CN106371469A - Camera holder pitch angle control method - Google Patents
Camera holder pitch angle control method Download PDFInfo
- Publication number
- CN106371469A CN106371469A CN201611032340.8A CN201611032340A CN106371469A CN 106371469 A CN106371469 A CN 106371469A CN 201611032340 A CN201611032340 A CN 201611032340A CN 106371469 A CN106371469 A CN 106371469A
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- CN
- China
- Prior art keywords
- adjustment
- steering wheel
- value
- angle
- pitch
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
The invention discloses a camera holder pitch angle control method. When the angle deviation between an angle value measured by a pitch sensor and a target angle value is greater than an allowable error value, wide-range rapid adjustment is performed using a coarse-adjustment steering gear according to a proportional adjustment strategy if the angle deviation is greater than a coarse-fine adjustment switching critical angle value, adjustment is performed using a fine-adjustment steering gear if the angle deviation is smaller than the coarse-fine adjustment switching critical angle value, the fine-adjustment steering gear makes adjustment according to a proportional adjustment mode when the angle deviation is greater than a slow adjustment critical value, and the fine-adjustment steering gear makes adjustment according to a slow adjustment mode when the angle deviation is smaller than the slow adjustment critical value. The method has the characteristic of high adjustment precision.
Description
Technical field
The present invention relates to a kind of camera head system.
Background technology
At present, automatic stabilisation camera head obtains the wide application of ratio in fields such as Aerial photographies, and its target is to ensure that bat
The real-time stability of camera when taking the photograph, thus ensure stablizing of the shooting image of camera.But the bearing capacity of such shooting tripod head is not
Greatly, typically do that the angle rotating is also limited, and require camera barycenter consistent with adjusting rotary shaft axle center, therefore typically can only prop up
Hold the camera of specific model, and other equipment can not be loaded, range is more narrow, serial head is thought in such as great Jiang company buddhist[1].
List of references
[1] h3-3d head is thought in buddhist | dji big boundary http://www.dji.com/cn/product/zenmuse-h3-3d
Content of the invention
The purpose of the present invention is to improve existing camera head, and is based on improved camera head, provides a kind of angle of pitch
Control method.The technical scheme being adopted is as follows:
A kind of control method of the camera head angle of pitch, the camera head being adopted includes the rotation adjustment dress in direction that rolls
Put, the rotation adjuster of pitch orientation, for measuring pitch sensor and the controller of the pitch orientation anglec of rotation, pitching side
To rotation adjuster be fixed on balance direction rotation adjuster on, the rotation adjuster of pitch orientation adopts thickness
Two-stage rotation adjustment structure, including the travel(l)ing rest 1 of pitch orientation, the platform that is fixed on travel(l)ing rest 1 end, coarse adjustment steering wheel 7
With corresponding coarse adjustment rocking arm 6, fine setting steering wheel 3 and corresponding fine setting Rocker arm 4, pass through between coarse adjustment rocking arm 6 and fine setting Rocker arm 4
Pull bar 5 is rigidly connected；Fine setting steering wheel 3 is fixed on platform, and coarse adjustment steering wheel 7 is bigger than the horsepower of fine setting steering wheel 3；
The control method of the camera head angle of pitch being adopted is: default allowable error value and thickness adjust conversion critical angle
Angle value and slowly regulation marginal value, controller controls the operation of two steering wheels according to the measurement signal of pitch sensor: works as basis
When angular deviation between angle value that pitch sensor records and target angle angle value is more than allowable error value, if angular deviation is big
Adjust conversion critical angle value in thickness, then adopt coarse adjustment steering wheel, proportionally adjust strategy and carry out quick regulation on a large scale, if
Angular deviation is less than thickness and adjusts conversion critical angle value, then be adjusted using fine setting steering wheel, and when angular deviation is more than slow
When adjusting marginal value, proportionally regulative mode is adjusted fine setting steering wheel, and when less than slow regulation marginal value, fine setting steering wheel is pressed
It is adjusted according to slow regulative mode.
Due to taking above technical scheme, it has the advantage that the present invention
(1) the no strict mounting arrangement of load bearing equipment requires it is not necessary to strictly all protect equipment centre of gravity adjustment to y-axis axle center
Hold consistent, thus improve the flexibility ratio of load bearing equipment layout in the case of ensureing bearing capacity.
(2) angle of pitch uses fine two-stage to adjust structure, and software strategy cooperation is it is ensured that the essence of platform motion in addition
Degree, realizes high accuracy platform and moves and rotate.
Brief description
Fig. 1: head thickness two-stage rotation adjustment structure chart
Fig. 2: software feedback control strategy flow chart
Specific embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.Described herein it is embodied as
Example mode is only used for explaining the present invention, the protection domain being not intended to limit the present invention.
The high inclination-angle of present invention offer, high capacity, the high accuracy camera head technology of self-balancing, comprise the interior of two aspects
Hold, one is design and the layout of hardware, and two is the autobalance feedback control software based on above-mentioned hardware device.
(1) design of hardware and layout: a kind of high inclination-angle, high capacity, the high accuracy camera head of self-balancing, key structure
Design is: uses thickness two-stage rotation adjustment structure in pitch orientation.
Thickness two-stage rotation adjustment structure include pitch orientation the steering wheel 7 (big steering wheel) of 1, coarse adjustment of support and right
The steering wheel 3 (little steering wheel) of 6, one, the rocking arm answered fine setting and corresponding Rocker arm 4, also has connecting portion between two rocking arms
Divide pull bar 5
Wherein, the steering wheel of coarse adjustment uses large-scale steering wheel, and the feature of its steering wheel is that horsepower is big, can drive on platform
The rotation of high capacity equipment, adjustable scope is also larger, because the shortcoming of large-scale steering wheel is that precision is lower slightly, and now
Through not needing rotation interior in a big way, thus fine setting steering wheel we use small-sized steering machine, left down for large-scale steering wheel
Error carry out the high-precision adjustment of small range.
Coarse adjustment steering wheel 7 and corresponding rocking bar 6 be attached, and must send over when coarse adjustment steering engine controller is obtained
Control instruction is to steering wheel sending signal, and orders about coarse adjustment steering wheel and moved so that equipment is rotated in pitch orientation, is reaching
To after predetermined threshold, by the coupling part pull bar 5 between two rocking arms, two steering wheels are attached, when fine tuning steering wheel
Controller obtains the control instruction that must send over to steering wheel sending signal, orders about fine setting steering wheel and is moved, thus reaching thin
The function of fine adjustment rotation.
(2) autobalance feedback control software
The present invention is the real-time autobalance achieving camera head, needs real-time according to the state of current angular sensor
Feedback regulation x-axis and the poised state of y-axis, adjust strategy as follows:
A) sensing data is filtered.Because the factors such as working sensor environment, oneself state, transmitting procedure can be led
Cause the data that sensor produces to produce certain unstability, lead to the generation of wrong data, thus can make to system stationarity
Become interference, therefore software system can carry out Real-Time Filtering process to sensing data first, to eliminate the number that accidentalia leads to
According to mistake.Preferably, the present invention is filtered to data by the way of limit filtration and Kalman filtering be combined with each other, and eliminates
Wrong data is it is ensured that the correctness of data.
B) adjust x-axis poised state.In design, x-axis (rolling direction) balance is adjusted using single steering wheel, when x-axis side
Difference between sensor angles value and predetermined angle upwards, when that is, angular deviation is less than x-axis allowable error value e (i.e. precision),
Steering wheel stops the regulation in x direction.When the angu-lar deviation that sensor on x-axis direction records is more than allowable error value, if deviation
Larger, then adoption rate adjusts strategy (refer to bottom explanation) and is adjusted, if deviation less (adjust marginal value t) less than slow,
Then adjust strategy using slow, to be adjusted at a slow speed the stability it is ensured that adjusting.
C) adjust y-axis poised state.Y-axis (pitch orientation) balance is combined using two steering wheels of size and is adjusted, and works as y-axis
When difference between direction sensor angle value and predetermined angle is that angular deviation is less than y-axis allowable error value (i.e. precision), rudder
Machine stops adjusting.When the angular deviation that sensor on y-axis direction records is more than allowable error value, if sensor angles deviation is relatively
Greatly (more than thickness adjust conversion critical angle value s) when, then adopt big steering wheel, proportionally adjust strategy carry out quick on a large scale
Adjust, if sensor angles deviation is less and (adjusting conversion critical angle value s) less than more than thickness, being adjusted using little steering wheel
Section, and when sensor angles are more than slow regulation marginal value, proportionally regulative mode is adjusted little steering wheel, when less than slow tune
During section marginal value, little steering wheel is adjusted according to slow regulative mode.
D) repeat three above process, until it reaches (i.e. angular transducer is in the angle of x, y-axis both direction for poised state
Error is all in accuracy rating).
Proportion adjustment strategy is that is, angular deviation is (flat by the difference between the angle value of sensor senses and predetermined angle
During weighing apparatus, angular deviation should be 0) it is multiplied with ratio k and obtain the steering wheel pulse width modulated values (△ pwm value) that will change, make
For the variable quantity of steering wheel pulse width values (pwm), it is attached in the original pulse width values of steering wheel and constitutes new pulse width
Value, thus a kind of mode that steering wheel is adjusted.
Slow regulation strategy, then be that each change pulse width value △ pwm is set to a less fixed value, this value is only
Positive and negative with angular deviation relevant, unrelated with angular deviation size, so that steering wheel is with the regulation of more stable jogging speed operating
Mode.
Autobalance feedback control software can be realized on general purpose personal computer platform, also can be in embedded scm system
System is lower to be realized.
Claims (2)
1. a kind of control method of the camera head angle of pitch, the camera head being adopted includes the rotation adjustment dress in direction that rolls
Put, the rotation adjuster of pitch orientation, for measuring pitch sensor and the controller of the pitch orientation anglec of rotation, pitching side
To rotation adjuster be fixed on balance direction rotation adjuster on, the rotation adjuster of pitch orientation adopts thickness
Two-stage rotation adjustment structure, including the travel(l)ing rest of pitch orientation, the platform, coarse adjustment steering wheel and the institute that are fixed on travel(l)ing rest end
Corresponding coarse adjustment rocking arm, fine setting steering wheel and corresponding fine setting rocking arm,
It is rigidly connected by pull bar between coarse adjustment rocking arm and fine setting rocking arm；Fine setting steering wheel is fixed on platform, and coarse adjustment steering wheel is than micro-
Adjust the horsepower of steering wheel big.
The control method of the camera head angle of pitch being adopted is: default allowable error value and thickness adjust conversion critical angle value
And adjusting marginal value slowly, controller controls the operation of two steering wheels according to the measurement signal of pitch sensor: when according to pitching
When angular deviation between angle value that sensor records and target angle angle value is more than allowable error value, if angular deviation be more than thick
Thin tuning conversion critical angle value, then adopt coarse adjustment steering wheel, proportionally adjusts strategy and carries out quick regulation on a large scale, if angle
Deviation is less than thickness and adjusts conversion critical angle value, then be adjusted using fine setting steering wheel, and when angular deviation is more than slow regulation
During marginal value, proportionally regulative mode is adjusted fine setting steering wheel, and when less than slow regulation marginal value, fine setting steering wheel is according to slow
Regulative mode is adjusted.
2. control method according to claim 1 is it is characterised in that carry out adopting amplitude limit to pitch sensor measurement data
Filtering and the mode that combines of Kalman filtering are to being filtered.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032340.8A CN106371469A (en) | 2016-11-22 | 2016-11-22 | Camera holder pitch angle control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611032340.8A CN106371469A (en) | 2016-11-22 | 2016-11-22 | Camera holder pitch angle control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106371469A true CN106371469A (en) | 2017-02-01 |
Family
ID=57892105
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611032340.8A Pending CN106371469A (en) | 2016-11-22 | 2016-11-22 | Camera holder pitch angle control method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106371469A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109947138A (en) * | 2019-03-29 | 2019-06-28 | 西安工业大学 | Cloud platform control method and holder |
| WO2021016985A1 (en) * | 2019-08-01 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Gimbal control method, controller, gimbal, unmanned mobile platform, and storage medium |
| CN113008527A (en) * | 2021-03-05 | 2021-06-22 | Tcl华星光电技术有限公司 | Method for measuring visual angle of display panel |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040179290A1 (en) * | 2003-03-12 | 2004-09-16 | Matsushita Electric Industrial Co., Ltd. | Head positioning apparatus |
| CN101266078A (en) * | 2008-04-29 | 2008-09-17 | 河海大学 | Heliostat tracing controlling apparatus and its control method |
| CN101280875A (en) * | 2008-05-22 | 2008-10-08 | 上海交通大学 | Control method of automatic leveling system |
| CN102621995A (en) * | 2012-04-09 | 2012-08-01 | 华南农业大学 | Frame type three degree-of-freedom cradle head control system and control method thereof |
| CN103915048A (en) * | 2013-01-06 | 2014-07-09 | 北京京东方光电科技有限公司 | Detecting sensor adjusting device and method and substrate detecting device |
| CN106133631A (en) * | 2015-04-02 | 2016-11-16 | 深圳市大疆创新科技有限公司 | Stabilized platform and following control system thereof and method |
-
2016
- 2016-11-22 CN CN201611032340.8A patent/CN106371469A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20040179290A1 (en) * | 2003-03-12 | 2004-09-16 | Matsushita Electric Industrial Co., Ltd. | Head positioning apparatus |
| CN101266078A (en) * | 2008-04-29 | 2008-09-17 | 河海大学 | Heliostat tracing controlling apparatus and its control method |
| CN101280875A (en) * | 2008-05-22 | 2008-10-08 | 上海交通大学 | Control method of automatic leveling system |
| CN102621995A (en) * | 2012-04-09 | 2012-08-01 | 华南农业大学 | Frame type three degree-of-freedom cradle head control system and control method thereof |
| CN103915048A (en) * | 2013-01-06 | 2014-07-09 | 北京京东方光电科技有限公司 | Detecting sensor adjusting device and method and substrate detecting device |
| CN106133631A (en) * | 2015-04-02 | 2016-11-16 | 深圳市大疆创新科技有限公司 | Stabilized platform and following control system thereof and method |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109947138A (en) * | 2019-03-29 | 2019-06-28 | 西安工业大学 | Cloud platform control method and holder |
| WO2021016985A1 (en) * | 2019-08-01 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Gimbal control method, controller, gimbal, unmanned mobile platform, and storage medium |
| CN113008527A (en) * | 2021-03-05 | 2021-06-22 | Tcl华星光电技术有限公司 | Method for measuring visual angle of display panel |
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Application publication date: 20170201 |
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