CN110383198B - Lens-replaceable holder control method and holder - Google Patents
Lens-replaceable holder control method and holder Download PDFInfo
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- CN110383198B CN110383198B CN201880015931.5A CN201880015931A CN110383198B CN 110383198 B CN110383198 B CN 110383198B CN 201880015931 A CN201880015931 A CN 201880015931A CN 110383198 B CN110383198 B CN 110383198B
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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
- G03B17/02—Bodies
- G03B17/12—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets
- G03B17/14—Bodies with means for supporting objectives, supplementary lenses, filters, masks, or turrets interchangeably
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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
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- Accessories Of Cameras (AREA)
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- Structure And Mechanism Of Cameras (AREA)
Abstract
The embodiment of the disclosure provides a cradle head control method of an interchangeable lens and a cradle head, wherein the method comprises the following steps: after receiving the command of lens replacement, the cradle head enters a lens replacement mode. The control assembly generates a first working instruction and sends the first working instruction to the motor assembly; the motor component executes the first working instruction and makes corresponding work. According to the embodiment of the disclosure, the lens can be quickly replaced under the condition of continuous power failure, so that the cradle head can normally operate when the lens is replaced, the operation is simple, the user time is saved, the labor cost is reduced, and the requirements of user automation and intellectualization are met.
Description
Technical Field
The disclosure relates to the technical field of pan-tilt control, in particular to a pan-tilt control method capable of replacing a lens and a pan-tilt.
Background
The cradle head is a bearing device for installing and fixing a camera, and can be matched with a motor through a cradle head arm to finish rotation of the camera borne by the cradle head in one or more directions. In the use process, a single lens sometimes cannot meet all application scenes, for example, a short-focal-length lens is used when shooting close shots, and a long-focal-length lens is used when shooting long shots. In order to meet different shooting requirements of users, a holder device with an exchangeable lens is required.
However, when the existing holder is used for replacing the lens, the power must be cut off, meanwhile, because the inertia of different lenses is inconsistent, the user can replace the lens under the condition of uninterrupted power, the holder load changes, if the control parameters of the holder are not adjusted in time, the holder controller can be possibly caused to diverge, the uncontrolled condition of the holder occurs, and the user experience is affected.
Disclosure of Invention
The embodiment of the disclosure provides a lens-replaceable holder control method capable of rapidly replacing a lens under the condition of continuous power failure and ensuring normal operation of a holder during replacement, and the holder.
The embodiment of the disclosure provides a pan-tilt control method, which comprises the following steps:
the control component receives a lens replacement instruction, and the cradle head enters a lens replacement mode; the control component generates a first working instruction and sends the first working instruction to the motor component; the motor component executes the first working instruction and makes corresponding actions.
Correspondingly, the embodiment of the disclosure also provides an interchangeable lens ground holder, which comprises:
the frame assembly is used for carrying load equipment and comprises at least one of a pitching shaft bracket, a rolling shaft bracket and a translation shaft bracket;
the control component is used for receiving the control instruction and outputting one or more working instructions according to the control instruction;
the motor assembly comprises at least one of a pitching motor, a rolling motor or a translation motor and is used for driving the pitching shaft bracket, the rolling shaft bracket and the translation shaft bracket to act respectively;
when the cradle head enters an interchangeable lens mode, the control component receives an interchangeable lens instruction, generates a first working instruction and sends the first working instruction to the motor component, and the motor component executes the first working instruction and makes corresponding actions.
According to the embodiment of the disclosure, the cradle head control assembly can receive the lens replacement instruction under the condition of no power failure, so that the cradle head can quickly enter a lens replacement mode. In this mode, the pan/tilt head does not perform normal feedback adjustment, for example, performs only weak negative feedback adjustment smaller than normal negative feedback adjustment or does not perform negative feedback adjustment. At this time, even if the load of the cradle head changes, the cradle head control assembly controls the motor assembly to execute a weak working instruction or a non-working instruction, so that the output value of the working instruction received by the motor assembly is smaller than the output value of a normal working instruction or the output value is zero, and the condition that the cradle head is not controlled when the load inertia of the cradle head suddenly decreases is avoided. According to the embodiment of the disclosure, the cradle head can be ensured to normally operate when the lens is replaced, the operation is simple, the user time is saved, the labor cost is reduced, and the requirements of user automation and intellectualization are met.
Drawings
Fig. 1 is a schematic structural diagram of a lens-interchangeable holder according to an embodiment of the present disclosure;
FIG. 2 is a schematic view of a holder with an interchangeable lens according to another embodiment of the disclosure;
FIG. 3 is a schematic view of another lens-interchangeable holder according to an embodiment of the present disclosure;
FIG. 4 is a schematic view of another lens-interchangeable holder according to an embodiment of the present disclosure;
fig. 5 is a flowchart of a pan/tilt control method with interchangeable lenses according to an embodiment of the disclosure;
FIG. 6 is a flow chart of another lens-interchangeable pan/tilt control method according to an embodiment of the present disclosure;
FIG. 7 is a flow chart of another lens-interchangeable pan/tilt control method according to an embodiment of the present disclosure;
fig. 8 is a flowchart of another lens-interchangeable pan-tilt control method according to an embodiment of the present disclosure.
Detailed Description
The following description of the technical solutions in the embodiments of the present disclosure will be made clearly and completely with reference to the accompanying drawings in the embodiments of the present disclosure, and it is apparent that the described embodiments are only some embodiments of the present disclosure, not all embodiments. All other embodiments, which can be made by one of ordinary skill in the art based on the embodiments of the present disclosure without making any inventive effort, are intended to be within the scope of the present disclosure.
The embodiment of the disclosure provides a lens-replaceable holder control method capable of rapidly replacing a lens under the condition of continuous power supply and ensuring that a holder can normally operate during and after replacement, and the holder.
And under the normal working mode of the cradle head, the self-stabilization control of the cradle head is finished by means of a negative feedback system. The negative feedback system controls the cradle head to perform actions opposite to the movement direction of the load by detecting the movement state of the load mounted on the cradle head, so that the shaking of the load is eliminated, and the stability of the load is ensured.
For example, for a three-axis pan/tilt, inertial measurement sensors for measuring the tilt axis, the roll axis, and the pan/tilt axis in real time are generally provided, and a tilt motor for controlling the rotation of the tilt axis, a roll motor for controlling the rotation of the roll axis, and a pan motor for controlling the rotation of the pan/tilt axis are correspondingly provided.
In general, a PID control system may be used to implement negative feedback control over the pan-tilt. The PID control system controls the controlled object by a proportion (P), an integral (I), and a Derivative (D) of the deviation, wherein the proportion of the deviation refers to a ratio of an output value to an input value of the PID control system, and the Proportional gain refers to a ratio of the output value to the deviation value. For the triaxial tripod head, the input value of the PID control system is real-time attitude information of a tripod head pitching axis, a tripod head transverse rolling axis and a tripod head translation axis, which is obtained by real-time measurement of an inertial measurement sensor, and the output value is an output working instruction obtained by corresponding operation of a control component according to the deviation value of the real-time attitude relative to the expected attitude, and the output working instruction is related to the real-time attitude information and the proportional gain. The control of the output working instruction can be realized by adjusting the proportional gain. The output working instruction can be an output value for adjusting the real-time gesture to the expected gesture, an output value for adjusting the real-time gesture to be larger than the expected gesture, and an output value for adjusting the real-time gesture to be smaller than the expected gesture.
Some embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.
Referring to fig. 1 to 3, a structure diagram of a lens-interchangeable holder 10 according to an embodiment of the disclosure is shown. The pan-tilt 10 may carry different types of lenses 30. The cradle head 10 comprises a frame assembly 20, a control assembly 40 arranged in the frame assembly 20, and a motor assembly 50 arranged on the frame assembly 20. The motor assembly 50 is used to drive the frame assembly 20. The control assembly 40 is used to control the motor assembly 50.
The frame assembly 20 is used for carrying a lens 30. The frame assembly 20 includes a cross roller bracket 202 and a translation shaft bracket 203. The pan-tilt 10 is provided with a lens connection assembly 110. The lens 30 is detachably connected to the lens connection assembly 110.
The control component 40 is configured to receive a control instruction and output one or more working instructions according to the control instruction. The control assembly 40 may be disposed within the frame assembly 20.
The motor assembly 50 is configured to drive the motor according to the one or more operating commands. The motor assembly 50 includes a pitch motor 501, a roll motor 502, and a pan motor 503. The pitching motor 501 is disposed on the roll shaft bracket 202, and is used for driving the lens connecting assembly 110 to rotate along a pitching axis. The roll shaft motor 502 and the translation motor 503 are used for driving the roll shaft bracket 202 and the translation shaft bracket 203 to act respectively.
In other embodiments, the frame assembly 20 may include at least one of a pitch axis bracket, a roll axis bracket 202, and a translation axis bracket 203, and correspondingly, the motor assembly 50 includes at least one of a pitch motor 501, a roll motor 502, and a translation motor 503.
When a user needs to replace a lens under the condition of uninterrupted power supply, because the load of the cradle head changes, if the self-stabilization control of the cradle head is realized by the negative feedback system, the cradle head controller can be possibly caused to diverge, and the condition that the cradle head is not controlled occurs. In the embodiment of the present disclosure, the user may input a command for changing the lens, and the control component 40 controls the pan-tilt 10 to enter the lens changing mode. It can be appreciated that the command for changing the lens may be sent through a physical button such as a mechanical button, a touch button, etc. that are previously set on the pan-tilt 10. Further, the control command can be sent by the remote control terminal.
In another embodiment, the lens connection assembly 110 provided on the pan/tilt head 10 is provided with a contact portion 1101. Correspondingly, an electrical connection unit electrically connected with the pan/tilt head 10 is disposed on the lens 30. The contact portion 1101 is electrically connected to the lens 30. Separation/connection detection between the pan-tilt 10 and the lens 30 is achieved by receiving an electrical signal between the contact portion 1101 and the lens 30. When the cradle head 10 is separated from the lens 30, the contact portion 1101 provided on the lens connection assembly 110 is separated from the electrical connection unit on the lens 30, and the electrical signal connected between the cradle head 10 and the lens 30 is disconnected. After detecting the disconnected electrical signal, the contact 1101 automatically sends to the control assembly 40. The control assembly 40 issues the change lens instruction. Preferably, in this embodiment, the contact portion 1101 is a metal contact. After receiving the corresponding command for lens replacement, the control module 40 enters the pan/tilt head 10 into a lens replacement mode. The control assembly 40 generates a first work order.
Unlike the normal operation mode of the pan/tilt head, the control unit 40 does not perform normal negative feedback control in the interchangeable lens mode. For example, the control module 40 performs weak negative feedback control smaller than normal negative feedback control or does not perform negative feedback control. The corresponding first operating command controls the motor assembly 50 to perform a weak operating command less than the normal operating command or the motor assembly 50 does not operate. After the motor assembly 50 receives the first work order, the received first work order is executed. For example, at least one of pitch motor 501, roll motor 502, or pan motor 503 performs a weak or no operation command that is less than a normal operation command. At this time, even if the lens 30 (pan-tilt load) changes, the control component 40 of the pan-tilt 10 controls the motor component 50 to execute the weak working command or the non-working command, so that the output value of the working command received by the motor component 50 is smaller than the output value of the normal working command or the output value is zero, thereby avoiding the occurrence of the uncontrolled pan-tilt condition when the inertia of the pan-tilt load suddenly decreases.
Referring to fig. 3, in an embodiment of the present disclosure, the pan-tilt head 10 further includes a posture acquisition component 60.
The gesture acquiring assembly 60 is configured to acquire gesture information of at least one axis of rotation of the lens connecting assembly 110 along a pitch axis, a roll axis bracket 202, and a translation axis bracket 203. The gesture acquisition component 60 includes a gyroscope and/or an accelerometer. For example, angular velocity of at least one of the lens connection assembly 110 of the pan head 10, the roll axis bracket 202, and the translation axis bracket 203 is measured in real time by a gyroscope, and acceleration of at least one of the lens connection assembly 110 of the pan head 10, the roll axis bracket 202, and the translation axis bracket 203 is measured in real time using an accelerometer.
After receiving the lens exchange instruction, the cradle head 10 enters into an lens exchange mode. The control component 40 generates a first work order. At this time, the control unit 40 does not perform normal negative feedback control. For example, the control module 40 performs weak negative feedback control smaller than normal negative feedback control. The control assembly 40 sends a second work order to the motor assembly 50 according to the real-time gesture information acquired by the gesture acquisition assembly 60.
In one embodiment, the second work order is a preset work order. For example, the preset second working instruction is that the control component 40 controls the pitching motor 501 to rotate a certain angle. Preferably, pitch motor 501 is controlled to rotate to-90 degrees. At this time, the lens 30 faces downwards, and the photosensitive devices in the corresponding lens 30 are parallel to the horizontal direction, so that dust and the like can be prevented from entering when the lens is replaced, and a protection effect is further achieved.
In another embodiment, the second work order is a weak work order that is less than the normal work order. The motor assembly 50 may be caused to execute a weak work order that is less than a normal work order, for example, by tuning down the proportional gain in the PID control system. At this time, the working instruction sent by the control component 40 controls the lens connection component 110 of the pan-tilt 10 to rotate along the pitch axis, and the rotation value of at least one axis of the roll axis bracket 202 and the translation axis bracket 203 is smaller than the deviation value of the measured real-time gesture relative to the expected gesture.
When the pan/tilt head 10 enters the lens exchange mode, the lens 30 (pan/tilt head load) changes. The corresponding motor assembly 50 executes a weak working command smaller than a normal working command, so that the adjustment of the three-axis posture of the pan-tilt adapts to the change of the lens 30, and the condition that the pan-tilt is not controlled when the load inertia of the pan-tilt suddenly decreases is avoided.
Referring to fig. 4, in an embodiment of the present disclosure, the pan-tilt head 10 further includes a joint angle acquisition component 70.
The joint angle acquisition component 70 is configured to acquire joint angle information of at least one of the pitch motor 501, the roll motor 502, or the translation motor 503.
After the control component 40 receives the first working instruction, the joint angle obtaining component 70 obtains real-time joint angle information of the three motors of the pan-tilt 10. And sending a third working instruction to the motor assembly 50 according to the real-time joint angle information, wherein the third working instruction is that the control assembly 40 controls at least one motor of the pitching motor 501, the rolling motor 502 or the translation motor 503 to rotate, so as to adjust the joint angle of the pan-tilt motor. The joint angle acquisition assembly 70 includes one of a potentiometer, a hall sensor, or a magnetic encoder to measure rotation angle information of at least one of the pitch motor 501, the roll motor 502, or the translation motor 503 in real time.
After receiving the lens exchange instruction, the cradle head 10 enters into an lens exchange mode. The control component 40 generates a first work order. At this time, the control unit 40 does not perform normal negative feedback control. For example, the control module 40 performs weak negative feedback control smaller than normal negative feedback control. The control unit 40 sends a third operation command to the motor unit 50 according to the real-time joint angle information acquired by the joint angle acquisition unit 70.
In one embodiment, the third work order is a weak work order that is less than the normal work order. The motor assembly 50 may be caused to execute a weak work order that is less than the normal work output value, for example, by tuning down the proportional gain in the PID control system. The working instruction sent by the control assembly 40 controls the rotation value of at least one motor of the pitch motor 501, the roll motor 502 or the translation motor 503 to be smaller than the deviation value of the measured real-time joint angle relative to the expected joint angle.
When the pan/tilt head 10 enters the lens exchange mode, the lens 30 (pan/tilt head load) changes. The corresponding motor assembly 50 executes a weak work order smaller than a normal work order, so that adjustment of the joint angle of the pan-tilt motor is adapted to the change of the lens 30, thereby avoiding the occurrence of the uncontrolled pan-tilt condition when the load inertia of the pan-tilt is suddenly reduced.
In the embodiment of the disclosure, when the pan-tilt 10 is reconnected to the lens 30, the contact portion 1101 provided on the lens connection assembly 110 is connected to the electrical connection unit on the lens 30, and the electrical signals connected between the pan-tilt 10 and the lens 30 are communicated. The contact 1101 automatically sends the electrical signal to the control assembly 40 after detecting the connected electrical signal. The control assembly 40 issues the replacement lens complete instruction. After the cradle head 10 receives the lens replacement completion instruction, the cradle head 10 enters a lens replacement completion mode. The control component 40 acquires real-time posture information of the pan-tilt 10 through the posture acquisition component 60. The control component 40 obtains the deviation value of the real-time gesture relative to the expected gesture according to the real-time gesture information, and generates a fourth working instruction to send the fourth working instruction to the motor component 50. The fourth working instruction is a normal working instruction for adjusting the real-time gesture to a desired gesture. The motor assembly 50 rotates by a corresponding angle according to the received fourth working instruction, and the adjustment of the joint angle of at least one motor of the pitching motor 501, the rolling motor 502 or the translation motor 503 completes the adjustment of the posture of at least one shaft of the rolling shaft bracket 202 and the translation shaft bracket 203 along the pitching shaft of the corresponding lens connecting assembly 110. The cradle head 10 enters a normal working mode. At this time, the pan/tilt head 10 performs normal negative feedback adjustment.
It will be appreciated that different lenses have different inertias. When the pan-tilt 10 is reconnected to the lens 30, the control component 40 controls the motor component 50 to perform multiple negative feedback adjustment to adjust the control parameters of the pan-tilt 10 so as to adapt to the lens 30 with different inertia to work because the inertia of the lens 30 is unknown. In this embodiment, the control component 40 controls the gesture obtaining component 60 to obtain the angular velocity of at least one axis of the lens connecting component 110 rotating along the pitch axis, the roll axis support 202 and the translation axis support 203, and calculate according to the angular velocity to obtain a corresponding control parameter, and then send the control parameter to the motor component 50 in the form of a working instruction. The motor assembly 50 executes the working instruction, adjusts the posture of the pan-tilt 10, and the adjusted posture of the pan-tilt 10 is fed back to the control assembly 40 through the posture acquisition assembly 60 until the real-time posture acquired by the posture acquisition assembly 60 is the expected posture, and at this time, the pan-tilt 10 enters the normal working mode, so that the posture of the lens 30 (pan-tilt load) can be stably controlled.
In another embodiment, the fourth working order is at least one set of preset working orders pre-stored by the control module 40. The control component 40 presets control parameters corresponding to the lenses 30 for the lenses 30 with different models, and sends the control parameters to the motor component 50 in the form of working instructions after corresponding operation. Different preset working instructions are suitable for lenses of different models.
Specifically, after the pan-tilt 10 enters the lens replacement completion mode, the control component 40 receives a signal instruction of the lens 30. According to the received signal instruction of the lens 30, the control component 40 rapidly switches to the control parameter corresponding to the lens 30, and sends the control parameter to the motor component 50 in the form of a fourth working instruction after corresponding operation. The motor assembly 50 executes a fourth operation instruction corresponding to the lens 30. In this embodiment, by presetting fourth working instructions applicable to different types of lenses 30, the cradle head 10 can be quickly adjusted to control parameters applicable to the lenses 30, and the cradle head 10 can quickly enter a normal working mode.
In one embodiment, a user may input a signal instruction of the lens 30 connected to the cradle head 10.
In another embodiment, the contact portion 1101 provided on the lens connection component 110 of the pan/tilt head 10 may be in electrical communication with an electrical connection unit on the lens 30 to identify the lens 30 and automatically send a signal command of the identified lens 30 to the control component 40. Preferably, in this embodiment, the contact portion 1101 is a metal contact.
A method for controlling a pan/tilt head with an interchangeable lens according to an embodiment of the present disclosure is described in detail below. Fig. 5 is a flowchart of a lens-interchangeable pan-tilt control method according to an embodiment of the present disclosure, specifically, the method includes:
s101: the control component 40 receives the lens replacement instruction, and the pan/tilt head 10 enters a lens replacement mode.
In the embodiment of the present disclosure, the user may input a command for changing the lens, and the control component 40 controls the pan-tilt 10 to enter the lens changing mode. It can be appreciated that the command for changing the lens may be sent through a physical button such as a mechanical button, a touch button, etc. that are previously set on the pan-tilt 10. Further, the control command can be sent by the remote control terminal.
In another embodiment, a lens connection assembly 110 is disposed between the pan-tilt head 10 and the lens 30. The lens connection assembly 110 is provided with a sensor. Preferably, the sensor is a contact 1101 provided on the lens connection assembly 110. Correspondingly, an electrical connection unit electrically connected with the pan/tilt head 10 is disposed on the lens 30. The contact portion 1101 is electrically connected to the lens 30. Separation/connection detection between the pan-tilt 10 and the lens 30 is achieved by receiving an electrical signal between the contact portion 1101 and the lens 30. When the cradle head 10 is separated from the lens 30, the contact portion 1101 provided on the lens connection assembly 110 is separated from the electrical connection unit on the lens 30, and the electrical signal connected between the cradle head 10 and the lens 30 is disconnected. After detecting the disconnected electrical signal, the contact 1101 automatically sends to the control assembly 40. The control assembly 40 issues the change lens instruction. Preferably, the contact 1101 is a metal contact.
After receiving the corresponding command for lens replacement, the control module 40 enters the pan/tilt head 10 into a lens replacement mode.
S102: after receiving the lens replacement instruction, the control component 40 of the pan-tilt 10 generates a first working instruction, and sends the first working instruction to the motor component 50. The first working instruction is a weak working instruction or a non-working instruction which is smaller than the normal working instruction. At this time, the control module 40 of the pan/tilt head 10 does not perform normal negative feedback control. For example, the control module 40 performs weak negative feedback control smaller than normal negative feedback control or does not perform negative feedback control.
S103: after the motor assembly 50 receives the first work order, the received first work order is executed. For example, at least one of pitch motor 501, roll motor 502, or pan motor 503 executes a corresponding weak or no operation command that is less than a normal operation command.
Referring again to fig. 6, embodiments of the present disclosure further include:
s201: the control component 40 receives the lens replacement instruction, and the pan/tilt head 10 enters a lens replacement mode.
S202: the control component 40 generates a first work order. At this time, the control unit 40 of the pan/tilt head 10 performs weak negative feedback control smaller than normal negative feedback control.
S203: the control component 40 controls the attitude acquisition component 60 to acquire real-time attitude information of the pan-tilt 10.
For a three-axis pan-tilt, real-time measurement of attitude information of at least one axis of a pan-tilt-axis support, a roll-axis support 202, and a pan-axis support 203 is achieved by the attitude acquisition assembly 60. The attitude acquisition assembly 60 includes a gyroscope and/or an accelerometer. For example, the angular velocity of at least one axis of the pan tilt axis bracket, the roll axis bracket 202, and the pan axis bracket 203 is measured in real time by a gyroscope, and the acceleration of at least one axis of the pan tilt axis bracket, the roll axis bracket 202, and the pan axis bracket 203 is measured in real time using an accelerometer.
S204: after the control component 40 obtains the real-time posture information of the pan-tilt head 10, a second working instruction is generated according to the real-time posture information and sent to the motor component 50.
In one embodiment, the second operating command is a preset operating command, such that the control assembly 40 controls the motor assembly 50 to operate to a specified operating position.
In another embodiment, the second work order is a weak work order that is less than the normal work order. For example, the weak work order may be achieved by tuning down the proportional gain in a PID control system.
S205: the motor assembly 50 executes the second working instruction, so that at least one motor of the pitching motor 501, the rolling motor 502 or the translation motor 503 rotates, and further, the posture of the pan-tilt is adjusted.
In one embodiment, the preset second operation command is that the control unit 40 controls the pitch motor 501 to rotate a certain angle. Preferably, pitch motor 501 is controlled to rotate to-90 degrees. At this time, the lens 30 faces downwards, and the photosensitive devices in the corresponding lens 30 are parallel to the horizontal direction, so that dust and the like can be prevented from entering when the lens is replaced, and a protection effect is further achieved.
In another embodiment, the second operation command is a weak operation command that controls at least one of the pitch motor 501, the roll motor 502, or the translation motor 503 to perform less than a normal operation output value. At this time, the working instruction sent by the control component 40 controls the rotation value of at least one axis of the pitch axis bracket, the roll axis bracket 202 and the translation axis bracket 203 of the pan-tilt 10 to be smaller than the deviation value of the measured real-time posture relative to the expected posture.
When the pan/tilt head 10 enters the lens exchange mode, the lens 30 (pan/tilt head load) changes. The corresponding motor assembly 50 executes a weak work order smaller than the normal work output value, so that the adjustment of the three-axis posture of the pan-tilt adapts to the change of the lens 30, and the condition that the pan-tilt is not controlled when the load inertia of the pan-tilt suddenly decreases is avoided.
Referring again to fig. 7, embodiments of the present disclosure further include:
s301: the control component 40 receives the lens replacement instruction, and the pan/tilt head 10 enters a lens replacement mode.
S302: the control component 40 generates a first work order. At this time, the pan/tilt head 10 control unit 40 performs weak negative feedback control smaller than normal negative feedback control.
S303: the control component 40 acquires real-time joint angle information of the motor of the pan-tilt head 10 through the joint angle acquisition component 70.
For the three-axis pan-tilt, the motor assembly 50 is provided with a joint angle acquisition assembly 70, and joint angle information of at least one motor of the pitch motor 501, the roll motor 502 and the translation motor 503 of the pan-tilt 10 can be measured in real time through the joint angle acquisition assembly 70. The joint angle acquisition assembly 70 includes one or more of potentiometers, hall sensors, and magnetic encoders. For example, rotation angle information of three motors of the cradle head can be measured in real time through one or more of a potentiometer, a Hall sensor and a magnetic encoder.
S304: after the control assembly 40 obtains real-time joint angle information of at least one of the pitch motor 501, the roll motor 502, and the pan motor 503 of the pan-tilt 10, the real-time joint angle information is sent to the control assembly 40. The control assembly 40 generates a third working instruction according to the real-time joint angle information of the motor of the pan-tilt head 10, and sends the third working instruction to the motor assembly 50. In one embodiment, the third operating command is a weak operating command that controls the motor assembly 50 to operate less than normal. The weak work order may be achieved by tuning down the proportional gain in the PID control system.
S305: the motor assembly 50 executes a third operating instruction such that at least one of the pitch motor 501, roll motor 502, or pan motor 503 has a motor rotation value that is less than the deviation value of the real-time joint angle from the desired joint angle.
When the pan/tilt head 10 enters the lens exchange mode, the lens 30 (pan/tilt head load) changes. The corresponding motor assembly 50 executes a weak work order smaller than the normal work output value, so that adjustment of the joint angle of the pan-tilt motor is adapted to the change of the lens 30, and the condition that the pan-tilt is not controlled when the load inertia of the pan-tilt suddenly decreases is avoided.
Referring again to fig. 8, embodiments of the present disclosure further include:
s401: the control component 40 receives the lens replacement completion instruction, and the cradle head 10 enters a lens replacement completion mode.
In the embodiment of the disclosure, when the pan-tilt 10 is reconnected to the lens 30, the contact portion 1101 provided on the lens connection assembly 110 is connected to the electrical connection unit on the lens 30, and the electrical signals connected between the pan-tilt 10 and the lens 30 are communicated. The contact 1101 automatically sends the electrical signal to the control assembly 40 after detecting the connected electrical signal. The control assembly 40 issues the replacement lens complete instruction. The cradle head 10 enters an interchangeable lens completion mode.
S402: the control component 40 acquires real-time posture information of the pan-tilt 10 through the posture acquisition component 60.
S403: the control component 40 obtains the deviation value of the real-time gesture relative to the expected gesture according to the real-time gesture information, and generates a fourth working instruction to send the fourth working instruction to the motor component 50. The fourth working instruction is a normal working instruction for adjusting the real-time posture to the expected posture.
S404: the motor assembly 50 rotates by a corresponding angle according to the received fourth working instruction, and the adjustment of at least one shaft gesture of the corresponding pitch shaft bracket, roll shaft bracket 202 and translation shaft bracket 203 is completed by adjusting at least one motor joint angle of the pitch motor 501, roll motor 502 and translation motor 503. The cradle head 10 enters a normal working mode. At this time, the pan-tilt 10 performs normal negative feedback adjustment.
In this embodiment, the control component 40 controls the gesture obtaining component 60 to obtain the angular velocity of at least one shaft of the pitch shaft support, the roll shaft support 202 and the translation shaft support 203, and calculates the corresponding control parameter according to the angular velocity, and then sends the control parameter to the motor component 50 in the form of a working instruction. The motor assembly 50 executes the working instruction, adjusts the posture of the pan-tilt 10, and the adjusted posture of the pan-tilt 10 is fed back to the control assembly 40 through the posture acquisition assembly 60 until the real-time posture acquired by the posture acquisition assembly 60 is the expected posture, and at this time, the pan-tilt 10 enters the normal working mode, so that the posture of the lens 30 (pan-tilt load) can be stably controlled.
In another embodiment, the fourth working instruction is at least one set of preset working instructions pre-stored by the control component. The control component 40 presets control parameters corresponding to the lenses 30 for the lenses 30 with different models, and sends the control parameters to the motor component 50 in the form of working instructions after corresponding operation. Different preset working instructions are suitable for lenses of different models.
Specifically, after the pan-tilt 10 enters the lens replacement completion mode, the control component 40 receives a signal instruction of the lens 30. According to the received signal instruction of the lens 30, the control component 40 rapidly switches to the control parameter corresponding to the lens 30, and sends the control parameter to the motor component 50 in the form of a fourth working instruction after corresponding operation. The motor assembly 50 executes a fourth operation instruction corresponding to the lens 30. In this embodiment, by presetting fourth working instructions applicable to different types of lenses 30, the cradle head 10 can be quickly adjusted to control parameters applicable to the lenses 30, and the cradle head 10 can quickly enter a normal working mode.
In one embodiment, a user may input a signal instruction of the lens 30 connected to the cradle head 10.
In another embodiment, the contact portion 1101 provided on the lens connection component 110 of the pan/tilt head 10 may be in electrical communication with an electrical connection unit on the lens 30 to identify the lens 30 and automatically send a signal command of the identified lens 30 to the control component 40. Preferably, in this embodiment, the contact portion 1101 is a metal contact.
According to the embodiment of the disclosure, the command of lens replacement can be received under the condition of no power failure, so that the cradle head can quickly enter a lens replacement mode; and after the lens replacement is completed, receiving a lens replacement completion instruction, so that the cradle head rapidly enters a normal working mode. In the pan/tilt lens replacing mode, the control component does not perform normal negative feedback control, for example, performs weak negative feedback control smaller than normal negative feedback control or does not perform negative feedback control. At this time, even if the load of the cradle head changes, the cradle head control assembly controls the motor assembly to generate a weak working instruction or a non-working instruction, so that the output value in the working instruction received by the motor assembly is smaller than the output value of normal working or the output value is zero, thereby avoiding the uncontrolled condition of the cradle head when the load inertia of the cradle head suddenly decreases. After the lens is replaced by the cradle head, the cradle head can quickly enter a normal working mode according to a lens signal instruction connected with the cradle head. The embodiment of the disclosure can ensure the normal operation of the cradle head during and after the exchange, is simple to operate, saves the time of a user, reduces the labor cost and meets the requirements of user automation and intellectualization.
The foregoing description is only exemplary embodiments of the present disclosure, and not intended to limit the scope of the disclosure, and all equivalent structures or equivalent processes using the descriptions and the drawings of the present disclosure, or direct or indirect application in other related technical fields are included in the scope of the present disclosure.
Claims (27)
1. The method for controlling the lens-replaceable holder is characterized by comprising the following steps of:
the control component receives a lens replacement instruction, and the cradle head enters a lens replacement mode;
before the cradle head is reconnected with the lens, the control component generates a first working instruction and sends the first working instruction to the motor component; the first working instruction is used for controlling a motor component of the cradle head to execute a weak working instruction smaller than a normal working instruction of the motor component or a non-working instruction of the motor component under the condition of no power failure, so that the cradle head can quickly replace a lens under the condition of no power failure;
the motor component executes the first working instruction and makes corresponding actions;
the control component generates a second working instruction or a third working instruction and sends the second working instruction or the third working instruction to the motor component; the control assembly acquires real-time attitude information of the cradle head, sends a second working instruction to the motor assembly according to the real-time attitude information, and is used for controlling at least one motor of a pitching motor, a rolling motor or a translation motor to rotate, so that attitude adjustment of the cradle head is achieved, or acquires real-time joint angle information of at least one motor of the pitching motor, the rolling motor or the translation motor of the cradle head, and sends a third working instruction to the motor assembly according to the real-time joint angle information, and is used for controlling at least one motor of the pitching motor, the rolling motor or the translation motor to rotate;
and the motor component executes the second working instruction or the third working instruction, so that at least one motor of the pitching motor, the rolling motor or the translation motor rotates, and further posture adjustment of the cradle head is realized.
2. The pan-tilt control method of claim 1, wherein the second operating command is for the control assembly to control rotation of the pitch motor by a certain angle.
3. The pan-tilt control method of claim 2, wherein the second operating command is the control component controlling rotation of the pitch motor to-90 degrees.
4. The pan-tilt control method of claim 1, wherein the second work order is a weak work order that is less than a normal work order.
5. The pan-tilt control method of claim 4, wherein the weak work order is that at least one of the pitch motor, roll motor, or pan motor rotates at an angle less than a deviation value of the acquired real-time pose from a desired pose.
6. The pan-tilt control method of claim 1, wherein the third work order is a weak work order that is less than a normal work order.
7. The pan-tilt control method of claim 6, wherein the weak work order is that at least one of the pitch motor, roll motor, or pan motor rotates less than the acquired deviation value of the real-time joint angle from the desired joint angle.
8. The pan-tilt control method of any of claims 1-7, further comprising the steps of:
the control component receives a lens replacement completion instruction, and the cradle head enters a lens replacement completion mode;
the control component acquires real-time attitude information of the cradle head;
the control component sends a fourth working instruction to the motor component according to the real-time attitude information of the cradle head;
and the motor component executes the fourth working instruction, and the cradle head enters a normal working mode.
9. The pan-tilt control method of claim 8, further comprising the steps of:
after the cradle head enters a lens replacement completion mode, the control assembly receives a lens signal instruction connected with the cradle head; the fourth working instruction is at least one group of preset working instructions which are stored in advance by the control component, and the at least one group of preset working instructions are applicable to lenses of different models.
10. The pan-tilt control method of claim 9, wherein one or more of the pan-tilt command, and pan-signal command is entered by a user.
11. The pan-tilt control method of claim 9, wherein a sensor is disposed between the pan-tilt and the lens, and one or more of the pan-tilt command, and the lens signal command is automatically transmitted after being detected by the sensor.
12. The pan-tilt control method of claim 11, wherein the sensor is a contact portion provided on a lens connection assembly between the pan-tilt and the lens, and one or more of the pan-tilt command, and the lens signal command is automatically transmitted after being detected by the contact portion.
13. The holder control method according to claim 12, wherein the contact portion is a metal contact.
14. A lens-interchangeable holder, the holder comprising:
the frame assembly is used for carrying the lens and comprises at least one of a pitching shaft bracket, a rolling shaft bracket and a translation shaft bracket;
the control component is used for receiving the control instruction and outputting one or more working instructions according to the control instruction;
the motor assembly comprises at least one of a pitching motor, a rolling motor or a translation motor and is used for driving the pitching shaft bracket, the rolling shaft bracket and the translation shaft bracket to act respectively;
the control assembly receives a lens replacement instruction, the holder enters a lens replacement mode, a first working instruction is generated before the holder is reconnected with a lens, and the first working instruction is sent to the motor assembly; the first working instruction is used for controlling a motor component of the cradle head to execute a weak working instruction smaller than a normal working instruction of the motor component or a non-working instruction of the motor component under the condition of no power failure, so that the cradle head can quickly replace a lens under the condition of no power failure;
the motor component executes the first working instruction and makes corresponding actions;
the control component generates a second working instruction or a third working instruction and sends the second working instruction or the third working instruction to the motor component; the control component acquires real-time attitude information of the cradle head, sends a second working instruction to the motor component according to the real-time attitude information, and is used for controlling at least one motor of a pitching motor, a rolling motor or a translation motor to rotate, so that attitude adjustment of the cradle head is realized, or acquires real-time joint angle information of at least one motor of the pitching motor, the rolling motor or the translation motor of the cradle head, and sends a third working instruction to the motor component according to the real-time joint angle information, so as to control at least one motor of the pitching motor, the rolling motor or the translation motor to rotate;
and the motor component executes the second working instruction or the third working instruction, so that at least one motor of the pitching motor, the rolling motor or the translation motor rotates, and further posture adjustment of the cradle head is realized.
15. The cradle head of claim 14, further comprising a gesture acquisition assembly comprising a gyroscope and/or an accelerometer.
16. The pan-tilt of claim 15, wherein the second operational command is for the control assembly to control rotation of the pitch motor through an angle.
17. The pan-tilt of claim 16, wherein the second operational command is the control component controlling rotation of the pitch motor to-90 degrees.
18. The cradle head of claim 15, wherein the second work order is a weak work order that is less than a normal work order.
19. The pan-tilt of claim 18, wherein the weak work order is that at least one of the pitch motor, roll motor, or pan motor rotates less than a deviation value of the acquired real-time pose from a desired pose.
20. The cradle head of claim 14, further comprising an articulation angle acquisition assembly comprising one or more of a potentiometer, a hall sensor, and a magnetic encoder.
21. The cradle head of claim 20, wherein the third work order is a weak work order that is less than a normal work order.
22. The pan-tilt of claim 21, wherein the weak work order is that at least one of the pitch motor, roll motor, or pan motor rotates less than the acquired deviation value of the real-time joint angle from the desired joint angle.
23. The cradle head according to any one of claims 14-22, wherein the cradle head receives an exchange lens completion command, the cradle head enters an exchange lens completion mode, the control assembly obtains real-time attitude information of the cradle head, and sends a fourth operation command to the motor assembly according to the real-time attitude information of the cradle head, the motor assembly executes the fourth operation command, and the cradle head enters a normal operation mode.
24. The cradle head of claim 23, wherein the control assembly receives a lens signal command coupled to the cradle head after the cradle head enters an interchangeable lens complete mode; the fourth working instruction is at least one group of preset working instructions which are stored in advance by the control component, and the at least one group of preset working instructions are applicable to lenses of different models connected with the holder.
25. The holder of claim 24, wherein the holder is provided with a physical key for triggering one or more of an interchangeable lens instruction, an interchangeable lens completion instruction, and a lens signal instruction.
26. The holder of claim 24, wherein a lens connection assembly is disposed between the holder and the lens, a contact portion is disposed on the lens connection assembly, and one or more of the lens replacement instruction, the lens replacement completion instruction, and the lens signal instruction can be automatically transmitted after being detected by the contact portion.
27. The holder of claim 26, wherein the contact portion is a metal contact.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/075083 WO2019148446A1 (en) | 2018-02-02 | 2018-02-02 | Control method for gimbal capable of replacing lenses, and gimbal |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110383198A CN110383198A (en) | 2019-10-25 |
| CN110383198B true CN110383198B (en) | 2023-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201880015931.5A Active CN110383198B (en) | 2018-02-02 | 2018-02-02 | Lens-replaceable holder control method and holder |
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| Country | Link |
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| CN (1) | CN110383198B (en) |
| WO (1) | WO2019148446A1 (en) |
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| WO2021026791A1 (en) * | 2019-08-13 | 2021-02-18 | 深圳市大疆创新科技有限公司 | Control method, tripod head, mobile platform system, and computer readable storage medium |
| WO2021102645A1 (en) * | 2019-11-25 | 2021-06-03 | 深圳市大疆创新科技有限公司 | Gimbal control method, gimbal, unmanned aerial vehicle, and storage medium |
| CN113086192B (en) * | 2021-04-09 | 2022-01-11 | 滁州学院 | Remote sensing monitoring system for monitoring growth vigor of crops |
| WO2022261959A1 (en) * | 2021-06-18 | 2022-12-22 | 深圳市大疆创新科技有限公司 | Leveling method and gimbal |
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| CN105867436B (en) * | 2015-11-27 | 2018-11-09 | 深圳市星图智控科技有限公司 | Unmanned vehicle and its clouds terrace system |
| WO2017214985A1 (en) * | 2016-06-17 | 2017-12-21 | 深圳市大疆灵眸科技有限公司 | Retaining device control method, retaining device, hand-held pan-tilt and unmanned aerial vehicle |
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| US6097511A (en) * | 1988-09-02 | 2000-08-01 | Canon Kabushiki Kaisha | Video camera with interruption of recording upon detection of improper mounting of interchangeable lens |
| CN104603516A (en) * | 2014-03-19 | 2015-05-06 | 深圳市大疆创新科技有限公司 | Holder |
| CN104838325A (en) * | 2014-06-30 | 2015-08-12 | 深圳市大疆创新科技有限公司 | Pan-and-tilt parameter adjustment method, device and pan-and-tilt device |
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| CN110383198A (en) | 2019-10-25 |
| WO2019148446A1 (en) | 2019-08-08 |
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