CN109313454A - The control method and control equipment of holder - Google Patents
The control method and control equipment of holder Download PDFInfo
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- CN109313454A CN109313454A CN201780018008.2A CN201780018008A CN109313454A CN 109313454 A CN109313454 A CN 109313454A CN 201780018008 A CN201780018008 A CN 201780018008A CN 109313454 A CN109313454 A CN 109313454A
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- joint angle
- axis
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- angular region
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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
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Abstract
The invention discloses a kind of control method of holder (100) and control equipment, the control method of holder (100) includes: the joint angle that the axis of holder (100) is obtained after processor (100) complete upgrading；Judge whether the joint angle of axis is in the first default joint angular region；When the joint angle of axis is not in the described first default joint angular region, the joint angle of axis is adjusted in the first default joint angular region.The invention also discloses a kind of control equipment (10) of holder.
Description
Technical field
The present invention relates to control technology field, in particular to a kind of control method of holder and control equipment.
Background technique
The holder of unmanned plane, the general framework that processor is adjusted using holder processor and electricity, electricity adjust processor to be arranged in electricity
On tuned plate, holder usually first upgrades the firmware that electricity adjusts processor, then upgrades the firmware of holder processor again in upgrading.
After the completion of the firmware upgrade that there is holder processor in this process, since electricity adjusts the firmware upgrade of processor to complete simultaneously before
And self-test finishes, the posture of holder is random, and largely each axis of holder is not in the position that joint angle is zero and (calls in the following text
" joint angle zero-bit "), at this point, electric tuned plate can feed back a very big joint angle and give holder processor, if holder processor is straight
It connects and goes closed loop to adjust using the joint angle, holder may generate very big overshoot during exercise, i.e. holder can be in expected posture
It nearby reverberates, influences the usage experience of user.
Summary of the invention
The embodiment of the present invention provides the control method and control equipment of a kind of holder, to improve the steady of holder movement
Property, reduce overshoot when holder movement.
The present invention provides a kind of control method of holder.The control method of holder includes:
After processor completes upgrading, the joint angle of the axis of the holder is obtained；
Judge whether the joint angle of the axis is in the first default joint angular region；With
When the joint angle of the axis is not in the described first default joint angular region, the joint angle of the axis is adjusted to
In the first default joint angular region.
The present invention provides a kind of control equipment of holder.Controlling equipment includes memory and processor.The memory is used
In storage program code.The processor is for executing said program code.When said program code is performed, for executing
It operates below:
After the processor completes upgrading, the joint angle of the axis of the holder is obtained；
Judge whether the joint angle of the axis is in the first default joint angular region；With
When the joint angle of the axis is not in the described first default joint angular region, the joint angle of the axis is adjusted to
In the first default joint angular region.
The control method and control equipment of embodiment of the present invention judge the axis of holder after processor completes upgrading
Whether joint angle is in the first default joint angular region, and when being not in the first default joint angular region, by the pass of axis
Section angle is adjusted to the first default joint angular region, to avoid holder holder after receiving attitude control quantity random from currently
Attitude motion to expected posture when the overshoot that may generate, prevent holder from generating overshoot and reverberating, improve user's
Usage experience.
The additional aspect and advantage of embodiments of the present invention will be set forth in part in the description, partially will be from following
Description in become obvious, or the practice of embodiment through the invention is recognized.
Detailed description of the invention
Above-mentioned and/or additional aspect and advantage of the invention is from combining in description of the following accompanying drawings to embodiment by change
It obtains obviously and is readily appreciated that, in which:
Fig. 1 is the flow diagram of the control method of certain embodiments of the present invention.
Fig. 2 is the holder of certain embodiments of the present invention and the module diagram of control equipment.
Fig. 3 is the flow diagram of the control method of certain embodiments of the present invention.
Fig. 4 is the structural schematic diagram of three axis holders of certain embodiments of the present invention.
Fig. 5 is the flow diagram of the control method of certain embodiments of the present invention.
Fig. 6 is the flow diagram of the control method of certain embodiments of the present invention.
Fig. 7 is the schematic illustration of the control method of certain embodiments of the present invention.
Fig. 8 is the schematic illustration of the control method of certain embodiments of the present invention.
Fig. 9 is the flow diagram of the control method of certain embodiments of the present invention.
Figure 10 is the flow diagram of the control method of certain embodiments of the present invention.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the embodiment is shown in the accompanying drawings, wherein from beginning
Same or similar element or element with the same or similar functions are indicated to same or similar label eventually.Below by ginseng
The embodiment for examining attached drawing description is exemplary, and for explaining only the invention, and is not considered as limiting the invention.
Also referring to Fig. 1 to 2, the present invention provides a kind of control method of holder 100.The control method packet of holder 100
It includes:
S1: after processor 12 completes upgrading, the joint angle of the axis of holder 100 is obtained；
S3: judge whether the joint angle of axis is in the first default joint angular region；With
S5: when the joint angle of axis is not in the first default joint angular region, the joint angle of axis is adjusted to first and is preset
In the angular region of joint.
Referring again to Fig. 2, the present invention also provides a kind of control equipment 10 of holder 100.The holder of embodiment of the present invention
100 control method can be realized by the control equipment 10 of the holder 100 of embodiment of the present invention.The control equipment of holder 100
10 include memory 11 and processor 12.Memory 11 is for storing program code 111.Processor 12 is stored in for executing
Program code 111 in reservoir 11.When program code 111 is executed by processor 12, it can be achieved that step S1, step S2 and step
S3.In other words, when program code 111 is executed by processor 12, it can be achieved that following operation:
S1: after processor 12 completes upgrading, the joint angle of the axis of holder 100 is obtained；
S3: judge whether the joint angle of axis is in the first default joint angular region；With
S5: when the joint angle of axis is not in the first default joint angular region, the joint angle of axis is adjusted to first and is preset
In the angular region of joint.
Wherein, the joint angle of the axis of holder 100 can be used angular transducer and be detected, i.e., angular transducer can measure
The practical joint angle of each axis of holder, is discussed in detail below.
It is appreciated that businessman often carries out performance boost to holder 100, BUG is repaired or is added after holder 100 dispatches from the factory
The maintenance for adding new function etc., the mode for generalling use upgrading holder firmware carries out upgrade maintenance, in other words to holder 100
Processor 12 upgraded, wherein processor 12 can be holder processor.In 12 escalation process of processor, Yong Hunan
Holder 100 can be touched by, which exempting from, is not at joint angle zero-bit so as to cause the joint angle of holder 100, such as user is in escalation process
It has touched holder 100 or holder 100 rotates all may result under gravity and deviates joint angle zero-bit, electricity is adjusted at this time
Plate may feed back a very big joint angle to processor 12.If not by holder 100 after the upgrading of processor 12 is completed
The joint angle of each axis is adjusted to joint angle zero-bit, then subsequent user control holder 100 rotation is mounted on holder 100 with driving
When camera turns to expected posture from current random posture, it is contemplated that there may be biggish with current random posture for posture
Posture is poor, and holder 100 may arrive first joint angle zero-bit, then goes to expected posture, when holder 100 goes to expected posture, cloud
Platform 100 has overshoot, generates and reverberates at expected posture, and the picture that so will lead to camera shooting also has the shake of moment,
Influence the usage experience of shooting quality and user.
The control method and control equipment 10 of the holder 100 of embodiment of the present invention are after processor 12 completes upgrading, meeting
Judge whether the joint angle of the axis of holder 100 is in the first default joint angular region, and is being not at the first default joint angle
When in range, the joint angle of axis is adjusted to the first default joint angular region, wherein the first default joint angular region can be
Close to the range of joint angle zero-bit, to avoid holder 100 after the completion of processor 12 upgrades in random posture, and in holder
It 100 issuable overshoot when receiving after attitude control quantity from current random attitude motion to expected posture and reverberates
Problem improves the usage experience of user.
Referring to Figure 2 together and Fig. 3, in some embodiments, holder 100 has multiple axis, and step S1 obtains holder
The joint angle of 100 axis includes:
S11: the joint angle of 100 each axis of holder is obtained.
Step S3 judges whether the joint angle of axis is in the first default joint angular region
S31: judge whether the joint angle of each axis is in the described first default joint angular region.
It is pre- that step S5 is adjusted to first when the joint angle of axis is not in the first default joint angular region, by the joint angle of axis
If including: in the angular region of joint
S51: when the joint angle of one or more axis of holder 100 is not in the first default joint angular region, by one
The joint angle of a or multiple axis is adjusted in the first default joint angular region.
Referring again to Fig. 2, in some embodiments, when program code 111 is performed to realize that step S1 obtains holder
When the joint angle of 100 axis, the operation of the joint angle including executing step S11 acquisition 100 each axis of holder.Work as program code
111 when being performed to realize that step S3 judges whether the joint angle of axis is in the operation in the first default joint angular region, including
It executes step S31 and judges the operation whether joint angle of each axis is in the described first default joint angular region.Work as program
Code 111 is performed to realize step S5 when operation of the joint angle of axis not in the first default joint angular region, by axis
When joint angle is adjusted in the first default joint angular region, including executing step S51 when the pass of one or more axis of holder 100
When section angle is not at the operation in the first default joint angular region, the joint angle of one or more axis is adjusted to the first default pass
Save the operation in angular region.
Incorporated by reference to Fig. 4, in a specific embodiment of the present invention, holder 100 tool there are three, respectively Roll axis, Yaw axis and
Pitch axis.When holder 100 is rotated around Roll axis, holder 100 moves in roll direction；When holder 100 is rotated around Yaw axis, holder
100 move in yaw direction；When holder 100 is rotated around Pitch axis, holder 100 moves in the pitch direction.Holder in step S1
The joint angle of 100 axis is not at the Roll axis, Yaw axis or Pitch axis that holder 100 is referred in the first default joint angular region
In the joint angles of any one or more axis be not in the first default joint angular region.Specifically, for example, holder 100
The joint angle of Roll axis is not in the first default joint angular region or the joint angle of the Yaw axis of holder 100 is not at first
In default joint angular region perhaps the joint angle of the Pitch axis of holder 100 be not in the first default joint angular region or
The joint angle of the Yaw axis of the joint angle and holder 100 of the Roll axis of holder 100 is not in the first default joint angular region,
Or the joint angle of the Pitch axis of the joint angle and holder 100 of the Roll axis of holder 100 is not at the first default joint angle model
The joint angle for enclosing the joint angle of interior or holder 100 Yaw axis and the Pitch axis of holder 100 is not at the first default joint
In angular region or the joint angle of the joint angle of the Roll axis of holder 100, the joint angle of Yaw axis and Pitch axis is not at
In one default joint angular region.
Assuming that being measured using angular transducer (such as at least one of potentiometer, Hall sensor, photoelectric encoder)
The joint angle of the Roll axis of holder 100, Yaw axis and Pitch axis, then processor 12 can read each axis from angular transducer
The value of joint angle.Then, processor 12 judges whether the joint angle of each axis of holder 100 is according to the data read
In one default joint angular region.When the joint angle for detecting one of axis or multiple axis is not at the first default joint angular region
When interior, the axis that joint angle is not in the first default joint angular region is adjusted by processor 12, its joint angle is adjusted
Into the first default joint angular region.For example, the joint angle of the Roll axis of holder 100 and the joint angle of Yaw axis are not at
In one default joint angular region, then processor 12 can be successively by the joint angle of the Roll axis of holder 100, the joint angle tune of Yaw axis
It is whole in the first default joint angular region or processor 12 is successively by the pass of the joint angle of the Yaw axis of holder 100 and Roll axis
Section angle is adjusted in the first default joint angular region or processor 12 is simultaneously by the joint angle and Roll of the Yaw axis of holder 100
The joint angle of axis is adjusted in the first default joint angular region.
In this way, the joint angle of each axis of holder 100 is in the first default joint angular region after adjustment, Yong Huqi
It is not in the case where holder 100 reverberates at expected posture, user when with holder 100 and carrying out gesture stability to holder 100
Usage experience it is preferable.
Certainly, it should be noted that the quantity of the axis of holder 100 may be used also other than 3 axis in above embodiment
To be 1 axis, 2 axis, 4 axis, 5 axis etc..
In some embodiments, the default joint angular region of first referred in above embodiment includes that joint angle is 0 °
Range.When user enables holder 100 and carries out gesture stability to holder 100, since holder 100 is from the first default joint angle
To expected posture rotation in range, holder is rotated from current random posture after the completion of middle processor 12 upgrades compared with the existing technology
It can reduce overshoot in many situations to expected posture, keep the stabilization of shooting picture, further improve making for user
With experience.
In some embodiments, the default joint angular region of first referred in above embodiment be [- 0.5 °,
0.5°].It is appreciated that when the joint angle of the axis of holder 100 is adjusted in the range of [- 0.5 °, 0.5 °], although holder 100
The joint angle of axis may be not in 0 ° of position, but due to -0.5 ° it is relatively small with 0.5 ° of joint angle, it is therefore contemplated that
The joint angle of holder has been in joint angle zero-bit.Therefore, the joint angle of the axis of holder 100 is adjusted to [- 0.5 °, 0.5 °] model
It can also solve the problems, such as that holder 100 reverberates at expected posture in enclosing.
Referring to Figure 2 together and Fig. 5, in some embodiments, the joint angle of axis is adjusted to first and preset by step S51
Include: in the angular region of joint
S511: when the joint angle of the first axle in one or more axis is in the second default joint angular region, by
The target joint angle of one axis is set as 0 °；With
S512: the joint angle closed loop of the first axle of holder 100 is adjusted to by the first default joint angle according to target joint angle
In range.
Referring again to Fig. 2, in some embodiments, when program code 111 is executed to accomplish step S51 for the pass of axis
When section angle is adjusted to the operation in the first default joint angular region, including executing step S511 when first in one or more axis
When the joint angle of axis is in the second default joint angular region, 0 ° and step are set by the target joint angle of first axle
The joint angle closed loop of the first axle of holder 100 is adjusted to the behaviour in the first default joint angular region according to target joint angle by S512
Make.
Wherein, one or more of axis are the axis that joint angle is not in the holder 100 in the first default joint angular region,
First axle be one or multiaxis in joint angle be any one axis in the second default joint angle.Specifically, it is assumed that Roll
The joint angle of axis is not in the first default joint angular region, then processor 12 further judges whether the joint angle of Roll axis is located
In in the second default joint angular region.When the joint angle of Roll axis is in the second default joint angular region, the Roll is
The target joint angle of Roll axis is set 0 ° by first axle, processor 12, and then, processor 12 will according to 0 ° of target joint angle
The joint angle closed loop of Roll axis is adjusted in the first default joint angular region.Wherein, the first default joint angular region can for [-
0.5°,0.5°].Processor 12 includes adjusting (as shown in Figure 8) for adjusting the electricity that the servo motor of each axis rotates.Processor 12
The joint angle closed loop of Roll axis be adjusted in the first default joint angular region be transferred by electricity according to 0 ° of target joint angle
Control Roll axis servo motor is rotated such that the joint angle of the Roll axis of holder 100 is adjusted in the first default joint angular region
's.Specifically, Roll axis servo motor first can do acceleration rotation with fixed or changed angular acceleration, then with fixed or change
The angular acceleration of change does underdrive, and the joint angle of Roll axis is adjusted in the first default joint angular region；Alternatively, Roll
Axis servo motor first can do acceleration rotation with fixed or changed angular acceleration, then do uniform rotation, finally with fixed or
The angular acceleration of variation does underdrive, and the joint angle of Roll axis is adjusted in the first default joint angular region.
Further, with Fig. 6, step S511 0 ° is set by the target joint angle of first axle include: referring to Figure 2 together
S5111: when the first axle in the joint angle of one or more axis joint angle absolute value in pre-determined absolute model
When enclosing interior, 0 ° is set by the target joint angle of first axle.
Referring again to Fig. 2, the target joint angle of first axle is arranged when program code 111 is executed to accomplish step S511
When for 0 ° of operation, including execute step S5111 when the first axle in the joint angle of one or more axis joint angle it is absolute
When value is within the scope of pre-determined absolute, it sets the target joint angle of first axle to 0 ° of operation.
Incorporated by reference to Fig. 7 and Fig. 8, pre-determined absolute range refers to [0.5 °, 8 °], in other words, the second default joint angle
Range is [- 8 °, -0.5 °] ∪ [0.5 °, 8 °].By taking the Roll axis of holder 100 as an example, if detecting, the joint angle of Roll axis is
6 °, i.e. θm=6 °, then processor 12 determines the joint angle θ of Roll axismIn the second default joint angular region, processor 12 will
Target joint angle θtIt is set as 0 °, and according to θmAnd θtValue calculate the joint angle of Roll axis and need the angle err that adjusts,
In, err=θt-θm=-6 °.Then, processor 12 readjusts the distribution out control instruction to electricity according to the value of err, regulates and controls Roll axis processed by electricity
Servo motor rotates so that joint angle is adjusted in the first default joint angular region.If detect Roll axis joint angle be-
7.5 °, i.e. θm=-7.5 °, then processor 12 determines the joint angle θ of Roll axismIn the second default joint angular region, processor
12 by target joint angle θtIt is set as 0 °, and according to θmAnd θtValue calculate the joint angle of Roll axis and need the angle that adjusts
Err, wherein err=θt-θm=7.5 °.Then, processor 12 readjusts the distribution out control instruction to electricity according to the value of err, is regulated and controled by electricity
The angle of Roll axis servo motor rotation err processed is so that joint angle returns in the first default joint angular region.
Further, referring to Fig. 9, the joint angle of axis is adjusted to also wrap in the first default joint angular region by step S51
It includes:
S513: when the joint angle of the first axle in one or more axis is not in the second default joint angular region, really
The target joint angle of the first axle at fixed multiple moment；With
S514: closed loop adjustment is carried out according to joint angle of the target joint angle of the first axle at multiple moment to first axle.
Please in conjunction with Fig. 2, when program code 111 is performed to realize that the joint angle of axis is adjusted to first in advance by step S51
If when operation in the angular region of joint, default being closed including executing step S513 when the joint angle of one or more axis is not at second
When saving in angular region, the target joint angle for determining the first axle at multiple moment and step S524 are according to the first of multiple moment
The target joint angle of axis carries out the operation of closed loop adjustment to the joint angle of first axle.
Specifically, incorporated by reference to Fig. 8, when the joint angle of any one axis in holder 100 had both been not at the first default joint
In angular region, when not also in the second default joint angular region, by mesh when being in preset range with the joint angle of first axle
Mark posture is fixed as 0 ° of difference, can determine first axle in the targeted attitude at multiple moment, and according to difference sequentially in time
The targeted attitude of the first axle at moment carries out closed loop adjustment.
For example, determining the target joint angle θ of holder at the first momentt1, according to the target joint angle θ at the first momentt1
The θ between the practical joint angle at the first momentm1Difference control holder 100 adjust first axle joint angle；At the second moment,
Determine the target joint angle θ of holdert2, according to the target joint angle θ at the second momentt1With the practical joint angle θ at the second momentm2's
Difference controls the joint angle that holder 100 adjusts first axle, and so on, until some moment, the practical joint angle of first axle
In the second default joint angular region.
In certain embodiments, the target joint angle at moment at least one of multiple moment is the mesh according to last moment
Mark what joint angle determined.Specifically, the θ at moment at each of multiple momenttk=θtk-1-ωkΔ t, wherein θtkIt can be to work as
The targeted attitude at preceding moment, θtk-1For the targeted attitude of last moment, ωkIt can be the angular speed at k moment, wherein ωkIt can be with
According to the practical joint angle θ of k moment first axlemkIt determines, θmkAcquisition can be measured at the k moment by angular-rate sensor, Δ t is
Control the period.
The default joint angular region in the joint of first axle angular first is adjusted directly in this way, set target joint angle with dividing multistage
When being in the second default joint angular region to the practical joint angle in the first joint, at this point it is possible in the foregoing manner, it will
The target joint angle of first axle is set as 0 °.
It is appreciated that when holder 100 first axle joint angle it is excessive (be not in the first default joint angular region,
Not also in the second default joint angular region) when, if the target joint angle of first axle is directly set as 0 °, the pass of first axle
The err's that section angle needs to adjust is larger, and servo motor can be operated with biggish speed, so be likely to the joint for first axle occur
What the excessive joint angle for leading to first axle of velocity of rotation when 0 ° of position is transferred at angle because of servo motor reverberated at 0 ° of position asks
Topic, influences the usage experience of user.The control method and pose adjustment equipment of the holder 100 of embodiment of the present invention are in holder
When the joint angle of 100 first axle is excessive, the joint angle of first axle is gradually adjusted to the first default joint in segmented fashion
In angular region, since the value of err that the joint angle of first axle needs to adjust during each section of adjustment is smaller, servo motor
Running speed is relatively slow, is not in that joint angle reverberates at 0 ° of position when 0 ° of position is transferred at the target joint angle of first axle
The problem of, the usage experience of user can be effectively improved.
Referring to Fig. 10, in some embodiments, the control method of the holder 100 of embodiment of the present invention further include:
S7: the gesture stability instruction of external equipment is received；With
S9: after the joint angle of each axis of holder 100 is adjusted in the first default joint angular region, according to posture control
System instruction controls the posture of holder 100.
Referring again to Fig. 2, in some embodiments, when program code 111 is performed, it is also used to execute step S7 and connects
The joint angle of each axis of holder 100 is adjusted to first and preset by the gesture stability instruction and step S9 for receiving external equipment
After in the angular region of joint, the operation controlled the posture of holder 100 is instructed according to gesture stability.
Wherein, external equipment can be the flight controller for carrying the unmanned plane of holder 100, be also possible to for controlling cloud
The remote controler of 100 posture of platform can also be that installation holder 100 controls the intelligent terminal of software, such as mobile phone, tablet computer, intelligence
Bracelet etc..
Processor 12 can receive the gesture stability instruction of external equipment, specifically, for example, being provided on processor 12
Line communication interface or radio communication mold group are instructed with the gesture stability for receiving external equipment transmission.
In this way, after user enables holder 100 gesture stability instruction can be sent with right to holder 100 by external equipment
The posture of holder 100 carries out control adjustment.In short period after enabling holder 100 due to user, control equipment 10 can be instant
In the joint angle to the first default joint angular region for adjusting the axis of holder 100, therefore, user is subsequently through external equipment to holder
100, which send gesture stability, instructs when adjusting 100 posture of holder, to be not in holder 100 the case where joint angle zero-bit is reverberated,
Greatly improve user experience.
In the description of this specification, reference term " embodiment ", " some embodiments ", " schematically implementation
What the description of mode ", " example ", " specific example " or " some examples " etc. meant to describe in conjunction with the embodiment or example
Particular features, structures, materials, or characteristics are contained at least one embodiment or example of the invention.In this specification
In, schematic expression of the above terms are not necessarily referring to identical embodiment or example.Moreover, the specific spy of description
Sign, structure, material or feature can be combined in any suitable manner in any one or more embodiments or example.
Any process described otherwise above or method description are construed as in flow chart or herein, and expression includes
Module, segment or the portion of the code of one or more executable instructions for the step of executing specific logical function or process
Point, and the range of the preferred embodiment of the present invention includes other execution, wherein can not press shown or discussed suitable
Sequence, including according to related function by it is basic simultaneously in the way of or in the opposite order, to execute function, this should be of the invention
Embodiment person of ordinary skill in the field 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 executing logic function, can specifically execute in any computer-readable medium, for
Instruction execution system, device or equipment (such as computer based system, including the system of 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, " computer-readable medium ", which can be, any may include, stores, communicates, propagates or pass
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 include the following: there is the electricity of one or more wirings
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 then be edited, be interpreted or when necessary with it for example by carrying out optical scanner to paper or other media
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 invention can be executed with hardware, software, firmware or their combination.Above-mentioned
In embodiment, software that multiple steps or method can be executed in memory and by suitable instruction execution system with storage
Or firmware executes.It, and in another embodiment, can be under well known in the art for example, if executed with hardware
Any one of column technology or their combination execute: having a logic gates for executing logic function to data-signal
Discrete logic, with suitable combinational logic gate circuit specific integrated circuit, programmable gate array (PGA), scene
Programmable gate array (FPGA) etc..
Those skilled in the art are understood that execute all or part of the steps that above-mentioned implementation method carries
It is that relevant hardware can be instructed to complete by program, the program can store in a kind of computer readable storage medium
In, which when being executed, includes the steps that one or a combination set of embodiment of the method.
It, can also be in addition, each functional unit in each embodiment of the present invention can integrate in a processing module
It is that each unit physically exists alone, can also be integrated in two or more units in a module.Above-mentioned integrated mould
Block both can take the form of hardware execution, can also be executed in the form of software function module.The integrated module is such as
Fruit is executed and when sold or used as an independent product in the form of software function module, also can store 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 to limit of the invention
System, those skilled in the art can be changed above-described embodiment, modify, replace and become within the scope of the invention
Type.
Claims (20)
1. a kind of control method of holder characterized by comprising
After processor completes upgrading, the joint angle of the axis of the holder is obtained；
Judge whether the joint angle of the axis is in the first default joint angular region；With
When the joint angle of the axis is not in the described first default joint angular region, the joint angle of the axis is adjusted to described
In first default joint angular region.
2. control method according to claim 1, which is characterized in that the holder has multiple axis, described in the acquisition
The joint angle of the axis of holder includes:
Obtain the joint angle of each axis of holder；
Whether the joint angle for judging the axis is in the first default joint angular region
Judge whether the joint angle of each axis is in the described first default joint angular region；
It is described when the joint angle of the axis is not in the described first default joint angular region, the joint angle of the axis is adjusted
Include: in the described first default joint angular region
When the joint angle of one or more axis of the holder is not in the described first default joint angular region, by described one
The joint angle of a or multiple axis is adjusted in the described first default joint angular region.
3. control method according to claim 1 or 2, which is characterized in that the first default joint angular region is to include
The range that joint angle is 0 °.
4. control method according to claim 1-3, which is characterized in that the first default joint angular region is
[-0.5°,0.5°]。
5. control method according to claim 2, which is characterized in that the joint angle tune by one or more of axis
It is whole to including: in the described first default joint angular region
When the joint angle of the first axle in one or more of axis is in the second default joint angular region, by described first
The target joint angle of axis is set as 0 °；With
The joint angle closed loop of the first axle of the holder is adjusted to the described first default joint angle according to the target joint angle
In range.
6. control method according to claim 5, which is characterized in that the first axle when in one or more of axis
Joint angle when being in the second default joint angular region, setting 0 ° for the target joint angle of the first axle includes:
When the absolute value of the joint angle of the first axle in one or more of axis is within the scope of pre-determined absolute, by described
The target joint angle of one axis is set as 0 °.
7. control method according to claim 5 or 6, which is characterized in that the joint by one or more of axis
Angle is adjusted in the described first default joint angular region
When the joint angle of the first axle in one or more of axis is not in the described second default joint angular region, determine
The target joint angle of the first axle at multiple moment；With
Closed loop adjustment is carried out according to joint angle of the target joint angle of the first axle at the multiple moment to the first axle.
8. control method according to claim 7, which is characterized in that the mesh at moment at least one of the multiple moment
Mark joint angle is determined according to the target joint angle of the first axle of last moment.
9. control method according to claim 7 or 8, which is characterized in that the moment at least one of the multiple moment
Target joint angle be the first axle according to the moment practical joint angle determine.
10. control method according to claim 1, which is characterized in that the control method further include:
Receive the gesture stability instruction of external equipment；With
After the joint angle of the axis is adjusted in the described first default joint angular region, instructed according to the gesture stability to institute
The posture for stating holder is controlled.
11. a kind of control equipment of holder characterized by comprising
Memory, the memory is for storing program code；
Processor, the processor is for executing said program code, following for executing when said program code is performed
Operation:
After the processor completes upgrading, the joint angle of the axis of the holder is obtained；
Judge whether the joint angle of the axis is in the first default joint angular region；With
When the joint angle of the axis is not in the described first default joint angular region, the joint angle of the axis is adjusted to described
In first default joint angular region.
12. control equipment according to claim 11, which is characterized in that the holder has multiple axis, works as described program
When the operation of joint angle that code is performed to realize the axis for obtaining the holder, including execute following operation:
Obtain the joint angle of each axis of holder；
When said program code is performed to realize and judge whether the joint angle of the axis is in the first default joint angular region
Operation when, including execute following operation:
Judge whether the joint angle of each axis is in the described first default joint angular region；
When said program code is performed to realize when the joint angle of the axis is not in the described first default joint angular region
When, when the joint angle of the axis is adjusted to the operation in the described first default joint angular region, including execute following operation:
When the joint angle of one or more axis of the holder is not in the described first default joint angular region, by described one
The joint angle of a or multiple axis is adjusted in the described first default joint angular region.
13. control equipment according to claim 11 or 12, which is characterized in that the first default joint angular region is packet
Include the range that joint angle is 0 °.
14. the described in any item control equipment of 1-13 according to claim 1, which is characterized in that the first default joint angle model
It encloses for [- 0.5 °, 0.5 °].
15. control equipment according to claim 12, which is characterized in that when said program code is performed to realize institute
When stating the joint angles of one or more axis and being adjusted to the operation in the described first default joint angular region, including execute following behaviour
Make:
When the joint angle of the first axle in one or more of axis is in the second default joint angular region, by described first
The target joint angle of axis is set as 0 °；With
The joint angle closed loop of the first axle of the holder is adjusted to the described first default joint angle according to the target joint angle
In range.
16. control equipment according to claim 15, which is characterized in that when said program code is performed to realize and work as institute
When stating the joint angle of the first axle in one or more axis and being in the second default joint angular region, by the target of the first axle
When joint angle is set as 0 ° of operation, including execute following operation:
When the absolute value of the joint angle of the first axle in one or more of axis is within the scope of pre-determined absolute, by described
The target joint angle of one axis is set as 0 °.
17. control equipment according to claim 15 or 16, which is characterized in that when said program code is performed to realize
When the joint angle of one or more of axis is adjusted to the operation in the described first default joint angular region, including execute following
Operation:
When the joint angle of the first axle in one or more of axis is not in the described second default joint angular region, determine
The target joint angle of the first axle at multiple moment；With
Closed loop adjustment is carried out according to joint angle of the target joint angle of the first axle at the multiple moment to the first axle.
18. control equipment according to claim 17, which is characterized in that the moment at least one of the multiple moment
Target joint angle is determined according to the target joint angle of the first axle of last moment.
19. control equipment described in 7 or 18 according to claim 1, which is characterized in that when at least one in the multiple moment
The target joint angle at quarter is that the practical joint angle of the first axle according to the moment determines.
20. control equipment according to claim 11, which is characterized in that when said program code is performed, be also used to
Execute following operation:
Receive the gesture stability instruction of external equipment；With
After the joint angle of the axis is adjusted in the described first default joint angular region, instructed according to the gesture stability to institute
The posture for stating holder is controlled.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/118272 WO2019126932A1 (en) | 2017-12-25 | 2017-12-25 | Cradle head control method and control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109313454A true CN109313454A (en) | 2019-02-05 |
Family
ID=65205366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201780018008.2A Pending CN109313454A (en) | 2017-12-25 | 2017-12-25 | The control method and control equipment of holder |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN109313454A (en) |
| WO (1) | WO2019126932A1 (en) |
Cited By (6)
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| CN109947138A (en) * | 2019-03-29 | 2019-06-28 | 西安工业大学 | Cloud platform control method and holder |
| CN110187721A (en) * | 2019-05-05 | 2019-08-30 | 湖北久之洋红外系统股份有限公司 | One kind thousand indexes accurate holder motion control device and method |
| CN110825124A (en) * | 2019-11-15 | 2020-02-21 | 杭州电子科技大学 | Holder control method and system |
| CN111656299A (en) * | 2019-04-28 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Cloud deck control method, equipment, movable platform and storage medium |
| CN113227931A (en) * | 2020-07-28 | 2021-08-06 | 深圳市大疆创新科技有限公司 | Holder control method, device, equipment and computer readable storage medium |
| CN114489103A (en) * | 2022-01-21 | 2022-05-13 | 西南交通大学 | Mobile phone unmanned aerial vehicle coupled with single-shaft holder and control method |
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| CN109947138A (en) * | 2019-03-29 | 2019-06-28 | 西安工业大学 | Cloud platform control method and holder |
| CN111656299A (en) * | 2019-04-28 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Cloud deck control method, equipment, movable platform and storage medium |
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| CN114489103B (en) * | 2022-01-21 | 2023-09-08 | 西南交通大学 | Mobile phone unmanned aerial vehicle coupled with single-axis cradle head and control method |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2019126932A1 (en) | 2019-07-04 |
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Application publication date: 20190205 |