CN110347184B - Method for realizing azimuth angle of automatic holder following system - Google Patents
Method for realizing azimuth angle of automatic holder following system Download PDFInfo
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- CN110347184B CN110347184B CN201910584980.7A CN201910584980A CN110347184B CN 110347184 B CN110347184 B CN 110347184B CN 201910584980 A CN201910584980 A CN 201910584980A CN 110347184 B CN110347184 B CN 110347184B
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- holder
- control module
- azimuth angle
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- cradle head
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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
- G05D3/10—Control of position or direction without using feedback
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- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Position Or Direction (AREA)
Abstract
The invention discloses a method for realizing an azimuth angle of a holder automatic following system, which comprises the following steps: s1, fixing the holder through a tripod or a platform, and fixing the operation control module on the holder; s2, the cradle head is connected with the operation control module through the first serial port, a second serial port is reserved on the operation control module and used for inputting azimuth angle information, when a target is in the rotating range of the cradle head, the operation control module calculates the angle difference between the current azimuth angle of the target and the initial position of the cradle head in real time, and calls the corresponding preset position of the cradle head according to the difference value to enable the initial position of the cradle head to rotate towards the direction of the target, and the error between the initial position of the cradle head and the target depends on the precision of the azimuth angle, so that the azimuth angle of the cradle head tracking in real time is determined, the automatic tracking of the cradle head is finally realized, the anti-jamming capability is strong, the use is not limited by external environment, the cost is low, and the device can be widely applied to the fields of monitoring, unmanned aerial vehicle counter-braking and the like.
Description
Technical Field
The invention relates to the technical field of holders, in particular to a method for realizing an azimuth angle of an automatic holder following system.
Background
The automatic cloud platform following system is specially used for following a low-altitude target and has wide application in the fields of monitoring, unmanned aerial vehicle countermeasures and the like. When the target appears in the air control area, the front-end monitoring target captures the position of the target and sends a corresponding instruction to the holder following system, and then the holder drives the load to automatically rotate, so that the load is aligned with the target, and the next work is completed. However, if the pan/tilt head is to accurately follow the target, the current azimuth angle of the pan/tilt head needs to be obtained in real time, and whether the pan/tilt head is aligned with the target is determined according to the azimuth angle of the pan/tilt head. In the prior art, a gyroscope sensor is generally used to measure the angle of a pan/tilt head. However, the calibration mode of the gyroscope sensor is more original, and generally a person takes a circle in place with the equipment, which is difficult to be completed for a holder system with a heavy weight. Moreover, the gyroscope sensor is very easy to be interfered, and is very critical to the use environment. Therefore, the angle of the cradle head obtained by the method has larger error, larger limitation in practical application and higher cost.
In order to overcome the defects, the invention provides a method for realizing the azimuth angle of the automatic holder following system, aiming at enabling the holder to complete the automatic following function in any environment.
Disclosure of Invention
The invention aims to provide a method for realizing an azimuth angle of a holder automatic following system, so as to solve the problems in the background technology.
In order to achieve the purpose, the invention provides the following technical scheme:
a method for realizing an azimuth angle of a pan-tilt automatic following system comprises the following steps:
s1, fixing the holder through a tripod or a platform, and fixing the operation control module on the holder;
and S2, connecting the cradle head with the operation control module through the first serial port, and reserving a second serial port on the operation control module for inputting azimuth angle information.
Preferably, the following mechanism of the holder is realized by calling a plurality of preset positions of the holder through an operation control module, the preset positions are set in advance, each preset position represents the relative angle of the holder, the method for acquiring the angle of the holder by using a gyroscope sensor is completely separated, and the method is low in cost, simple in structure and convenient to realize.
Preferably, the holder is provided with a limiter, the rotation range of the holder is limited by the limiter, and the preset position is set in the rotation range of the holder.
Preferably, the cradle head is divided into a plurality of areas within the rotation range, the starting point of each area corresponds to a preset position, and each relative angle range of the cradle head corresponds to a preset position.
Preferably, the precision of the pan-tilt tracking target can be freely set in a plurality of areas in the rotation range, and the more divided areas, the higher the precision, the less divided areas, and the lower the precision.
Preferably, the calibration mode of the cradle head is that the included angle between the initial position of the cradle head and the due north direction is input to the operation control module by using the first serial port, and is not limited by environmental conditions.
Compared with the prior art, the invention has the beneficial effects that: the invention provides a method for realizing an azimuth angle of a cradle head automatic following system, which divides a rotating range of the cradle head into regions by setting preset positions for the cradle head, wherein each preset position represents a relative angle range, and then calibration is carried out by inputting an included angle in the positive north direction, so that the azimuth angle of real-time tracking of the cradle head is determined, and finally, error-free automatic tracking of the cradle head is realized.
Drawings
FIG. 1 is a schematic diagram of an implementation method of an azimuth angle for a pan-tilt automatic following system according to the present invention;
in the figure: 1. a holder; 101. presetting bits; 102. the rotating range of the holder; 103. a tripod head rotating shaft; 104. The initial position of the holder; 2. an operation control module; 201. a first serial port; 202. and a second serial port.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
As shown in fig. 1, the present invention provides a method for implementing an azimuth angle of a pan/tilt automatic following system, comprising the following steps:
s1, fixing the holder 1 through a tripod or a platform, wherein the holder 1 comprises preset positions 101 (0-N, N is a positive integer) for dividing areas, a rotating range 102 (grey area) of the holder, a rotating shaft 103 of the holder and an initial position 104 of the holder, and then fixing the operation control module 2 on the holder 1, wherein the operation control module 2 comprises a first serial port 201 and a second serial port 202;
s2, connecting the pan/tilt head 1 with the operation control module 2 through a first serial port 201, reserving a second serial port 202 on the operation control module 2 for inputting azimuth angle information, determining the rotation range 102 (gray area) of the pan/tilt head according to the position of a stopper, wherein two sides of the gray area represent the stopper, the position of the stopper can be freely adjusted, when the two stoppers are superposed, the pan/tilt head 1 reaches the maximum rotation range 360 degrees, the preset positions 101 (0-N, N is a positive integer) of the partitioned area are defined in the rotation range 102 of the pan/tilt head, the number of the preset positions 101 can be freely set, the larger the N is, the higher the precision of the pan/tilt head 1 following the target is, the smaller the N is, the lower the precision of the pan/tilt head 1 following the target is, the pan/tilt head rotating shaft 103 rotates in the rotation range 102 (gray area) of the pan/tilt head, the initial position 104 of the pan/tilt head is in the middle of the rotation range 102 of the pan/tilt head, and the included angle with the serial port in the north direction is the angle input to the second serial port 202 during calibration, the arithmetic control module 2 stores the preset position 101 set by the pan/tilt head 1, and sends an instruction for calling the preset position 101 to the first serial port 201 to complete the following action of the pan/tilt head 1.
When in use, firstly, the rotation range 102 of the pan/tilt head is well defined through a limiter, the pan/tilt head 1 is divided into a plurality of areas in the rotation range 102 of the pan/tilt head, each area is represented by a preset position 101, the number of the preset position 101 is unique, then a program with the preset position 101 is solidified into the operation control module 2, after the power-on self-test of the pan/tilt head following system is completed, the included angle between the initial position 104 of the pan/tilt head and the north direction is determined, the angle is input into the operation control module 2 through the second serial port 202, that is, the pan/tilt head calibration is completed, when a black flying unmanned aerial vehicle target appears in the rotation range 102 of the pan/tilt head, the operation control module 2 calculates the angle difference between the current azimuth angle of the target and the initial position 104 of the pan/tilt head in real time, the initial position 104 of the pan/tilt head is judged to which position the pan/tilt head 1 needs to rotate through the angle difference, and then the preset position 101 corresponding to the position is called, the calling instruction is sent to the pan-tilt 1 through the first serial port 201, the pan-tilt 1 executes corresponding action and rotates to the corresponding preset position 101, so that the target is aligned, next step of anti-making evidence obtaining is carried out, and the alignment accuracy is different according to different number of divided areas.
In summary, the invention adopts the principles of dividing the region, calculating the relative difference value of the angle and calling the preset position 101, realizes the calculation and the following of the azimuth angle of the pan-tilt, can realize the automatic following function of the pan-tilt without a gyroscope sensor, and can be widely applied to the fields of monitoring, countermeasures and the like.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (3)
1. An implementation method for an azimuth angle of a pan-tilt automatic following system is characterized by comprising the following steps: fixing a holder through a tripod or a platform, wherein an operation control module and a limiter are fixed on the holder; the cloud deck is connected with the operation control module through a first serial port, and a second serial port is reserved on the operation control module and used for inputting azimuth angle information; the rotating range of the holder is limited by a limiter; firstly, dividing the holder into a plurality of areas in the rotation range of the holder, wherein each area is represented by a preset position, the number of the preset position is unique, then solidifying a program with the preset position into an operation control module, determining the included angle between the initial position of the holder and the true north direction after the power-on self-test of the holder following system is completed, and inputting the angle into the operation control module through a second serial port to complete the calibration of the holder; when the target of the unmanned aerial vehicle flies black and appears in the rotating range of the cloud deck, the operational control module calculates the angle difference between the current azimuth angle of the target and the initial position of the cloud deck in real time, the initial position of the cloud deck is judged to be rotated to which position of the cloud deck through the angle difference, then the presetting bit corresponding to the position is called, the calling instruction is sent to the cloud deck through the first serial port, the cloud deck can execute corresponding action, the cloud deck is rotated to the corresponding presetting bit, the target is aligned, and the evidence is obtained through countermaking on the next step.
2. The method for realizing the azimuth angle of the pan-tilt-zoom automatic following system according to claim 1, wherein: the accuracy of the pan-tilt following target can be freely set in a plurality of areas in the rotating range.
3. The method for realizing the azimuth angle of the pan-tilt-zoom automatic following system according to claim 1, wherein: the calibration mode of the cradle head is to input the included angle between the initial position of the cradle head and the north direction to the operation control module by using a first serial port.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910584980.7A CN110347184B (en) | 2019-07-01 | 2019-07-01 | Method for realizing azimuth angle of automatic holder following system |
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| CN201910584980.7A CN110347184B (en) | 2019-07-01 | 2019-07-01 | Method for realizing azimuth angle of automatic holder following system |
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| CN110347184B true CN110347184B (en) | 2022-09-13 |
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| CN115808935A (en) * | 2021-09-15 | 2023-03-17 | 浙江宇视科技有限公司 | Cruising method, device, medium and electronic equipment of heavy cradle head |
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