CN106569512A - Holder calibration method - Google Patents
Holder calibration method Download PDFInfo
- Publication number
- CN106569512A CN106569512A CN201610964515.2A CN201610964515A CN106569512A CN 106569512 A CN106569512 A CN 106569512A CN 201610964515 A CN201610964515 A CN 201610964515A CN 106569512 A CN106569512 A CN 106569512A
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- Prior art keywords
- head
- calibration
- motor
- attitude angle
- angle
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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 holder calibration method. The method comprises the steps that a holder driving motor is rotated to a motor limit gear or a position where a marked graduation line of the motor is located or a position when a mobile phone is horizontal after a holder is electrified; a user operation host computer sends a calibration instruction, and a holder MCU receives the calibration instruction, enters a calibration state and records a corresponding position attitude A of the motor; and the holder is disconnected from the host computer and restarted to enter a normal work mode, an IMU assembly measures a real-time attitude angel B, and the MCU obtains the real attitude angle of the holder by calculating B-A. The holder calibration method is characterized by simple operation, high calibration efficiency and high reliability.
Description
Technical field
The present invention relates to head field, more particularly to a kind of head calibration steps.
Background technology
Head is to install the load bearing equipment with the filming apparatus such as fixed camera or mobile phone, and which can be supervised according to attitude inductive component
Extraneous disturbance is surveyed, motor rotates the construction package of connection, promote camera or mobile phone to keep maintenance level, so as to ensure to clap
Take the photograph image quality.
Head attitude inductive component is typically mainly made up of angle sensor device assembly and inertial measurement cluster (IMU), they
It is connected with motor, the kinestate of energy real-time monitoring camera or mobile phone, particularly horizontal attitude angle.When dispatching from the factory in order to determine
Angle sensor device assembly and head relative position relation, need to carry out mechanically calibrated, and mechanically calibrated generally requiring at this stage makes
With fixture, head is put in calibration clamp and keeps head in mechanical zero, entered by calibration software after connecting head power supply
Row calibration, this kind of method can bring extra operation and tool demands extremely inconvenient due to needing to use fixture.
The IMU components of MEMS sensor composition are adopted to be used widely on head with its light and handy and integrated level height, but
Its alignment error and the easy factor such as influenced by ambient temperature, can all cause the actual angle of load bearing equipment on head with
IMU component measurement results are not inconsistent, and cause shooting picture to incline, it is therefore desirable to adjusted by calibration.Conventional calibration at present
Method, is to carry out multiposition calibration to clouds terrace system, and such as hexahedro calibration method, but this method calibration process is complicated and the time is long.
The content of the invention
It is an object of the invention to provide a kind of head calibration steps, it compensate for drawbacks described above so that the calibration behaviour of head
Make simple, improve the degree of accuracy of head calibration, reliability and operating efficiency.Concrete operation step is as follows：
S1：After head is powered, head motor is turned to into certain position and this state is kept；
S2：Operation host computer or operation head enter automatic calibration mode and send calibration command, and head MCU receives calibration and refers to
Align mode is entered after order；
S3：Head MCU records the relevant position attitude of motor, the initial zero position attitude angle that now head inductive component is measured
For A, and attitude angle feedback is indicated into that head calibration is finished；
S4：Disconnect the connection of head and host computer or exit the automatic calibration mode of head and reboot into normal work mould
Formula, the real-time attitude angle that inductive component is measured be B, MCU calculate B-A obtain the real attitude angle of head；
S5：Corresponding augmentation control is completed by the value for reducing true attitude angle B.
Further, the certain position in step S1 is the position that electric machine spacing gear is located.
Further, when also including for motor being arranged at the position of motor limiting block, inductive component is relatively initial
The step of angle value of zero-bit is set as C, the then angle that A-C is the motor place axle are zero position；Inductive component is measured
Real-time attitude angle be B, MCU calculates B- (A-C) and obtains the true attitude angle of clouds terrace system.
Further, the certain position in step S1 be will be right with what rotor was arranged in head institute motor stator
The position that motor is located when answering graduation mark to align.
Further, when the load bearing equipment of the head is mobile phone, the certain position in described step S1 is by mobile phone
The interior level indicator application program based on gyroscope is opened, when keeping mobile phone pitch axis and roll axle level according to the prompting of level indicator
The position that motor is located.
Further, described head inductive component includes angular transducer and inertial measurement cluster.
Further, the position that initial zero position attitude angle A for measuring in step S3 noted earlier is located can be used as used
Property measurement assembly calibration null positions.
Further, the head is single shaft head, two axle The Cloud Terraces or three axle heads, and the motor has one respectively
It is individual, two or three.
Further, the head is hand-held head or airborne tripod head.
In sum, the application provides a kind of head calibration steps, and this kind of method is by with the positioning on horizontal stage electric machine
The position as motor calibration is put, with simple to operate, calibration efficiency is high, the characteristics of good reliability.
Description of the drawings
With reference to appended accompanying drawing, more fully to describe embodiments of the invention.However, appended accompanying drawing be merely to illustrate and
Illustrate, and be not meant to limit the scope of the invention.
Fig. 1 is that head is gone to electric machine spacing gear to put schematic diagram when being calibrated.
Fig. 2 is the schematic diagram when graduation mark position gone to head on motor is calibrated.
Fig. 3 is the flow chart of the head calibration of the present invention.
Specific embodiment
The present invention is further illustrated with specific embodiment below in conjunction with the accompanying drawings, but not as to the present invention's
Limit.
Clouds terrace system, including load bearing equipment, inductive component, motor and its connecting shaft, miniature control unit (MCU) and
The parts such as its control assembly.Load bearing equipment is usually the filming apparatus such as camera or mobile phone；Inductive component mainly includes angle sensor
Device and inertial measurement cluster, are arranged on electric machine assembly, are connected with motor, for the kinestate of real-time monitoring load bearing equipment；
The motor and its connecting shaft of three axle heads is typically constituted by 3 groups, and one of which is pitch axis and pitching spindle motor, for driving
Along pitch axes, one group is roll axle and roll spindle motor to dynamic load bearing equipment, for driving load bearing equipment to rotate along roll axle,
Another group is course axle and course spindle motor, for driving load bearing equipment to rotate along course axle.Connect on each motor
Angled sensor, angular transducer can be potentiometer or magnetoresistive transducer etc..Once angular transducer is installed on motor
On, its repeatability is in general more stable with stability, is capable of the relative angle of measurement motor axis of rotation；MCU and its control
Component processed then turns to angle on target for controlled motor.
Limiting block is all designed with the head motor of the overwhelming majority at present, is turned with limiting motor within the specific limits
It is dynamic, as shown in Figure 1.It is as the position that limiting block is located just has confirmed that its fixed angles angle value at the beginning of design therefore available
Improving the accuracy of follow-up head inductive component one side calibration, the method has high convenience and accuracy to this characteristic.
I.e. three groups motors turn to limiting block position and keep, the equal limited location in motor both sides, it is determined that wherein side, MCU and
Its control assembly can receive control instruction, and Indicated Cloud mesa-shaped state, including head calibration command, head align mode etc..
Based on above-mentioned clouds terrace system, head is calibrated and its running is as follows：
S1：After head is powered, head motor is turned to into electric machine spacing gear side, and keeps the state；
S2：Operation host computer or operation head enter automatic calibration mode and send calibration command, and head MCU receives calibration and refers to
Align mode is entered after order；
S3：Head MCU records the relevant position attitude of motor, the initial zero position attitude angle that now head inductive component is measured
For A, and attitude angle feedback is indicated into that head calibration is finished；
S4：Disconnect the connection of head and host computer or exit the automatic calibration mode of head and reboot into normal work mould
Formula, the real-time attitude angle that inductive component is measured be B, MCU calculate B-A obtain the real attitude angle of head；
S5：Corresponding augmentation control is completed by the value for reducing true attitude angle B.
Now, if the limiting block position of inductive component place motor is not zero with respect to initial zero position design angle,
But during angle C, recording angle C, then A-C is the position that this shaft angle degree is zero；By that analogy, the reality that inductive component is measured
When attitude angle B be then calculated as B- (A-C).
Accompanying drawing 2 is on each motor of head to be provided with graduation mark, and under in initial zero position state, i.e. camera keeps
Level motor stator just forward and the rotor corresponding position corresponding graduation mark of setting, when all motor rotors correspondence
When graduation mark overlaps, it is that zero, course angle is zero degree, i.e. head and its phase of load that the camera angle of pitch of load is zero, roll angle
Machine is in zero-bit state；MCU and its control assembly can receive control instruction, and energy Indicated Cloud mesa-shaped state, including head calibration
Instruction, head align mode etc..
Based on above-mentioned clouds terrace system, head is calibrated and its running is as follows：
S1：After head is powered, it is connected with host computer calibration software, by graduation mark head motor stator corresponding with rotor
Alignment, and keep this state；
S2：Operation host computer or operation head enter automatic calibration mode and send calibration command, and the MCU of head receives calibration
Align mode is entered after instruction；
S3：The MCU record relevant position attitudes of head, the initial zero position attitude angle that now inductive component is measured is A values, and
Feedback indicates that head calibration is finished；
S4：Disconnect the connection of head and host computer or exit the automatic calibration mode of head and reboot into normal work mould
Formula, the real-time attitude angle that inductive component is measured are B, MCU calculating B-A, that is, obtain the real attitude angle of head.
S5：Corresponding augmentation control is completed by the value for reducing true attitude angle B.
It can also be the photographic attachment such as camera that the load bearing equipment carried by the clouds terrace system of the application can be mobile phone, work as institute
When the equipment of carrying is mobile phone, the calibration of the head can also adopt following methods：
S1：Mobile phone is placed on head, after head is powered, the level indicator application program based on gyroscope in mobile phone is opened,
It is horizontality according to the position of prompting holding mobile phone pitch axis and roll axle；
S2：User operation host computer or operation head enter automatic calibration mode and send calibration command, and the MCU of head is received
Align mode is entered after calibration command；
S3：The MCU of head records each motor relevant position attitude, and the attitude angle that now IMU components are measured is A values, and instead
Feedback indicates that head calibration is finished；
S4：Disconnect the connection of head and host computer or exit the automatic calibration mode of head and reboot into normal work mould
Formula, the real-time attitude angle that IMU components are measured are B, MCU calculating B-A, that is, obtain the real attitude angle of head.
S5：Corresponding augmentation control is completed by the value for reducing true attitude angle B.
Above-mentioned three kinds of calibrating modes can as angular transducer and inertial measurement cluster dispatch from the factory or conventional use in calibration
Method.But due to angular transducer is installed on motor, its repeatability and stability are in general more stable, therefore, only
Need to calibrate once when dispatching from the factory.But, inertial measurement cluster is easily subject to the shadow of the external environment conditions such as mechanical vibration, temperature
Ring, be required for before every use being calibrated once, based on this, the application also provides a kind of daily for inertial measurement cluster
Calibration steps during use.
Complete to determine inductive component and cradle head structure relative position relation it is mechanically calibrated after, head can also be using machinery
The automatic motor of angle position data of position correction goes to what calibrated mechanical zero position i.e. zero-bit attitude angle was located
Position, inertial measurement cluster can be calibrated using this position as benchmark, to eliminate what alignment error, temperature environment etc. were brought
Affect.Specifically, the calibration steps of inertial measurement cluster can also be carried out using following methods：
S11：After head is powered, operation host computer calibration software connection head or operation head enter automatic calibration mode；
S12：Host computer or the automatic calibration mode of head send calibration command, and head motor turns to calibrated finishing
Mechanical zero position, MCU receive calibration command after enter align mode；
S13：The MCU record relevant position attitudes of head, the attitude angle that now inertial measurement cluster is measured is A values, and instead
Feedback indicates that head calibration is finished；
S14：Disconnect the connection of head and host computer or exit the automatic calibration mode of head and reboot into normal work mould
Formula, the real-time attitude angle that inertial measurement cluster is measured are B, MCU calculating B-A, that is, obtain the real attitude angle of head.
S5：Corresponding augmentation control is completed by the value for reducing true attitude angle B.
This kind of method can directly adopt mechanical zero position during factory calibration in daily calibration, and without the need for passing through again
Position when motor is gone to limiting block, the graduation mark for arranging or mobile phone level indicator display level carries out calibration operation, the method
It is not only simple to operate, and improve work efficiency.
Above-mentioned several calibrating modes are readily adaptable for use in single shaft head and two axle The Cloud Terraces；In the same manner, above-mentioned several calibration sides
Formula, it is adaptable to which hand-held head is readily adaptable for use in airborne tripod head.
In sum, the application provides a kind of head calibration steps, this kind of method by being kept off with horizontal stage electric machine upper limit or
The position when stator of motor and rotor to go to the graduation mark or axle level each using level indicator in mobile phone of setting is used as machinery
The position of calibration is calibrated, and with simple to operate, calibration efficiency is high, the characteristics of good reliability.
By explanation and accompanying drawing, the exemplary embodiments of the ad hoc structure of specific embodiment are given, based on essence of the invention
God, can also make other conversions.Although foregoing invention proposes existing preferred embodiment, however, these contents are not intended as
Limitation.
For a person skilled in the art, after reading described above, various changes and modifications undoubtedly will be evident that.
Therefore, appending claims should regard whole variations and modifications of the true intention and scope that cover the present invention as.In power
In the range of sharp claim, any and all scope of equal value and content, are all considered as still belonging to the intent and scope of the invention.
Claims (10)
1. a kind of head calibration steps, it is characterised in that comprise the following steps：
S1：After head is powered, head motor is turned to into certain position and this state is kept；
S2：Operation host computer or operation head enter automatic calibration mode and send calibration command, after head MCU receives calibration command
Into align mode；
S3：Head MCU records the relevant position attitude of motor, and the initial zero position attitude angle that now head inductive component is measured is A,
And the attitude angle feedback is indicated into that head calibration is finished；
S4：Disconnect the connection of head and host computer or exit the automatic calibration mode of head and reboot into normal mode of operation, feel
The real-time attitude angle that component measures is answered to be B, MCU calculates B-A and obtains the real attitude angle of head；
S5：Corresponding augmentation control is completed by the value for reducing true attitude angle B.
2. according to a kind of head calibration steps described in claim 1, it is characterised in that the positioning in described step S1
Put be motor limiting block position.
3. according to a kind of head calibration steps described in claim 2, it is characterised in that also include for motor being arranged at driving
During the position of electric machine spacing gear, the step of the value of the relative initial zero position angle of inductive component is C, then A-C is motor place
The angle of axle is zero position.
4. according to a kind of head calibration steps described in claim 3, it is characterised in that be the motor in described A-C
The angle of place axle is zero position, the real-time attitude angle that inductive component is measured be B, MCU calculate B- (A-C) obtain true cloud
The attitude angle of platform system.
5. according to a kind of head calibration steps described in claim 1, it is characterised in that the positioning in described step S1
It is the position that the motor when the stator of motor is alignd with the corresponding graduation mark being respectively provided with rotor is located to put.
6. according to a kind of head calibration steps described in claim 1, it is characterised in that the equipment that described head is carried is
During mobile phone, the certain position in described step S1 is to open the level indicator application program in mobile phone based on gyroscope, according to
The position that motor is located when level indicator prompting keeps mobile phone pitch axis and roll axle level.
7. a kind of head calibration steps according to any one of claim 1 to 6, it is characterised in that described head sense
Component is answered to include angular transducer and inertial measurement cluster.
8. according to a kind of head calibration steps described in claim 7, it is characterised in that initial zero in described step S3
The position that position attitude angle A is located can be used as the null positions of inertial measurement cluster calibration.
9. a kind of head calibration steps according to any one of claim 1 to 6, it is characterised in that described head is
Single shaft head, two axle The Cloud Terraces or three axle heads, described motor have one, two or three respectively.
10. a kind of head calibration steps according to any one of claim 1 to 6, it is characterised in that described head is
Hand-held head or airborne tripod head.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610964515.2A CN106569512A (en) | 2016-11-04 | 2016-11-04 | Holder calibration method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610964515.2A CN106569512A (en) | 2016-11-04 | 2016-11-04 | Holder calibration method |
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| CN106569512A true CN106569512A (en) | 2017-04-19 |
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| CN201610964515.2A Pending CN106569512A (en) | 2016-11-04 | 2016-11-04 | Holder calibration method |
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| CN108521777A (en) * | 2017-11-22 | 2018-09-11 | 深圳市大疆创新科技有限公司 | Control method, holder and the unmanned vehicle of holder |
| CN108759861A (en) * | 2018-04-13 | 2018-11-06 | 深圳市固胜智能科技有限公司 | IMU calibration methods, device and storage medium based on holder |
| CN109074103A (en) * | 2017-12-23 | 2018-12-21 | 深圳市大疆创新科技有限公司 | A kind of holder calibration method and tripod head equipment |
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| CN113433928A (en) * | 2021-07-15 | 2021-09-24 | 上海智能网联汽车技术中心有限公司 | Precision verification system and method suitable for roadside intelligent tripod head |
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Application publication date: 20170419 |