CN108700252A - The control method and holder of holder - Google Patents
The control method and holder of holder Download PDFInfo
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- CN108700252A CN108700252A CN201780004873.1A CN201780004873A CN108700252A CN 108700252 A CN108700252 A CN 108700252A CN 201780004873 A CN201780004873 A CN 201780004873A CN 108700252 A CN108700252 A CN 108700252A
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- Prior art keywords
- holder
- posture information
- posture
- information
- quaternary number
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
-
- 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
A kind of control method and holder of holder, control method include:Determine the first posture information of holder;Determine the rotational angle of the driving motor of one or more axis of holder;The error posture information of attitude transducer is determined according to the first posture information and rotational angle;According to the first posture information of error posture information amendment to obtain the current pose information of holder.Holder (400) includes attitude transducer (401), the first posture information for determining holder (400);Angular transducer (402), the rotational angle of the driving motor of one or more axis for determining holder (401);Processor (403), the control information for determining attitude transducer (401) according to the first posture information and rotational angle;According to the first posture of error posture information amendment to obtain the current pose information of holder (400).The control method and holder of the holder can be effectively prevented from existing drifting problem when the posture information obtained in the prior art to gyroscope using accelerometer is modified, the holder posture obtained after amendment can be enable to keep stable for a long time, the capture apparatus being erected on holder can be allow to shoot shooting angle drifting problem of the scene of fixed seat in the plane without generating capture apparatus for a long time in this way.
Description
Technical field
The present invention relates to control field, more particularly to the control method and holder of a kind of holder.
Background technology
Holder is to increase steady system for load.Using holder establishing shot equipment, can increase surely for capture apparatus, even if
The picture for stablizing smoothness can also be shot under moving condition.However, using holder establishing shot equipment, shoot for a long time solid
When determining the scene of seat in the plane, each axis of holder (such as yaw axis, pitch axis, roll axis) can drift about, and lead to the picture of shooting
Also it drifts about therewith, reduces shooting quality.Therefore, it when needing to shoot the scene of fixed seat in the plane, needs capture apparatus
It is disassembled from holder, is then attached on tripod and debugs again again, when needing to shoot the scene of movement seat in the plane, needed again
Capture apparatus is disassembled from tripod, then is reinstalled holder, then is debugged again, reduces shooting efficiency expense in this way
When it is laborious, the serviceability of holder can be reduced in some cases.
Invention content
The present invention needs to provide a kind of control method and holder of holder, so that holder can be for a long time on each axis
It keeps stablizing so that the capture apparatus being erected on holder can shoot the scene of fixed seat in the plane without inclined for a long time
It moves, promotes shooting quality.
The first aspect of the embodiment of the present invention provides a kind of control method of holder, includes the following steps:
Determine the first posture information of holder;
Determine the rotational angle of the driving motor of one or more axis of holder;
The error posture information of attitude transducer is determined according to first posture information and the rotational angle;
First posture information is corrected to obtain the current pose information of holder according to the error posture information.
The second aspect of the embodiment of the present invention provides a kind of holder, including:
Attitude transducer, the first posture information for determining holder;
Angular transducer, the rotational angle of the driving motor of one or more axis for determining holder;
Processor, the error posture for determining attitude transducer according to first posture information and the rotational angle
Information;
First posture information is corrected to obtain the current pose information of holder according to the error posture information.
In the embodiment of the present invention, the angle and first of the driving motor rotation of one or more axis by determining holder
Posture information determines the error posture information of attitude transducer, is carried out according to first posture information of error posture information pair
It corrects, can be effectively prevented from when the posture information obtained in the prior art to gyroscope using accelerometer is modified and exist
Drifting problem, the holder posture obtained after amendment can be enable to keep stable for a long time, can make to be erected at cloud in this way
The scene that capture apparatus on platform can shoot fixed seat in the plane for a long time is asked without generating the shooting angle drift of capture apparatus
Topic, by the technical solution, holder can not only shoot the scene of movement seat in the plane but also can shoot the field of fixed seat in the plane for a long time
Scape expands the application range of holder.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, make required in being described below to embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other are can also be obtained according to these attached drawings
Attached drawing.
Fig. 1 is the flow diagram of the control method of the holder of certain embodiments of the invention.
Fig. 2 is the structural schematic diagram of the holder of certain embodiments of the invention.
Fig. 3 is the signal of the control method of the holder of certain embodiments of the invention being modified to the first posture information
Figure.
Fig. 4 is the structural schematic diagram of the holder of certain embodiments of the invention.
Specific implementation mode
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " first ", " second " are used for description purposes only, and cannot
It is interpreted as indicating or implies relative importance or implicitly indicate the quantity of indicated technical characteristic.Define as a result, " the
One ", the feature of " second " can explicitly or implicitly include one or more feature.In description of the invention
In, the meaning of " plurality " is two or more, unless otherwise specifically defined.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can
Can also be to be electrically connected or can be in communication with each other to be mechanical connection;It can be directly connected, it can also be by between intermediary
It connects connected, can be the interaction relationship of the connection or two elements inside two elements.For the ordinary skill of this field
For personnel, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
Following disclosure provides many different embodiments or example is used for realizing the different structure of the present invention.For letter
Change disclosure of the invention, hereinafter the component of specific examples and setting are described.Certainly, they are merely examples, and
It is not intended to limit the present invention.In addition, the present invention can in different examples repeat reference numerals and/or reference letter, this
Kind repeats to be for purposes of simplicity and clarity, itself not indicate the relationship between discussed various embodiments and/or setting.
In addition, the present invention provides various specific techniques and material example, but those of ordinary skill in the art will be appreciated that
To the application of other techniques and/or the use of other materials.
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, and is only used for explaining the present invention, and is not considered as limiting the invention.
Currently, holder is mainly feedback element with Inertial Measurement Unit (IMU), is with the driving motor of each axis of holder
Output element controls the posture of holder, wherein during to the control of holder posture, controlled quentity controlled variable is the appearance of holder
State, by giving a targeted attitude, by feedback control by holder current pose to the targeted attitude amendment, so that holder
It is approached from current pose to targeted attitude.
Inertial Measurement Unit includes mainly gyroscope and accelerometer, and gyroscope can measure the rotation of each axis of holder
Angular speed integrates the current pose (pitch, roll, yaw) that can determine holder by the angular speed obtained to measurement,
But the output of the angular speed of each axis of gyroscope has zero bias, moreover, zero bias cannot completely eliminate, therefore is measured with gyroscope
The current pose of holder that obtains of angular speed output integral be inaccurate.Currently, mainly giving holder using accelerometer
Attitude reference, the current pose of holder obtained to the angular speed integral that gyroscope measures are modified, final holder obtain compared with
For stable posture.However, accelerometer itself has drift, using the data correction current pose of accelerometer, can also produce
The posture of raw drift, holder is not to stablize very much from the point of view of for a long time, causes the capture apparatus being erected on holder cannot be for a long time
The scene of the fixed seat in the plane of ground shooting;In addition, when correcting the current pose of holder using accelerometer, holder can only be directed to
Pitch axis and roll axis are corrected, and cannot be corrected for the yaw axis of holder, therefore the yaw axis postures that gyro integrates out have
Drift may will soon be generated, eventually lead to the entire holder when being shot to the scene of fixed seat in the plane using holder
Yaw axis constantly moves in one direction, and also resulting in the capture apparatus being erected on holder in this way cannot shoot for a long time
The scene of fixed seat in the plane.
In view of the above-mentioned problems, referring to Fig. 1, the control method of the holder of the embodiment of the present invention includes step:
S101:Determine the first posture information of holder;
Specifically, the holder of the embodiment of the present invention can be two axle The Cloud Terraces, or three axis holders, for the ease of explaining,
As shown in Fig. 2, being schematically illustrated in embodiments of the present invention with three axis holders 200.Wherein, capture apparatus 9 is fixed
On the capture apparatus fixed mechanism 6 on holder 200, wherein the fixed mechanism 6 can be with the axis of the pitch axis of holder
7 fixed or movable connection of arm, wherein attitude transducer may be mounted on the fixed mechanism 6 of capture apparatus and fixed mechanism 6
Any other component being fixedly connected on the component being fixedly connected or with the armshaft 7 of pitch axis.In shooting process, holder is
Capture apparatus increases surely, and attitude transducer is the posture that can measure capture apparatus 9, i.e. the first posture information of holder, wherein posture
Sensor may include gyroscope, and gyroscope herein can be an independent gyroscope, also can also be Inertial Measurement Unit
In gyroscope, it is for convenience of description, following herein to be schematically illustrated using gyroscope as attitude transducer, wherein
The gyroscope of aftermentioned appearance can equally be substituted for attitude transducer herein.Wherein, there are many expression-form, quaternarys for posture
Number is a kind of representation method of posture information, and the common expression-form in addition commonly using posture also has Eulerian angles, matrix etc..First appearance
State information can be the attitude angle (Eulerian angles) of the first posture, can also be the corresponding quaternary number of the first posture, not make to have herein
The restriction of body.Aftermentioned part, which is related to posture information, herein to be the corresponding attitude angle of posture, can also be posture corresponding four
First number, is not hereafter just explained still further.
S102:Determine the angle of the driving motor rotation of one or more axis of holder;
Specifically, as shown in Fig. 2, the armshaft 8 of the roll axis of holder 200 is used to support the armshaft 7 and pitch of pitch axis
The driving motor 1 of axis, the armshaft 5 of the yaw axis of holder 200 are used to support the driving motor of the driving motor 3 and roll axis of yaw axis
2, the armshaft 7 of the pitch axis of holder is used to support capture apparatus 9, the driving motor (driving of pitch axis of each axis of holder 200
The driving motor 3 of motor 1, the driving motor 2 of roll axis, yaw axis) in can be with setting angle sensor, wherein in driving motor
Circuit board is set, and angular transducer can be electrically connected with circuit board, in the driving motor rotation of holder, pass through angle sensor
Device can measure the angle of driving motor rotation, and wherein angular transducer can be potentiometer, Hall sensor, photoelectric encoder
In it is one or more.Wherein, holder can be connect by pedestal 4 with hand-held rod (not shown) or moveable platform connects.
It should be noted that can successively be held in order to the sequence of step S101 and step S102 in the embodiment of the present invention
Row, wherein specific sequencing does not limit specifically, in addition step 101 and step S102 can also be performed simultaneously.
S103:The error posture information of attitude transducer is determined according to the first posture information and rotational angle;
Specifically, after measuring the rotational angle of driving motor for the one or more axis for obtaining holder, according to angle of rotation
It spends and determines that the first posture information of holder determines the error posture information of gyroscope, i.e. the error posture information using gyroscope
It can indicate the drift of gyroscope.
S104:According to the first posture information of error posture information amendment to obtain the current pose information of holder.
Specifically, it since gyroscope is when carrying out DATA REASONING, drifts about since gyroscope exists, leads to the posture measured
Information is inaccurate, therefore, after determining the error posture information for indicating gyroscopic drift, you can Closed-loop Control Strategy is used,
The first posture information obtained by gyroscope measurement is modified according to error posture information to obtain the current appearance of holder
State information.Wherein, specifically, using at least one of Extended Kalman filter, complementary filter or smothing filtering according to institute
The first posture information of error posture information pair is stated to be modified to obtain the current pose information of holder.
In the embodiment of the present invention, pass through the angle and the first posture of the driving motor rotation of one or more axis of holder
Information determines the error posture information of attitude transducer, is modified according to the first posture information of error posture information pair, can be with
Existing drift when the posture information in the prior art obtaining gyroscope using accelerometer is modified is effectively prevented to ask
Topic, can enable the holder posture obtained after amendment keep stable for a long time, can make the bat being erected on holder in this way
Shooting angle drifting problem of the scene of fixed seat in the plane without generating capture apparatus can be shot for a long time by taking the photograph equipment, by this
Technical solution, holder can not only shoot the scene of movement seat in the plane but also can shoot the scene of fixed seat in the plane for a long time, expand
The application range of holder.
In certain embodiments, the reference posture information that holder is determined according to rotational angle, according to reference to posture information and
First posture information determines the error posture information of attitude transducer.
Specifically, when using holder set up capture apparatus fixed scene is shot when, gyroscope measure first
Posture information is to drifting about, therefore, when the first posture information obtained to the gyroscope measurement of holder is modified, it is necessary to
A modified reference standard of posture information is given, that is, refers to posture information, passes through the one or more of holder in the present embodiment
The rotational angle of the driving motor of axis is determined with reference to posture information, after determining with reference to posture information, will refer to posture information
The first posture information obtained with gyroscope measurement is compared, and posture information and the first posture information are referred to by comparing determining
Between error posture information.The rotational angle that will be explained below the driving motor of one or more axis by holder is true
Surely the detailed process of posture information is referred to.
In certain embodiments, the step of reference posture information that holder is determined according to rotational angle includes:
By each corresponding quaternary number of conversion in rotational angle, the ginseng of holder is determined according to the quaternary number of rotational angle
Examine posture information.
Wherein, after the rotational angle of the driving motor for three axis (pitch axis, yaw axis, roll axis) for determining holder,
The rotational angle of the driving motor of three axis can be converted into corresponding quaternary number, according to obtaining three quaternarys after conversion respectively
Number, which determines, refers to posture information.
In certain embodiments, the step of reference posture information that holder is determined according to rotational angle includes:
The posture information of the pedestal of holder is set, the ginseng of holder is determined according to the posture information of pedestal and the rotational angle
Examine posture information.
Wherein, the posture information of the pedestal of holder herein can be solidificated in the processor or memory of holder, also may be used
Being configured by the interactive device configured on the control terminal that is connect with holder, holder.Specifically, the pedestal of holder
Posture information can be related to the installation situation of pedestal, shoot fixed seat in the plane for a long time setting up capture apparatus using holder
When scene, it is generally recognized that the pedestal of holder is approximate fixed, therefore the posture information of the pedestal of holder can be arranged
For a fixed posture information each of holder is being determined at this point, when known to the posture information of the pedestal of holder and when fixing
When the rotational angle of the driving motor of axis, you can the reference posture information of holder is calculated.Basis is described in detail below
The posture information of the pedestal of the rotational angle and holder determines the detailed process with reference to posture information.
In certain embodiments, according to the posture information of the pedestal of setting holder, according to the posture information of pedestal and rotation
The step of reference posture information of angle-determining holder includes:
The quaternary number of the posture of the pedestal of holder is set, according to each in the quaternary number and rotational angle of the posture of pedestal
The obtained quaternary number that converts determines the reference posture information of holder.
Specifically, the angular transducer on the driving motor of each axis of holder can be utilized to determine each driving
Each angle is converted into corresponding quaternary number by the angle of motor rotation, such as holder is three axis holders, according to mounted on three
Angular transducer on a driving motor measures the angle of the driving motor rotation of the yaw axis of holder, pitch axis and roll axis respectively
Degree can obtain the corresponding quaternary number of angle of the driving motor rotation of yaw axis, pitch axis and roll axis by conversion, if
The quaternary number of the pedestal of holder is set, such as the quaternary number of the posture of pedestal could be provided as (1,0,0,0).Further, by institute
It states the quaternary number of the posture of pedestal and each obtained quaternary number of conversion is multiplied respectively in rotational angle, according to being obtained after multiplication
Quaternary number determine it is described refer to posture information, i.e., by the quaternary number of the posture of pedestal respectively with yaw axis, pitch axis and roll
The corresponding quaternary number of angle of the driving motor rotation of axis is multiplied, and since the multiplication of quaternary number is to indicate to rotate, passes through quaternary number
Be multiplied, you can using know payload on the basis of pedestal respectively using yaw axis, pitch axis and roll axis as rotation axis into
The postrotational posture information of row, thus, the quaternary number obtained after being multiplied to can indicate the quaternary number of the reference posture of holder,
The reference posture information of holder is determined according to the quaternary number obtained after multiplication.
In certain embodiments, according to the error posture for determining attitude transducer with reference to posture information and the first posture information
The step of information includes:
Error posture information is determined according to the quaternary number of reference posture and the first attitude quaternion.
Wherein, error posture information is the posture difference information between the first posture information and reference posture information, works as holder
Reference posture information indicated in the form of quaternary number, when the first posture is indicated in the form of quaternary number, then can root
Error posture information is determined according to the quaternary number and the first attitude quaternion of reference posture, it specifically, can be by four with reference to posture
First number is multiplied with the quaternary number of the first posture information, error posture information is determined according to obtained quaternary number is multiplied, after multiplication
Quaternary number can indicate the error posture with reference between posture and the first posture, the quaternary number obtained after multiplication is error appearance
The quaternary number of state can converse the corresponding Eulerian angles of error posture, according to determining mistake according to the quaternary number of error posture
The quaternary number or Eulerian angles of poor posture information can be modified the first posture information of gyroscope.In addition, joining determining
When examining the quaternary number of posture, it can will change corresponding Eulerian angles into reference to the quaternary number of posture, the first appearance is determined according to gyroscope
The corresponding Eulerian angles of state information change corresponding Eulerian angles by comparing the quaternary number with reference to posture and the first posture information correspond to
Eulerian angles can obtain the error posture with reference between posture and the first posture, which can indicate gyroscope
The difference of Eulerian angles and the corresponding Eulerian angles of the first posture information with reference to posture can be converted into error appearance by drift by conversion
The corresponding quaternary number of state information.
It should be noted that quaternary number is a kind of mathematical notation mode of posture, usually, quaternary number can be with q=w+xi+
The form of yj+zk indicates.Wherein q=w+xi+yj+zk can be divided into scale w and vector x i+y j+z k, so table for convenience
Show, q is expressed as (S, V), wherein S indicates scale w, and V indicates vector x i+y j+z k, so quaternary number multiplication again can be with table
It is shown as:Q1*q2=(S1+V1) * (S2+V2)=S1*S2-V1*V2+V1XV2+S1*V2+S2*V1.
Eulerian angles are another representations of posture, can wherein pass through corresponding formula between quaternary number and Eulerian angles
Conversion mutually.In addition, the specific formula for being converted into quaternary number from Eulerian angles isSeparately
The outer specific formula that Eulerian angles are converted into corresponding quaternary number is
It is explained below according to error posture information amendment the first posture information to obtain the current pose information of holder
One of which embodiment, those skilled in the art can also use the technological means other than the present embodiment according to error posture information
The first posture information is corrected to obtain the current pose information of holder.Specifically, as shown in figure 3,0 in the t1 times, due to
When measuring, there is drift in output data with gyroscope, if be not modified to the first posture information of the measurement of gyroscope,
It, may be as shown, wherein the first posture information by the first posture information att1 that gyroscope determines in 0 to the t1 times
The curve of att1 is intended merely to be schematically illustrated.Therefore it has to carry out the first posture information that gyroscope measurement obtains
It corrects.When at the t1 moment, being calculated with reference to posture information att1-mot1 by foregoing method, surveyed by gyroscope
The the first posture information att1-gyr1 measured, by comparing with reference to posture information att1-mot1 and the first posture information
Error posture information att1-d1 between att1-gyr, within t1 to the t2 times, according to error posture information att1-d1 to top
First posture information att1-gyr of spiral shell instrument output is modified to obtain the current pose information att1-r1 of revised holder,
If be not modified to the first posture information att1-gyr within t1 to the t2 times, the data of gyroscope output will continue to float
It moves, the first obtained posture information is then att1-f.When at the t2 moment, it can be calculated and be referred to by foregoing method
Posture information att1-mot2, the first posture information att1-gyr2 obtained by gyroscope measurement, by comparing with reference to posture
Error posture information att1-d2 between information att1-mot2 and the first posture information att1-gyr2, then in t2 to the t3 times
It can be modified to obtain the current pose of holder according to att1-d2 pairs of the first posture information of error posture information in (not shown)
Information att1-r2, in this way, repeating above-mentioned makeover process, you can to obtain revised first posture information.Furthermore it is also possible to
The posture information obtained after amendment is filtered, using filtered posture information as the current pose information of holder.In this way
The current posture information of holder can be made more smooth, reduce issuable error in makeover process.
In certain embodiments, in step S104 according to error posture information the first posture information of amendment to obtain holder
Current pose information includes:
The error attitude rectification amount that the unit interval is determined according to error posture information, according to error posture information correction amount pair
First posture information is modified to obtain the current pose information of holder.
Wherein, with continued reference to Fig. 3, at the t1 moment, error posture information is att1-d1, then in 0 to the t1 times, relatively
It is att1-d1 in the drift value with reference to posture information, the first posture information, then is arrived in the t1 times 0, the error of unit interval
Correction amount is att1-d1/t1, after determining the error attitude rectification amount of unit interval, within t1 to the t2 times, you can with basis
The error attitude rectification amount of unit interval is modified the first posture information that gyroscope determines, specifically, can will be each
The first posture information that moment gyroscope determines subtracts or plus error attitude rectification amount to obtain holder current pose information.
In certain embodiments, in S104 according to the first posture information of error posture information amendment to obtain the current of holder
Posture information includes:
It is repaiied according to error posture information using one or more in Extended Kalman filter, complementary filter, smothing filtering
Positive first posture information is to obtain the current pose information of holder.Specifically, following several feasible modes may be used to utilize
It is one or more according to error posture information amendment the first posture letter in Extended Kalman filter, complementary filter, smothing filtering
Breath:
A kind of feasible mode is:Revised posture information is filtered, for example, each moment posture can be passed
The first posture information that sensor determines subtracts or measures revised posture information plus error attitude rectification, to each moment
Revised posture information is filtered, using filtered posture information as the current pose information of holder;
Another feasible mode:The error attitude rectification amount of unit interval is filtered, according to filtered accidentally single
The error attitude rectification amount of position time is modified to obtain the current of holder the first posture information that attitude transducer determines
Posture information.
The embodiment provides a kind of computer storage media, have program stored therein finger in the computer storage media
It enables, described program instruction can be executed by processor to complete above-mentioned control method.
As shown in figure 4, the embodiment of the present invention also provides a kind of holder, wherein holder can be two axle The Cloud Terraces, or
Three axis holders, wherein holder 400 include:
Attitude transducer 401, the first posture information for determining holder;
Angular transducer 402, the rotational angle of the driving motor of one or more axis for determining holder;
Processor 403, is used for:
The error posture information of attitude transducer is determined according to the first posture information and rotational angle;
According to the first posture information of error posture information amendment to obtain the current pose information of holder.
Optionally, processor 403 are specifically used for:
The reference posture information that holder is determined according to rotational angle is determined according to reference to posture information and the first posture information
The error posture information of attitude transducer.
Optionally, processor 403 are specifically used for:
By each corresponding quaternary number of conversion in rotational angle, the ginseng of holder is determined according to the quaternary number of rotational angle
Examine posture information.
Optionally, processor 403 are specifically used for:
The posture information of the pedestal of holder is set;
The reference posture information of holder is determined according to the posture information of pedestal and rotational angle.
Optionally, processor 403 are specifically used for:
The quaternary number of the posture of the pedestal of holder is set, according to each in the quaternary number and rotational angle of the posture of pedestal
The obtained quaternary number that converts determines the reference posture information of holder.
Optionally, processor 403 are specifically used for:
The quaternary number of the posture of pedestal is multiplied respectively with the quaternary number that each conversion obtains in rotational angle, according to phase
The quaternary number obtained after multiplying, which determines, refers to posture information.
Optionally, processor 403 are specifically used for:
Error posture information is determined according to reference to attitude quaternion and the first attitude quaternion.
Optionally, processor 403 are specifically used for:
It will be multiplied with the first attitude quaternion with reference to attitude quaternion, and determine that error posture will be believed according to the quaternary number after multiplication
Breath.
Optionally, error posture information is the posture difference information between the first posture information and reference posture information.
Optionally, processor 403 are specifically used for:
The error attitude rectification amount that the unit interval is determined according to error posture information, according to error posture information correction amount pair
First posture information is modified to obtain the current pose information of holder.
Optionally, processor 403 are specifically used for:
It is repaiied according to error posture information using one or more in Extended Kalman filter, complementary filter, smothing filtering
Positive first posture information is to obtain the current pose information of holder.
Optionally, angular transducer includes at least one of potentiometer, Hall sensor, photoelectric encoder.
It needing explanatorily, the holder 400 of the embodiment of the present invention can be realized by the control method of the holder of above-described embodiment,
Not deployed part please refers to the same or similar part of control method in above example, and details are not described herein again.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " illustrative examples ",
The description of " example ", " specific example " or " some examples " etc. mean the specific features described in conjunction with the embodiment or example,
Structure, material or feature are included at least one embodiment or example of the invention.In the present specification, to above-mentioned term
Schematic representation may not refer to the same embodiment or example.Moreover, description specific features, structure, material or
Feature can be combined in any suitable manner in any one or more of the embodiments or examples.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
It is one or more for realizing specific logical function or process the step of executable instruction code module, segment or portion
Point, and the range of the preferred embodiment of the present invention includes other realization, wherein sequence that is shown or discussing can not be pressed,
Include according to involved function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be by the present invention's
Embodiment person of ordinary skill in the field is understood.
Expression or logic and/or step described otherwise above herein in flow charts, for example, being considered use
In the order list for the executable instruction for realizing logic function, may be embodied in any computer-readable medium, for
Instruction execution system, device or equipment (system of such as computer based system including processor or other can be held from instruction
The instruction fetch of row system, device or equipment and the system executed instruction) it uses, or combine these instruction execution systems, device or set
It is standby and use., " for the purpose of this specification;Ji Suanjikedujiezhi "Can any can include, store, communicating, propagating or passing
Defeated program is for instruction execution system, device or equipment or the dress used in conjunction with these instruction execution systems, device or equipment
It sets.The more specific example (non-exhaustive list) of computer-readable medium includes following:Electricity with one or more wiring
Interconnecting piece (electronic device), portable computer diskette box (magnetic device), random access memory (RAM), read-only memory
(ROM), erasable edit read-only storage (EPROM or flash memory), fiber device and portable optic disk is read-only deposits
Reservoir (CDROM).In addition, computer-readable medium can even is that the paper that can print described program on it or other are suitable
Medium, because can be for example by carrying out optical scanner to paper or other media, then into edlin, interpretation or when necessary with it
His suitable method is handled electronically to obtain described program, is then stored in computer storage.
It should be appreciated that each section of the present invention can be realized with hardware, software, firmware or combination thereof.Above-mentioned
In embodiment, software that multiple steps or method can in memory and by suitable instruction execution system be executed with storage or
Firmware is realized.For example, if realized with hardware, in another embodiment, following skill well known in the art can be used
Any one of art or their combination are realized:With for data-signal realize logic function logic gates from
Logic circuit is dissipated, the application-specific integrated circuit with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Those skilled in the art are appreciated that realize all or part of step that above-mentioned implementation carries
It is that relevant hardware can be instructed to complete by program, the program can be stored in a kind of computer readable storage medium
In, which includes the steps that one or a combination set of embodiment of the method when being executed.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing module, it can also
That each unit physically exists alone, can also two or more units be integrated in a module.Above-mentioned integrated mould
The form that hardware had both may be used in block is realized, can also be realized in the form of software function module.The integrated module is such as
Fruit is realized in the form of software function module and when sold or used as an independent product, can also be stored in a computer
In read/write memory medium.
Storage medium mentioned above can be read-only memory, disk or CD etc..Although having been shown and retouching above
The embodiment of the present invention is stated, it is to be understood that above-described embodiment is exemplary, and should not be understood as the limit to the present invention
System, those skilled in the art can be changed above-described embodiment, change, replace and become within the scope of the invention
Type.
Claims (24)
1. a kind of control method of holder, which is characterized in that the control method includes the following steps:
Determine the first posture information of holder;
Determine the rotational angle of the driving motor of one or more axis of holder;
The error posture information of attitude transducer is determined according to first posture information and the rotational angle;
First posture information is corrected to obtain the current pose information of holder according to the error posture information.
2. according to the method described in claim 1, it is characterized in that,
The step of error posture information that attitude transducer is determined according to first posture information and the rotational angle
Including:
The reference posture information that holder is determined according to the rotational angle refers to posture information and first posture according to described
Information determines the error posture information of attitude transducer.
3. according to the method described in claim 2, it is characterized in that,
The step of reference posture information that holder is determined according to the rotational angle includes:
By each corresponding quaternary number of conversion in the rotational angle, holder is determined according to the quaternary number of the rotational angle
Reference posture information.
4. according to the method in claim 2 or 3, which is characterized in that
The step of reference posture information that holder is determined according to the rotational angle includes:
The posture information of the pedestal of holder is set;
The reference posture information of holder is determined according to the posture information of the pedestal and the rotational angle.
5. according to the method described in claim 4, it is characterized in that,
The posture information of the pedestal of the setting holder, holder is determined according to the posture information of the pedestal and the rotational angle
Reference posture information the step of include:
The quaternary number of the posture of the pedestal of holder is set, according to every in the quaternary number of the posture of the pedestal and the rotational angle
One obtained quaternary number that converts determines the reference posture information of holder.
6. according to the method described in claim 5, it is characterized in that,
The quaternary number that each conversion obtains in the quaternary number and the rotational angle of the posture according to the pedestal determines
The step of reference posture information of holder includes:
The quaternary number of the posture of the pedestal is multiplied respectively with the quaternary number that each conversion obtains in the rotational angle, root
It is determined according to the quaternary number obtained after multiplication described with reference to posture information.
7. according to 2-6 any one of them method described in claim, which is characterized in that
It is described according to described with reference to posture information and first posture information determines the error posture information of attitude transducer
Step includes:
The error posture information is determined according to the quaternary number of the quaternary number with reference to posture and first posture.
8. the method according to the description of claim 7 is characterized in that
The step of error posture information being determined according to the quaternary number of the quaternary number with reference to posture and first posture
Including:
The quaternary number with reference to posture is multiplied with the quaternary number of the first posture, the mistake is determined according to the quaternary number after multiplication
Poor posture information.
9. according to claim 2-8 any one of them methods, which is characterized in that
The error posture information is the posture difference information between the first posture information and reference posture information.
10. according to claim 1-9 any one of them methods, which is characterized in that
It is described that first posture information is corrected to obtain the step of the current pose information of holder according to the error posture information
Suddenly include:
The error attitude rectification amount that the unit interval is determined according to the error posture information, according to the error posture information amendment
Amount is modified the first posture information to obtain the current pose information of holder.
11. according to claim 1-10 any one of them methods, which is characterized in that
It is described that first posture information is corrected to obtain the step of the current pose information of holder according to the error posture information
Suddenly include:
It is repaiied according to the error posture information using one or more in Extended Kalman filter, complementary filter, smothing filtering
Just described first posture information is to obtain the current pose information of holder.
12. being gone according to claim 1-11 any one of them methods, which is characterized in that
One or more axis of the determining holder driving motor rotation angle include:
One or more axis of clouds terrace system are determined using at least one of potentiometer, Hall sensor, photoelectric encoder
Driving motor rotational angle.
13. a kind of holder, which is characterized in that including:
Attitude transducer, the first posture information for determining holder;
Angular transducer, the rotational angle of the driving motor of one or more axis for determining holder;
Processor is used for:
The error posture information of attitude transducer is determined according to first posture information and the rotational angle;
First posture information is corrected to obtain the current pose information of holder according to the error posture information.
14. holder according to claim 13, which is characterized in that
The processor, is specifically used for:
The reference posture information that holder is determined according to the rotational angle refers to posture information and first posture according to described
Information determines the error posture information of attitude transducer.
15. holder according to claim 14, which is characterized in that
The processor, is specifically used for:
By each corresponding quaternary number of conversion in the rotational angle, holder is determined according to the quaternary number of the rotational angle
Reference posture information.
16. the holder according to claims 14 or 15, which is characterized in that
The processor, is specifically used for:
The posture information of the pedestal of holder is set;
The reference posture information of holder is determined according to the posture information of the pedestal and the rotational angle.
17. holder according to claim 16, which is characterized in that
The processor, is specifically used for:
The quaternary number of the posture of the pedestal of holder is set, according to every in the quaternary number of the posture of the pedestal and the rotational angle
One obtained quaternary number that converts determines the reference posture information of holder.
18. holder according to claim 17, which is characterized in that
The processor, is specifically used for:
The quaternary number of the posture of the pedestal is multiplied respectively with the quaternary number that each conversion obtains in the rotational angle, root
It is determined according to the quaternary number obtained after multiplication described with reference to posture information.
19. according to 14-18 any one of them holder described in claim, which is characterized in that
The processor, is specifically used for:
The error posture information is determined according to the quaternary number of the quaternary number with reference to posture and first posture.
20. holder according to claim 19, which is characterized in that
The processor, is specifically used for:
The quaternary number with reference to posture is multiplied with the quaternary number of the first posture, the mistake is determined according to the quaternary number after multiplication
Poor posture information.
21. according to claim 14-20 any one of them holders, which is characterized in that
The error posture information is the posture difference information between the first posture information and reference posture information.
22. according to claim 13-21 any one of them holders, which is characterized in that
The processor, is specifically used for:
The error attitude rectification amount that the unit interval is determined according to the error posture information, according to the error posture information amendment
Amount is modified the first posture information to obtain the current pose information of holder.
23. according to claim 13-22 any one of them holders, which is characterized in that
The processor, is specifically used for:
It is repaiied according to the error posture information using one or more in Extended Kalman filter, complementary filter, smothing filtering
Just described first posture information is to obtain the current pose information of holder.
24. according to claim 13-23 any one of them holders, which is characterized in that
The angular transducer includes at least one of potentiometer, Hall sensor, photoelectric encoder.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/081471 WO2018191964A1 (en) | 2017-04-21 | 2017-04-21 | Camera mount control method, and camera mount |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108700252A true CN108700252A (en) | 2018-10-23 |
| CN108700252B CN108700252B (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780004873.1A Active CN108700252B (en) | 2017-04-21 | 2017-04-21 | Control method of holder and holder |
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|---|---|
| CN (1) | CN108700252B (en) |
| WO (1) | WO2018191964A1 (en) |
Cited By (6)
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| CN110832424A (en) * | 2018-10-31 | 2020-02-21 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism, control method thereof and movable equipment |
| CN111707290A (en) * | 2020-06-12 | 2020-09-25 | 浙江大学 | Automatic calibration turntable of three-degree-of-freedom sensor |
| CN112135124A (en) * | 2020-09-24 | 2020-12-25 | 苏州科达科技股份有限公司 | Method, device and system for calibrating and detecting position of holder |
| WO2021081843A1 (en) * | 2019-10-30 | 2021-05-06 | 深圳市大疆创新科技有限公司 | Gimbal system calibration method and apparatus, and gimbal system and computer-readable medium |
| CN113316748A (en) * | 2020-08-25 | 2021-08-27 | 深圳市大疆创新科技有限公司 | Control method of holder, holder and storage medium |
| CN113791646A (en) * | 2021-08-16 | 2021-12-14 | 上海智能网联汽车技术中心有限公司 | Road side intelligent holder multi-sensor fusion control method and equipment |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN114115364A (en) * | 2021-12-03 | 2022-03-01 | 重庆市亿飞智联科技有限公司 | Holder control method, holder control device, holder control equipment and storage medium |
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Also Published As
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| CN108700252B (en) | 2020-02-21 |
| WO2018191964A1 (en) | 2018-10-25 |
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