improve the user experience.

FIG. 13 is a structural schematic diagram 1 of a pan/tilt head provided by an embodiment of the present invention; as shown in FIG. 13, this embodiment provides a pan/tilt head, which can perform the control of the pan/tilt head shown in FIG. 2 above method. Specifically, the pan/tilt may include:

The first memory 12 is used to store computer programs;

The first processor 11 is configured to run a computer program stored in the first memory 12 to implement:

Determine whether the control parameters of the pan-tilt match the load set on the pan-tilt according to the operating status information;

When the control parameters of the pan/tilt do not match the load set on the pan/tilt, it is determined that the load set on the pan/tilt is replaced.

Wherein, the structure of the pan-tilt may also include a first communication interface 13 for the electronic device to communicate with other devices or a communication network.

Further, the operating state information includes at least one of the following: a control error of the pan/tilt in at least one direction, and an operating parameter corresponding to the force information of the motor on the pan/tilt.

Further, the operating parameters include at least one of the following: output torque information and torque frequency spectrum information.

Further, the control parameters include at least one of the following: the strength information of the motor on the pan/tilt, the response speed to the load pose, and the configuration parameters of the filter on the pan/tilt.

Further, the detection time period is a time period after the pan/tilt is in a preset working state.

Further, the preset working state includes at least one of the following: a power-on state and a wake-up state.

Further, after determining that the load set on the pan/tilt has been replaced, the first processor 11 is also used to: detect whether the pan/tilt meets the preset self-tuning conditions; when the pan/tilt satisfies the self-tuning conditions, The control parameters of the auto-tuning operation.

Further, the self-tuning conditions include: the motor shaft angle of the motor on the pan/tilt is in a preset angle range; the angle between the axis of the base of the pan/tilt and the vertical direction is less than a preset angle threshold.

Further, the operating state information includes the control error of the pan/tilt in at least one direction. Before acquiring the operating state information of the pan/tilt, the first processor 11 is also used to: detect whether the pan/tilt meets a preset condition; When the conditions are preset, the operating status information of the pan/tilt is acquired within the preset detection time period.

Further, the preset condition includes at least one of the following: the pan/tilt is in a static state; the target posture of the pan/tilt remains unchanged.

Further, when the first processor 11 detects whether the pan-tilt meets the preset condition, the first processor 11 is further configured to: obtain acceleration information corresponding to the pan-tilt; and identify whether the pan-tilt is in a stationary state according to the acceleration information.

Further, when the first processor 11 recognizes whether the pan/tilt is in a stationary state according to the acceleration information, the first processor 11 is further configured to: obtain the acceleration variance corresponding to the acceleration information; when the acceleration variance is less than the preset variance threshold , It is determined that the pan/tilt is in a static state, or when the acceleration variance is greater than or equal to a preset variance threshold, it is determined that the pan/tilt is in a motion state.

Further, when the first processor 11 detects whether the pan/tilt satisfies the preset condition, the first processor 11 is also used to: obtain the current target posture corresponding to the current moment of the pan/tilt and the previous moment of the pan/tilt. Determine the attitude error between the current target attitude and the historical target attitude; when the attitude error is less than the preset attitude threshold, determine that the target attitude of the gimbal remains unchanged, or if the attitude error is greater than or equal to the preset attitude When the attitude threshold is determined, the target attitude of the gimbal is determined to change.

Further, when the first processor 11 determines whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating status information, the first processor 11 is also used to: obtain the control error during the detection time period. The number of errors continuously exceeding the preset error interval; when the number of errors is greater than or equal to the preset first number threshold, it is determined that the control parameter does not match the load set on the pan/tilt.

Further, when the first processor 11 determines whether the control parameters of the pan-tilt match the load set on the pan-tilt according to the operating state information, the first processor 11 is also used to: obtain the output torque during the detection time period. Information about the number of times that the information meets the preset change condition; when the number of times information is greater than or equal to the preset second number threshold, it is determined that the control parameter does not match the load set on the pan/tilt.

Further, the preset change condition includes at least one of the following: the output torque information changes from a preset maximum torque threshold to a preset minimum torque threshold; the output torque information changes from a preset minimum torque threshold to a preset maximum torque threshold .

Further, when the first processor 11 determines whether the control parameters of the pan/tilt are matched with the load set on the pan/tilt according to the operating state information, the first processor 11 is further configured to: obtain spectral peak information in the torque spectral information ; When the spectral peak information is greater than or equal to the preset peak threshold, it is determined that the control parameter does not match the load set on the pan/tilt.

Further, the first processor 11 is further configured to: when the pan/tilt does not meet the self-tuning condition, generate status reminder information corresponding to the pan/tilt to prompt the user to adjust the pan/tilt to meet the preset self-tuning condition.

Further, the first processor 11 is also used for restoring the control parameters of the pan/tilt to the preset default values.

The pan-tilt shown in FIG. 13 can execute the methods of the embodiments shown in FIGS. 2 to 12. For parts that are not described in detail in this embodiment, please refer to the related descriptions of the embodiments shown in FIGS. 2 to 12. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in FIG. 2 to FIG. 12, which will not be repeated here.

FIG. 14 is a schematic structural diagram of a handheld pan/tilt provided by an embodiment of the present invention; as shown in FIG. 14, this embodiment provides a handheld pan/tilt, which can execute the pan/tilt shown in FIG. 2 above的控制方法。 Control methods. Specifically, the handheld PTZ may include:

The second memory 22 is used to store computer programs;

The second processor 21 is configured to run a computer program stored in the second memory 22 to implement the above-mentioned pan-tilt control method in FIGS. 2 to 12.

Wherein, the structure of the handheld PTZ may also include a second communication interface 23 for the electronic device to communicate with other devices or a communication network. It should be noted that the handheld pan/tilt may also include a base for carrying the second processor 21 and the second memory 22. Specifically, the base may be a handheld part of the handheld pan/tilt.

The handheld pan/tilt shown in FIG. 14 can execute the methods of the embodiments shown in FIG. 2 to FIG. 12. For parts that are not described in detail in this embodiment, please refer to the related descriptions of the embodiments shown in FIG. 2 to FIG. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in FIG. 2 to FIG. 12, which will not be repeated here.

Wherein, the handheld PTZ includes a handheld part and the PTZ described in FIG. 13. The specific implementation principle of the handheld PTZ mounted on the handheld part is similar to the implementation principle of the PTZ shown in FIG. For the detailed description, please refer to the related description of the embodiment shown in FIG. 13. For the implementation process and technical effects of this technical solution, refer to the description in the embodiment shown in FIG. 13, and details are not described herein again.

In some embodiments, the base of the pan/tilt is provided at the end of the hand-held part.

FIG. 15 is a schematic structural diagram of an unmanned aerial vehicle provided by an embodiment of the present invention. Referring to FIG. 15, as shown in FIG. 15, this embodiment provides an unmanned aerial vehicle. The unmanned aerial vehicle may include:

Body 100;

The power system 101 is installed on the fuselage 100 to provide power for the unmanned aerial vehicle;

The pan/tilt 102 is installed on the fuselage 100.

Among them, the pan-tilt 102 is as shown in FIG. 13. It should be noted that for the pan/tilt 102, the fuselage 100 carrying the pan/tilt 102 is equivalent to the base of the pan/tilt 102. Therefore, the angle between the fuselage 100 and the vertical direction is less than the preset angle threshold. At time, the angle between the axis of the base of the pan/tilt head 102 and the vertical direction is smaller than the preset angle threshold.

The specific implementation principle of the unmanned aerial vehicle shown in FIG. 15 is similar to the implementation principle of the pan/tilt head shown in FIG. 13. For parts that are not described in detail in this embodiment, reference may be made to the related description of the embodiment shown in FIG. 13. For the implementation process and technical effects of this technical solution, refer to the description in the embodiment shown in FIG. 13, and details are not described herein again.

In addition, an embodiment of the present invention provides a computer storage medium for storing computer software instructions used by an electronic device, which includes instructions for executing the pan/tilt control method in the method embodiments shown in FIGS. 2 to 12 above. program.

The technical solutions and technical features in each of the above embodiments can be singly or combined without conflict, as long as they do not exceed the cognitive scope of those skilled in the art, they all belong to equivalent embodiments within the protection scope of the present application.

In the several embodiments provided by the present invention, it should be understood that the disclosed pan-tilt and pan-tilt control method can be implemented in other ways. For example, the embodiments of the PTZ and handheld PTZ described above are only illustrative. For example, the division of the processor or the memory is only a logical function division, and there may be other division methods in actual implementation, such as Multiple units or components can be combined or integrated into another system, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, memory or processor, and may be in electrical, mechanical or other forms.

The units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.

In addition, the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.

If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium. , Including several instructions to make a computer processor (processor) execute all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage media include: U disk, mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

The above are only the embodiments of the present invention, and do not limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description and drawings of the present invention, or directly or indirectly applied to other related technologies In the same way, all fields are included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: It is still possible to modify the technical solutions described in the foregoing embodiments, or equivalently replace some or all of the technical features; these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the technical solutions of the embodiments of the present invention. range.

Claims

A method for controlling a pan/tilt head, which is characterized in that it comprises:

Obtain the operating status information of the PTZ in the preset detection time period;

Determining whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating status information;

When the control parameter of the pan/tilt does not match the load set on the pan/tilt, it is determined that the load set on the pan/tilt is replaced.
The method according to claim 1, wherein the operating status information includes at least one of the following:

The control error of the pan/tilt in at least one direction, and the operating parameter corresponding to the force information of the motor on the pan/tilt.
The method according to claim 2, wherein the operating parameter comprises at least one of the following: output torque information and torque frequency spectrum information.
The method according to claim 1, wherein the control parameter comprises at least one of the following: the strength information of the motor on the pan/tilt, the response speed to the load pose, the filter on the pan/tilt Configuration parameters.
The method according to claim 1, wherein the detection time period is a time period after the pan/tilt is in a preset working state.
The method according to claim 5, wherein the preset working state includes at least one of the following: a power-on state and an awake state.
The method according to any one of claims 1 to 6, wherein after determining that the load set on the pan/tilt head is changed, the method further comprises:

Check whether the PTZ meets the preset self-tuning conditions;

When the pan/tilt satisfies the self-tuning condition, the control parameter of the pan/tilt is self-tuning.
The method according to claim 7, wherein the self-tuning condition comprises:

The motor shaft angle of the motor on the pan/tilt is in a preset angle range;

The angle between the axis of the base of the pan/tilt head and the vertical direction is smaller than a preset angle threshold.
The method according to claim 1, wherein the operating status information includes a control error of the pan/tilt head in at least one direction, and before the acquiring the operating status information of the pan/tilt head, the method further comprises:

Detecting whether the pan-tilt meets a preset condition;

When the pan-tilt meets the preset condition, the operating state information of the pan-tilt is acquired within the preset detection time period.
The method according to claim 9, wherein the preset condition includes at least one of the following:

The pan/tilt is in a static state;

The target posture of the PTZ remains unchanged.
The method according to claim 10, wherein detecting whether the pan-tilt meets a preset condition comprises:

Acquiring acceleration information corresponding to the pan/tilt;

Identify whether the pan/tilt head is in a stationary state according to the acceleration information.
The method according to claim 11, wherein the identifying whether the pan/tilt head is in a stationary state according to the acceleration information comprises:

Acquiring the acceleration variance corresponding to the acceleration information;

When the acceleration variance is less than a preset variance threshold, it is determined that the pan/tilt head is in a stationary state, or when the acceleration variance is greater than or equal to a preset variance threshold, it is determined that the pan/tilt head is in a motion state.
The method according to claim 10, wherein detecting whether the pan-tilt meets a preset condition comprises:

Acquiring the current target posture corresponding to the current moment of the pan/tilt and the historical target posture corresponding to the previous moment of the pan/tilt;

Determining the attitude error between the current target attitude and the historical target attitude;

When the attitude error is less than the preset attitude threshold, it is determined that the target attitude of the pan/tilt head remains unchanged, or when the attitude error is greater than or equal to the preset attitude threshold, the target attitude of the pan/tilt head is determined Changes.
The method according to claim 9, wherein determining whether the control parameters of the pan/tilt head match the load set on the pan/tilt head according to the operating status information comprises:

In the detection time period, obtain the number of errors in which the control error continuously exceeds the preset error interval;

When the number of errors is greater than or equal to a preset first number threshold, it is determined that the control parameter does not match the load set on the pan/tilt.
The method according to claim 3, wherein the determining whether the control parameters of the pan/tilt head match the load set on the pan/tilt head according to the operating status information comprises:

In the detection time period, acquiring information about the number of times that the output torque information meets a preset change condition;

When the frequency information is greater than or equal to the preset second frequency threshold, it is determined that the control parameter does not match the load set on the pan/tilt.
The method according to claim 15, wherein the preset change condition comprises at least one of the following:

The output torque information is changed from a preset maximum torque threshold to a preset minimum torque threshold;

The output torque information is changed from the preset minimum torque threshold to the preset maximum torque threshold.
The method according to claim 3, wherein the determining whether the control parameters of the pan/tilt head match the load set on the pan/tilt head according to the operating status information comprises:

Acquiring frequency spectrum peak information in the torque frequency spectrum information;

When the spectral peak information is greater than or equal to a preset peak threshold, it is determined that the control parameter does not match the load set on the pan-tilt.
The method according to claim 7, wherein the method further comprises:

When the pan/tilt does not meet the self-tuning condition, a status reminder message corresponding to the pan/tilt is generated to prompt the user to adjust the pan/tilt to meet the preset self-tuning condition.
The method according to claim 6, wherein the method further comprises:

Restore the control parameters of the pan/tilt head to the preset default values.
A pan-tilt, characterized in that it comprises:

Memory, used to store computer programs;

The processor is configured to run a computer program stored in the memory to realize:

Obtain the operating status information of the PTZ in the preset detection time period;

Determining whether the control parameters of the pan-tilt and the load set on the pan-tilt match according to the operating status information;

When the control parameter of the pan/tilt does not match the load set on the pan/tilt, it is determined that the load set on the pan/tilt is replaced.
The pan/tilt head according to claim 20, wherein the operating status information comprises at least one of the following:

The control error of the pan/tilt in at least one direction, and the operating parameter corresponding to the force information of the motor on the pan/tilt.
The pan/tilt head according to claim 21, wherein the operating parameters comprise at least one of the following: output torque information and torque frequency spectrum information.
The pan/tilt head according to claim 20, wherein the control parameter comprises at least one of the following: the strength information of the motor on the pan/tilt head, the response speed to the load pose, and the filtering on the pan/tilt head. Configuration parameters of the device.
The pan/tilt head according to claim 20, wherein the detection time period is a time period after the pan/tilt head is in a preset working state.
The pan/tilt head according to claim 24, wherein the preset working state includes at least one of the following: a power-on state and a wake-up state.
The pan/tilt head according to any one of claims 20-25, wherein after determining that the load set on the pan/tilt head is changed, the processor is further configured to:

Check whether the PTZ meets the preset self-tuning conditions;

When the pan/tilt satisfies the self-tuning condition, the control parameter of the pan/tilt is self-tuning.
The pan/tilt head of claim 26, wherein the self-tuning condition comprises:

The motor shaft angle of the motor on the pan/tilt is in a preset angle range;

The angle between the axis of the base of the pan/tilt head and the vertical direction is smaller than a preset angle threshold.
The pan/tilt head according to claim 20, wherein the operating state information includes a control error of the pan/tilt head in at least one direction, and before the acquiring the operating state information of the pan/tilt head, the processor further Used for:

Detecting whether the pan-tilt meets a preset condition;

When the pan-tilt meets the preset condition, the operating state information of the pan-tilt is acquired within the preset detection time period.
The pan/tilt head according to claim 28, wherein the preset condition comprises at least one of the following:

The pan/tilt is in a static state;

The target posture of the PTZ remains unchanged.
The pan/tilt head according to claim 29, wherein when the processor detects whether the pan/tilt head meets a preset condition, the processor is further configured to:

Acquiring acceleration information corresponding to the pan/tilt;

Identify whether the pan/tilt head is in a stationary state according to the acceleration information.
The pan/tilt head according to claim 30, wherein when the processor recognizes whether the pan/tilt head is in a stationary state according to the acceleration information, the processor is further configured to:

Acquiring the acceleration variance corresponding to the acceleration information;

When the acceleration variance is less than a preset variance threshold, it is determined that the pan/tilt head is in a stationary state, or when the acceleration variance is greater than or equal to a preset variance threshold, it is determined that the pan/tilt head is in a motion state.
The pan/tilt head according to claim 29, wherein when the processor detects whether the pan/tilt head meets a preset condition, the processor is further configured to:

Acquiring the current target posture corresponding to the current moment of the pan/tilt and the historical target posture corresponding to the previous moment of the pan/tilt;

Determining the attitude error between the current target attitude and the historical target attitude;

When the attitude error is less than the preset attitude threshold, it is determined that the target attitude of the pan/tilt head remains unchanged, or when the attitude error is greater than or equal to the preset attitude threshold, the target attitude of the pan/tilt head is determined Changes.
The pan/tilt head according to claim 28, wherein when the processor determines whether the control parameter of the pan/tilt head matches the load set on the pan/tilt head according to the operating status information, the The processor is also used to:

In the detection time period, obtain the number of errors in which the control error continuously exceeds the preset error interval;

When the number of errors is greater than or equal to a preset first number threshold, it is determined that the control parameter does not match the load set on the pan/tilt.
The pan/tilt head according to claim 22, wherein when the processor determines whether the control parameters of the pan/tilt head match the load set on the pan/tilt head according to the operating status information, the The processor is also used to:

In the detection time period, acquiring information about the number of times that the output torque information meets a preset change condition;

When the frequency information is greater than or equal to the preset second frequency threshold, it is determined that the control parameter does not match the load set on the pan/tilt.
The pan/tilt head according to claim 34, wherein the preset change condition comprises at least one of the following:

The output torque information is changed from a preset maximum torque threshold to a preset minimum torque threshold;

The output torque information is changed from the preset minimum torque threshold to the preset maximum torque threshold.
The pan/tilt head according to claim 22, wherein when the processor determines whether the control parameters of the pan/tilt head match the load set on the pan/tilt head according to the operating status information, the The processor is also used to:

Acquiring frequency spectrum peak information in the torque frequency spectrum information;

When the spectral peak information is greater than or equal to a preset peak threshold, it is determined that the control parameter does not match the load set on the pan-tilt.
The pan-tilt according to claim 26, wherein the processor is further configured to:

When the pan/tilt does not meet the self-tuning condition, a status reminder message corresponding to the pan/tilt is generated to prompt the user to adjust the pan/tilt to meet the preset self-tuning condition.
The pan-tilt according to claim 25, wherein the processor is further configured to:

Restore the control parameters of the pan/tilt head to the preset default values.
A hand-held pan/tilt, characterized in that it comprises:

Handheld

The pan/tilt head according to any one of claims 20-38, which is installed on the hand-held part.
An unmanned aerial vehicle, characterized in that it comprises:

body;

A power system installed on the fuselage and used to provide power for the unmanned aerial vehicle;

The pan/tilt head according to any one of claims 20-38, which is installed on the fuselage.
A computer-readable storage medium, wherein the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used to implement any one of claims 1-19 The control method of the PTZ described in item.