CN111684386A - Cradle head zero calibration method and cradle head - Google Patents
Cradle head zero calibration method and cradle head Download PDFInfo
- Publication number
- CN111684386A CN111684386A CN201980009600.5A CN201980009600A CN111684386A CN 111684386 A CN111684386 A CN 111684386A CN 201980009600 A CN201980009600 A CN 201980009600A CN 111684386 A CN111684386 A CN 111684386A
- Authority
- CN
- China
- Prior art keywords
- offset
- joint angle
- holder
- head
- pitch axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 48
- 230000005484 gravity Effects 0.000 claims abstract description 15
- 238000005096 rolling process Methods 0.000 claims description 19
- 230000001133 acceleration Effects 0.000 claims description 15
- 238000004590 computer program Methods 0.000 claims description 5
- 230000001960 triggered effect Effects 0.000 claims description 4
- 238000004364 calculation method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 230000003068 static effect Effects 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 2
- 238000005299 abrasion Methods 0.000 description 1
- 238000003491 array Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 239000011159 matrix material Substances 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
Images
Classifications
-
- 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
- G05D3/20—Control of position or direction using feedback using a digital comparing device
Abstract
A cloud terrace zero position calibration method and cloud terrace, the cloud terrace includes the accelerometer (5), is used for detecting the posture of the load carried on cloud terrace; the cloud deck zero calibration method comprises the following steps: when the holder is in a specific state, acquiring the current posture of the holder based on the accelerometer (5); determining the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder according to the current attitude of the holder; and determining the pitch axis zero position joint angle and/or the roll axis zero position joint angle of the holder according to the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder. The offset of the pitch axis joint angle and/or the roll axis joint angle of the holder is estimated by utilizing the earth gravity direction detected by the accelerometer, and the deviation of the joint angle of the corresponding axis is compensated.
Description
Technical Field
The invention relates to the field of cloud platforms, in particular to a cloud platform zero position calibration method and a cloud platform.
Background
The existing large cloud platform can not be the same as a small cloud platform with structural limitation, the joint angle zero position of the cloud platform is determined through an electrified detection mechanical limiting point, and the zero position calibration of the joint angle of the large cloud platform is generally completed by using a jig. When the jig is used for a long time, the jig is abraded, and factors such as abrasion, misoperation and the like can cause the jig to have a virtual position, so that zero calibration is deviated, and the precision of the zero calibration is influenced. If the zero deviation of the joint angle is larger than a certain threshold value, the deviation occurs when the gyroscope speed is mapped to the joint angular speed to calculate the Jacobian matrix, and the deviation also occurs on the joint angular angle calculated based on the speed integral mode, so that finally, when a user shoots a moving picture, if the yaw axis (yaw) of the tripod head is rapidly controlled to rotate, the roll axis (roll) of the tripod head is skewed, and the shooting quality is poor.
Disclosure of Invention
The invention provides a cloud deck zero position calibration method and a cloud deck.
Specifically, the invention is realized by the following technical scheme:
according to a first aspect of the present invention, a method for zero calibration of a pan/tilt head is provided, wherein the pan/tilt head comprises an accelerometer, configured to detect an attitude of a load carried on the pan/tilt head; the method comprises the following steps:
when the holder is in a specific state, acquiring the current posture of the holder based on the accelerometer;
determining the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder according to the current posture of the holder;
and determining the pitch axis zero position joint angle and/or the roll axis zero position joint angle of the holder according to the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder.
According to a second aspect of the present invention, there is provided a head comprising:
the pitching shaft assembly is used for carrying a load and can rotate around the pitching shaft;
the transverse rolling shaft assembly can rotate around the transverse rolling shaft and drives the pitching shaft assembly and the load to rotate around the transverse rolling shaft;
an accelerometer to detect a posture of the load; and
a processor electrically connected to the pitch shaft assembly, the roll shaft assembly, and the accelerometer, wherein the processor is configured to:
when the holder is in a specific state, acquiring the current posture of the holder based on the accelerometer;
determining the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder according to the current posture of the holder;
and determining the pitch axis zero position joint angle and/or the roll axis zero position joint angle of the holder according to the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder.
According to the technical scheme provided by the embodiment of the invention, the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder is determined by the accelerometer on the holder, and then the zero position joint angle of the corresponding axis is calibrated according to the offset, namely, the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder is estimated by using the earth gravity direction detected by the accelerometer, and the offset of the joint angle of the corresponding axis is compensated.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic structural diagram of a pan/tilt head according to an embodiment of the present invention;
FIG. 2 is a flow chart of a method of zero calibration of a pan/tilt head according to an embodiment of the present invention;
fig. 3A is a schematic view of a relationship between a gravitational acceleration and positions of a pitch axis and a roll axis when there is no zero offset in a pitch axis joint angle and a roll axis joint angle of a pan/tilt head according to an embodiment of the present invention;
fig. 3B is a schematic diagram illustrating a relationship between gravity acceleration and positions of a pitch axis and a roll axis when zero offset exists between a pitch axis joint angle and a roll axis joint angle of a pan/tilt head according to an embodiment of the present invention;
fig. 4 is a flowchart of a specific method of zero calibration of the pan/tilt head according to an embodiment of the present invention;
fig. 5 is a block diagram of a cradle head according to an embodiment of the present invention.
Reference numerals:
1: a pitch shaft assembly; 11: a pitch axis arm; 12: a pitch axis motor; 2: a transverse roller assembly; 21: a transverse roller shaft arm; 22: a transverse roller motor; 3: a yaw shaft assembly; 4: a bearing part; 5, an accelerometer; 6: a grip portion; 7: a processor.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It is to be understood that the features in the following examples and embodiments may be combined with each other without conflict.
In the embodiment of the present invention, the holder is configured to be rotatable around the pitch axis and the roll axis, and optionally, the holder of the embodiment is configured to be rotatable around the pitch axis and the roll axis; optionally, the head is further configured to be rotatable about a yaw axis, i.e. the head is configured to be rotatable about a yaw axis, a pitch axis and a roll axis.
Optionally, the cradle head is a two-axis cradle head, and the cradle head comprises a pitch axis assembly and a roll axis assembly, wherein the pitch axis assembly is used for carrying a load and can rotate around the pitch axis to drive the load to rotate around the pitch axis, so that the attitude angle of the pitch axis of the load changes; the roll shaft assembly can rotate around the roll shaft, and drives the pitch shaft assembly and the load to rotate around the roll shaft, so that the attitude angle of the roll shaft of the load changes.
Optionally, the cradle head is a three-axis cradle head, and the cradle head includes a pitch axis assembly, a roll axis assembly and a yaw axis assembly, wherein the pitch axis assembly is used for carrying a load and can rotate around the pitch axis to drive the load to rotate around the pitch axis, so that the attitude angle of the pitch axis of the load changes; the transverse rolling shaft assembly can rotate around the transverse rolling shaft to drive the pitching shaft assembly and the load to rotate around the transverse rolling shaft, so that the attitude angle of the transverse rolling shaft of the load is changed; the yaw shaft assembly can rotate around the yaw shaft to drive the roll shaft assembly, the pitch shaft assembly and the load to rotate around the yaw shaft, so that the attitude angle of the yaw shaft of the load changes.
Taking a three-axis pan-tilt as an example, as shown in fig. 1, the pitch axis assembly 1 may include a pitch axis arm 11 and a pitch axis motor 12 capable of rotating around the pitch axis, the roll axis assembly 2 may include a roll axis arm 21 and a roll axis motor 22 capable of rotating around the roll axis, and the yaw axis assembly 3 may include a yaw axis motor capable of rotating around the yaw axis, wherein one end of the roll axis arm 21 is connected to a rotor of the yaw axis motor, and the other end of the roll axis arm 21 is connected to a stator of the roll axis motor 22; one end of the pitch axis arm 11 is connected to the rotor of the roll shaft motor 22, the other end of the pitch axis arm 11 is connected to the pitch axis motor 12, and a load is mounted on the rotor of the pitch axis motor 12.
The load may be an imaging sensor or a mounting portion 4, and the mounting portion 4 is used to mount a device having an imaging function such as a camera. Further, referring again to fig. 1, the head includes an accelerometer 5, which can be used to detect the attitude of the load. It can be understood that the attitude of the load is also the attitude of the pan/tilt head. Optionally, the accelerometer 5 is fixed to the load.
The holder of the embodiment of the invention can be a handheld holder and can also be a non-handheld holder; the cradle head can be carried on movable equipment such as unmanned aerial vehicles and vehicles. When the cloud platform is handheld cloud platform, the cloud platform further includes the portion of gripping 6, and yaw axis motor fixed connection is at the top of the portion of gripping 6.
As shown in fig. 2, an embodiment of the present invention provides a method for calibrating a zero position of a pan/tilt head, where the method includes the following steps:
s201: when the holder is in a specific state, acquiring the current posture of the holder based on the accelerometer 5;
in this embodiment, the current attitude of the pan/tilt head is the real-time attitude of the load.
The process of acquiring the current posture of the holder based on the accelerometer 5 specifically includes: based on an accelerometer, acquiring real-time gravity acceleration components of the holder on a pitch axis and a roll axis; determining the current attitude angle of the corresponding axis according to the gravity acceleration component; namely, the current attitude angle of the pitch axis is determined according to the real-time gravity acceleration component of the holder on the pitch axis, and the current attitude angle of the roll axis is determined according to the real-time gravity acceleration component of the holder on the roll axis.
As shown in fig. 3A, if there is no zero offset between the pitch axis joint angle and the roll axis joint angle of the pan/tilt, the gravity acceleration is collinear with the pitch axis and orthogonal to the roll axis, the real-time gravity acceleration component Ax of the pan/tilt on the pitch axis is 0, the real-time gravity acceleration component Ay of the pan/tilt on the roll axis is g (g is gravity acceleration), at this time, the attitude angle of the pitch axis is 0 degree, and the attitude angle of the roll axis is also 0 degree; as shown in fig. 3B, if the pitch axis joint angle and the roll axis joint angle of the pan/tilt head both have zero offset, the gravity acceleration is not collinear with the pitch axis and is not orthogonal to the roll axis, Ax ≠ 0, Ay ≠ 0, Ax ═ gsina, Ay ═ gcos α, and the size of α can be determined, and from α, the current attitude angle of the pitch axis and the current attitude angle of the roll axis can be further determined.
The specific state may be a non-horizontal state or a horizontal state. In this embodiment, the specific state is a horizontal state, and the influence of a non-horizontal state on the zero calibration of the holder is reduced, so that the precision of the zero calibration of the holder is improved. Optionally, the specific state includes: the holder is placed on a horizontal plane and is in a posture return mode. The horizontal surface may be an absolutely horizontal surface, which is an ideal horizontal surface, and it is understood that the horizontal surface may be considered as a horizontal surface when an angle between the horizontal surface and the horizontal surface is smaller than a predetermined angle threshold (e.g., 0.5 degrees). The holder is placed on the horizontal plane, so that the holder is in a static state, the calculated amount of the holder is reduced, and the zero calibration speed of the holder is accelerated. Certainly, if the cradle head is in a uniform motion state, zero calibration of the cradle head can also be performed, and compared with the static state of the cradle head, if the cradle head is in the uniform motion state, the cradle head performs zero calibration, and the cradle head needs to subtract the joint angle change of the corresponding shaft in the uniform motion on the basis of the pitch shaft joint angle and the roll shaft joint angle determined by the zero calibration, and then judges whether the joint angle of the corresponding shaft has zero deviation.
In addition, when the cradle head is in the posture return mode, the posture angle of each shaft of the cradle head is 0 degree, and the joint angle of each shaft motor is 0 degree, so that the zero calibration speed is accelerated. Certainly, when the zero position calibration of the cradle head is carried out, the cradle head can not be in an attitude return mode, and the cradle head subtracts the initial joint angle of the corresponding shaft on the basis of the pitch shaft joint angle and the roll shaft joint angle determined in the zero position calibration, and then judges whether the joint angle of the corresponding shaft has zero offset or not.
As described above, the specific state may further include: the holder is in a static state to reduce the calculated amount of the holder, thereby accelerating the zero calibration speed of the holder.
Optionally, the cradle head is triggered to perform zero calibration based on a triggering mode, that is, the cradle head can be triggered to perform zero calibration based on user requirements. In this embodiment, the method for calibrating the zero position of the holder further includes: after the cradle head is in a specific state, a zero calibration trigger signal is detected before the current attitude of the cradle head is acquired based on the accelerometer 5. The zero calibration trigger signal may be generated based on different manners, for example, in some embodiments, the zero calibration trigger signal is sent by an external device, and the external device may be a remote controller capable of controlling the operation of the cradle head, a control terminal (such as a mobile phone, a tablet computer, etc.) capable of communicating with the cradle head, or other intelligent devices (such as an intelligent bracelet) capable of communicating with the cradle head. In some embodiments, the zero calibration trigger signal is generated by a key of the cradle head being triggered, it is understood that the cradle head may also be provided with other types of control parts, and the user generates the zero calibration trigger signal by operating the control parts, which are not limited to keys, but may also be a knob or other types. When the cloud platform is handheld, the control part can be arranged on the holding part 6 of the handheld cloud platform, so that the operation of a user is facilitated.
Optionally, when the cradle head detects that the cradle head is in a specific state, the cradle head automatically enters a cradle head zero calibration program.
S202: determining the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder according to the current attitude of the holder;
optionally, determining the offset of the pitch axis joint angle according to the current posture of the holder, and judging whether the pitch axis joint angle has zero offset according to the offset of the pitch axis joint angle; optionally, determining the offset of the roll axis joint angle according to the current posture of the holder, and judging whether the roll axis joint angle has zero offset according to the offset of the roll axis joint angle; optionally, the offset of the pitch axis joint angle and the offset of the roll axis joint angle are determined according to the current posture of the pan/tilt head, and then whether zero offset exists in the corresponding axis joint angle is judged according to the offset of the pitch axis joint angle and the offset of the roll axis joint angle.
It can be understood that if the specific state is a horizontal state, and the offset of the joint angle of the pitch shaft is the zero offset of the joint angle of the pitch shaft, the offset of the joint angle of the roll shaft is the zero offset of the joint angle of the roll shaft; if the specific state is a non-horizontal state, the offset of the pitch axis joint angle and the offset of the roll axis joint angle are the offsets of the corresponding axes when the positions are not zero.
Fig. 4 is a specific implementation process of S202, and as shown in fig. 4, the specific implementation process of S202 may include:
s401: determining the current pitch axis joint angle and/or the current roll axis joint angle of the holder according to the current attitude of the holder;
in this embodiment, the current attitude angle of the pitch axis is converted into the current joint angle of the pitch axis and/or the current attitude angle of the roll axis is converted into the current joint angle of the roll axis according to the conversion relationship between the existing attitude angle and joint angle.
S402: determining a first offset of a current pitch axis joint angle and a first preset threshold and/or a second offset of a current roll axis joint angle and a second preset threshold;
generally, before the zero calibration of the pan-tilt is not performed, the pitch axis zero position joint angle and the roll axis zero position joint angle of the pan-tilt at the zero position are both 0 degree. Therefore, in this embodiment, if the pan/tilt head is calibrated for the first zero position, the first preset threshold and the second preset threshold are both 0 degree; that is, the first offset amount is the current pitch axis joint angle, and the second offset amount is the current roll axis joint angle.
However, in some embodiments, before the zero calibration of the pan/tilt head is performed, the pitch axis zero-position joint angle and the roll axis zero-position joint angle when the pan/tilt head is in the zero position are not 0 degree, and when the pan/tilt head is calibrated in the zero position for the first time, the first preset threshold is the pitch axis zero-position joint angle, and the second preset threshold is the roll axis zero-position joint angle; that is, the first offset is the pitch axis zero position joint angle when the pan/tilt head is at the zero position before the current pitch axis joint angle-pan/tilt head is not zero-position calibrated, and the second offset is the roll axis zero position joint angle when the pan/tilt head is at the zero position before the current roll axis joint angle-pan/tilt head is not zero-position calibrated.
In addition, if the cradle head is not subjected to zero calibration for the first time, the first preset threshold value is the pitch axis zero position joint angle of the cradle head determined by the last zero calibration of the cradle head, and the second preset threshold value is the roll axis zero position joint angle of the cradle head determined by the last zero calibration of the cradle head; that is, the first offset is the current pitch axis joint angle — the pitch axis zero position joint angle of the pan/tilt head determined by the pan/tilt head performing zero position calibration the last time, and the second offset is the current roll axis joint angle — the roll axis zero position joint angle of the pan/tilt head determined by the pan/tilt head performing zero position calibration the last time.
S303: if the first offset meets the preset zero offset condition, determining the offset of the pitch axis joint angle of the holder according to the first offset, and/or if the second offset meets the preset zero offset condition, determining the offset of the roll axis joint angle of the holder according to the second offset.
The first offset meets a preset zero offset condition, which indicates that the pitch axis joint angle of the holder has zero offset and needs zero compensation; the second offset meets a preset zero offset condition, which indicates that the roll shaft joint angle of the holder has zero offset and needs zero compensation.
The null offset condition may be set as desired, for example, in some embodiments, the first offset satisfying the preset null offset condition may include: the absolute value of the first offset amount is greater than a preset first offset threshold. Taking non-first zero position calibration of the pan/tilt head as an example, if | the current pitch axis joint angle-the pitch axis zero position joint angle | of the pan/tilt head determined by the last zero position calibration of the pan/tilt head > a first offset threshold, it is determined that a zero position deviation exists in the pitch axis joint angle of the pan/tilt head; that is, when the current pitch axis joint angle-the pitch axis zero position joint angle of the pan/tilt head determined by the pan/tilt head last zero position calibration > the first offset threshold, or the current pitch axis joint angle-the pitch axis zero position joint angle of the pan/tilt head determined by the pan/tilt head last zero position calibration < the opposite number of the first offset threshold, it is determined that the pitch axis joint angle of the pan/tilt head has the zero position deviation. In some embodiments, the first offset satisfying the preset null offset condition may include: the absolute value of the first offset amount is greater than or equal to a preset first offset threshold value.
In some embodiments, the second offset satisfying the preset null offset condition may include: the absolute value of the second offset amount is greater than a preset second offset threshold. Similarly, taking the non-first zero position calibration of the pan/tilt head as an example, if | the current cross roller joint angle-the cross roller zero position joint angle | of the pan/tilt head determined by the last zero position calibration of the pan/tilt head > a second offset threshold, it is determined that the cross roller joint angle of the pan/tilt head has zero position deviation; that is, when the current roll axis joint angle-the roll axis zero position joint angle of the pan/tilt head determined by the last zero position calibration of the pan/tilt head > the second offset threshold, or the current roll axis joint angle-the roll axis zero position joint angle of the pan/tilt head determined by the last zero position calibration of the pan/tilt head < the opposite number of the second offset threshold, it is determined that the roll axis joint angle of the pan/tilt head has the zero position deviation. In some embodiments, the second offset satisfying the preset null offset condition may include: the absolute value of the second offset amount is greater than or equal to a preset second offset threshold.
The first offset threshold and the second offset threshold can be set according to needs. Further, the first offset threshold and the second offset threshold may be equal in magnitude or may not be equal in magnitude. For example, in one embodiment, the first offset threshold is 0.5 degrees.
When determining the offset of the pitch axis joint angle of the pan/tilt head according to the first offset, optionally, in some embodiments, the first offset is set as the offset of the pitch axis joint angle of the pan/tilt head, that is, the offset of the pitch axis joint angle of the pan/tilt head is equal to the first offset; in some embodiments, the offset of the pitch axis joint angle of the pan/tilt head is determined according to the first offset and a first preset empirical value, for example, the offset of the pitch axis joint angle of the pan/tilt head is the first offset and the first preset empirical value; it is understood that the implementation manner of determining the offset of the pitch axis joint angle of the pan/tilt head according to the first offset is not limited to the two manners listed above, and other manners may also be adopted.
When determining the offset of the roll axis joint angle of the pan/tilt head according to the second offset, optionally, in some embodiments, the second offset is set as the offset of the roll axis joint angle of the pan/tilt head, that is, the offset of the roll axis joint angle of the pan/tilt head is equal to the second offset; in some embodiments, the offset of the roll axis joint angle of the pan/tilt head is determined according to the second offset and a second preset empirical value, for example, the offset of the roll axis joint angle of the pan/tilt head is the second offset and the second preset empirical value; it is understood that, according to the second offset, the implementation manner of determining the offset of the roll axis joint angle of the pan/tilt head is not limited to the two manners listed above, and other manners may also be adopted.
In some embodiments, the first offset is set to the offset of the pitch axis joint angle of the pan and tilt head, and the second offset is set to the offset of the roll axis joint angle of the pan and tilt head.
S203: and determining the pitch axis zero position joint angle and/or the roll axis zero position joint angle of the holder according to the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder.
Optionally, determining a zero-position joint angle of the pitch axis of the holder according to the offset of the joint angle of the pitch axis of the holder; optionally, determining a zero joint angle of a roll shaft of the pan/tilt head according to the offset of the joint angle of the roll shaft of the pan/tilt head; optionally, the zero-position joint angle of the pitch axis of the pan/tilt head is determined according to the offset of the joint angle of the pitch axis of the pan/tilt head, and the zero-position joint angle of the roll axis of the pan/tilt head is determined according to the offset of the joint angle of the roll axis of the pan/tilt head.
When the zero-position joint angle of the pitch axis of the holder is determined according to the offset of the joint angle of the pitch axis of the holder, optionally, in some embodiments, when the holder is powered on again, the joint angle of the pitch axis when the holder is powered on again is obtained; and determining the zero-position joint angle of the pitching axis of the holder according to the offset of the joint angle of the pitching axis of the holder and the joint angle of the pitching axis of the holder when the holder is electrified again. The determination method of the pitch axis joint angle when the cradle head is powered on again is the same as the determination method of the current pitch axis joint angle of the cradle head in S301, and is not described here again. Further optionally, the pitch axis zero position joint angle of the pan/tilt head is a difference between a pitch axis joint angle when the pan/tilt head is powered on again and an offset of the pitch axis joint angle of the pan/tilt head, that is, the pitch axis zero position joint angle of the pan/tilt head is a difference between the pitch axis joint angle when the pan/tilt head is powered on again and the offset of the pitch axis joint angle of the pan/tilt head. It is to be understood that the calculation method of the zero-position joint angle of the pitch axis of the pan/tilt head is not limited thereto, and may also be other calculation methods, for example, the zero-position joint angle of the pitch axis of the pan/tilt head is (the difference between the joint angle of the pitch axis when the pan/tilt head is powered up again) and the first experimental coefficient.
When determining the zero joint angle of the roll shaft of the holder according to the offset of the roll shaft joint angle of the holder, optionally, when the holder is powered on again, acquiring the roll shaft joint angle when the holder is powered on again; and determining the zero joint angle of the horizontal rolling shaft of the holder according to the offset of the joint angle of the horizontal rolling shaft and the joint angle of the horizontal rolling shaft of the holder when the holder is electrified again. The determination method of the roll axis joint angle when the cradle head is powered on again is the same as the determination method of the current roll axis joint angle of the cradle head in S301, and is not described here again. Further optionally, the zero-position joint angle of the horizontal rolling shaft of the pan/tilt head is a difference between the joint angle of the horizontal rolling shaft when the pan/tilt head is powered on again and an offset of the joint angle of the horizontal rolling shaft of the pan/tilt head, that is, the zero-position joint angle of the horizontal rolling shaft of the pan/tilt head is equal to the offset of the joint angle of the horizontal rolling shaft when the pan/tilt head is powered on again and the joint angle of the horizontal rolling shaft of the pan/tilt head. It is to be understood that the calculation method of the zero joint angle of the roll axis of the pan/tilt head is not limited thereto, and may be other calculation methods, for example, the zero joint angle of the roll axis of the pan/tilt head is (the offset of the joint angle of the roll axis when the pan/tilt head is powered up again) × the second empirical coefficient.
The zero calibration method of the cloud deck of the embodiment of the invention determines the offset of the pitch axis joint angle and/or the roll axis joint angle of the cloud deck by using the accelerometer 5 on the cloud deck, and then calibrates the zero joint angle of the corresponding axis according to the offset, namely, the offset of the pitch axis joint angle and/or the roll axis joint angle of the cloud deck is estimated by using the earth gravity direction detected by the accelerometer 5, and the offset of the joint angle of the corresponding axis is compensated.
The embodiment of the present invention further provides a cradle head corresponding to the zero position calibration method of the cradle head in the above embodiment, and with reference to fig. 1 and 5, the cradle head may include a pitch shaft assembly 1, a roll shaft assembly 2, an accelerometer 5, and a processor 7. The pitching shaft assembly 1 is used for carrying a load and can rotate around the pitching shaft; the roll shaft assembly 2 can rotate around a roll shaft to drive the pitch shaft assembly 1 and the load to rotate around the roll shaft; the accelerometer 5 is used for detecting the attitude of the load; the processor 7 is electrically connected to the pitch shaft assembly 1, the roll shaft assembly 2 and the accelerometer 5, respectively, and the processor 7 of the present embodiment is electrically connected to the pitch shaft motor 12 and the roll shaft motor 22.
Specifically, the processor 7 is configured to perform the following: when the holder is in a specific state, acquiring the current posture of the holder based on the accelerometer 5; determining the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder according to the current posture of the holder; and determining the pitch axis zero position joint angle and/or the roll axis zero position joint angle of the holder according to the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder.
The processor 7 in the embodiment of the present invention may implement the method for calibrating a zero position of a holder according to the embodiment shown in fig. 1 and fig. 4 of the present invention, which may specifically refer to corresponding parts of the method for calibrating a zero position of a holder in the above embodiment, and details are not described here.
The processor 7 of the present embodiment may include one or more processors, and the one or more processors 7 are individually or collectively configured to implement the pan-tilt zero calibration method according to the embodiments of the present invention shown in fig. 1 and 4.
It should be understood that, in the embodiment of the present invention, the processor 7 may be a Central Processing Unit (CPU). The processor 7 may also be other general purpose processors, Digital Signal Processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor 7 may be any conventional processor or the like.
Further, the holder further comprises a yaw axis assembly 3, the yaw axis assembly 3 is electrically connected with the processor 7, and the yaw axis motor of the embodiment is electrically connected with the processor 7.
In addition, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the method for calibrating a zero position of a pan/tilt head described in the embodiment corresponding to fig. 1 of the present invention, and details thereof are not repeated herein.
The computer readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the cradle head according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the cradle head, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a flash memory Card (FlashCard), and the like, provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit and an external storage device of the pan/tilt head. The computer-readable storage medium is used for storing the computer program and other programs and data required by the head, and may also be used for temporarily storing data that has been output or is to be output.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (31)
1. A cloud terrace zero position calibration method, the said cloud terrace includes the accelerometer, is used for detecting the posture of the load carried on the said cloud terrace; characterized in that the method comprises:
when the holder is in a specific state, acquiring the current posture of the holder based on the accelerometer;
determining the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder according to the current posture of the holder;
and determining the pitch axis zero position joint angle and/or the roll axis zero position joint angle of the holder according to the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder.
2. The method according to claim 1, wherein said determining an offset of a pitch axis joint angle and/or a roll axis joint angle of said pan/tilt head according to a current attitude of said pan/tilt head comprises:
determining the current pitch axis joint angle and/or the current roll axis joint angle of the holder according to the current posture of the holder;
determining a first offset of the current pitch axis joint angle and a first preset threshold and/or a second offset of the current roll axis joint angle and a second preset threshold;
and if the first offset meets a preset zero offset condition, determining the offset of the pitch axis joint angle of the holder according to the first offset, and/or if the second offset meets the preset zero offset condition, determining the offset of the roll axis joint angle of the holder according to the second offset.
3. The method according to claim 2, wherein the first preset threshold and the second preset threshold are both 0 if the pan-tilt is at a first zero calibration.
4. The method according to claim 2, wherein if the pan/tilt head is not zero calibrated for the first time, the first predetermined threshold is the pitch axis zero joint angle of the pan/tilt head determined by the last zero calibration of the pan/tilt head, and the second predetermined threshold is the roll axis zero joint angle of the pan/tilt head determined by the last zero calibration of the pan/tilt head.
5. The method of claim 2, wherein the first offset satisfies a preset null offset condition, comprising: the absolute value of the first offset is greater than a preset first offset threshold.
6. The method of claim 2, wherein the second offset satisfies a preset null offset condition, comprising: the absolute value of the second offset is greater than a preset second offset threshold.
7. The method of claim 2, wherein said determining an offset for a pitch axis joint angle of said pan/tilt head from said first offset comprises:
setting the first offset as the offset of the pitch axis joint angle of the holder; and/or
And determining the offset of the roll axis joint angle of the holder according to the second offset, wherein the offset comprises the following steps:
and setting the second offset as the offset of the roll axis joint angle of the holder.
8. The method according to claim 2, wherein said determining a pitch axis null joint angle and/or a roll axis null joint angle of said pan/tilt head from an offset of a pitch axis joint angle and/or a roll axis joint angle of said pan/tilt head comprises:
when the cradle head is electrified again, acquiring a pitch axis joint angle and/or a roll axis joint angle when the cradle head is electrified again;
determining a pitch axis zero position joint angle of the holder according to the offset of the pitch axis joint angle of the holder and the pitch axis joint angle of the holder when the holder is powered on again; and/or
And determining the zero position joint angle of the roll shaft of the holder according to the offset of the roll shaft joint angle of the holder when the holder is electrified again and the roll shaft joint angle of the holder.
9. The method of claim 8, wherein the pan/tilt zero joint angle is the difference between the tilt joint angle when the pan/tilt is powered up again and the offset of the tilt joint angle.
10. The method of claim 8, wherein the zero roll joint angle of the pan/tilt head is a difference between a roll joint angle of the pan/tilt head when the pan/tilt head is powered up again and an offset of the roll joint angle of the pan/tilt head.
11. The method of claim 1, wherein the particular state comprises:
the holder is placed on a horizontal plane and is in a posture return mode.
12. The method of claim 11, wherein the particular state further comprises:
the holder is in a stationary state.
13. The method of claim 1, wherein after the pan/tilt head is in a particular state, before acquiring the current attitude of the pan/tilt head based on the accelerometer, the method further comprises:
and detecting a zero calibration trigger signal.
14. The method according to claim 13, wherein the zero calibration trigger signal is transmitted by an external device, or the zero calibration trigger signal is generated by a key of the pan/tilt head being triggered.
15. The method of claim 1, wherein the current attitude is a real-time attitude of the load, and wherein the obtaining the current attitude of the pan/tilt head based on the accelerometer comprises:
obtaining real-time gravitational acceleration components of the pan-tilt on a pitch axis and a roll axis based on the accelerometer;
and determining the current attitude angle of the corresponding axis according to the gravity acceleration component.
16. A head, characterized in that it comprises:
the pitching shaft assembly is used for carrying a load and can rotate around the pitching shaft;
the transverse rolling shaft assembly can rotate around the transverse rolling shaft and drives the pitching shaft assembly and the load to rotate around the transverse rolling shaft;
an accelerometer to detect a posture of the load; and
a processor electrically connected to the pitch shaft assembly, the roll shaft assembly, and the accelerometer, wherein the processor is configured to:
when the holder is in a specific state, acquiring the current posture of the holder based on the accelerometer;
determining the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder according to the current posture of the holder;
and determining the pitch axis zero position joint angle and/or the roll axis zero position joint angle of the holder according to the offset of the pitch axis joint angle and/or the roll axis joint angle of the holder.
17. A head according to claim 16, wherein said processor, when determining the offset of the pitch axis articulation angle and/or the roll axis articulation angle of said head from the current attitude of said head, is specifically configured to:
determining the current pitch axis joint angle and/or the current roll axis joint angle of the holder according to the current posture of the holder;
determining a first offset of the current pitch axis joint angle and a first preset threshold and/or a second offset of the current roll axis joint angle and a second preset threshold;
and if the first offset meets a preset zero offset condition, determining the offset of the pitch axis joint angle of the holder according to the first offset, and/or if the second offset meets the preset zero offset condition, determining the offset of the roll axis joint angle of the holder according to the second offset.
18. A head according to claim 17, wherein said first predetermined threshold value and said second predetermined threshold value are both 0, if said head is calibrated for a first zero position.
19. A head according to claim 17, wherein if said head is not subjected to a first zero calibration, said first predetermined threshold value is a zero joint angle of a pitch axis of said head determined by said head having performed a last zero calibration, and said second predetermined threshold value is a zero joint angle of a roll axis of said head determined by said head having performed a last zero calibration.
20. A head according to claim 17, wherein said first offset satisfies a preset null offset condition comprising: the absolute value of the first offset is greater than a preset first offset threshold.
21. A head according to claim 17, wherein said second offset satisfies a preset null offset condition comprising: the absolute value of the second offset is greater than a preset second offset threshold.
22. A head according to claim 17, wherein said processor, when determining, from said first offset, an offset of a pitch axis joint angle of said head, is configured in particular to:
setting the first offset as the offset of the pitch axis joint angle of the holder; and/or
When determining the offset of the roll axis joint angle of the holder according to the second offset, the processor is specifically configured to:
and setting the second offset as the offset of the roll axis joint angle of the holder.
23. A head according to claim 17, wherein said processor, when determining a pitch axis null joint angle and/or a roll axis null joint angle of said head from an offset of a pitch axis joint angle and/or a roll axis joint angle of said head, is configured to:
when the cradle head is electrified again, acquiring a pitch axis joint angle and/or a roll axis joint angle when the cradle head is electrified again;
determining a pitch axis zero position joint angle of the holder according to the offset of the pitch axis joint angle of the holder and the pitch axis joint angle of the holder when the holder is powered on again; and/or
And determining the zero position joint angle of the roll shaft of the holder according to the offset of the roll shaft joint angle of the holder when the holder is electrified again and the roll shaft joint angle of the holder.
24. A head according to claim 23, wherein said head null pitch axis articulation angle is the difference between the pitch axis articulation angle upon re-energisation of said head and the offset of said head pitch axis articulation angle.
25. A head according to claim 23, wherein said zero roll articulation angle of the head is the difference between the roll articulation angle of the head when it is powered up again and the offset of the roll articulation angle of the head.
26. A head according to claim 16, wherein said specific state comprises:
the holder is placed on a horizontal plane and is in a posture return mode.
27. A head according to claim 26, wherein said specific state further comprises:
the holder is in a stationary state.
28. A head according to claim 16, wherein said processor is further configured, after a head is in a particular state, to, before acquiring the current attitude of said head based on said accelerometer:
and detecting a zero calibration trigger signal.
29. A head according to claim 28, wherein said zero calibration trigger signal is transmitted by an external device or is generated by a key of said head being activated.
30. A holder according to claim 16, wherein said current attitude is a real-time attitude of said load, and said processor, when obtaining said current attitude of said holder based on said accelerometer, is specifically configured to:
obtaining real-time gravitational acceleration components of the pan-tilt on a pitch axis and a roll axis based on the accelerometer;
and determining the current attitude angle of the corresponding axis according to the gravity acceleration component.
31. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the pan-tilt zero calibration method according to any one of claims 1 to 15.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2019/088731 WO2020237493A1 (en) | 2019-05-28 | 2019-05-28 | Zero calibration method for gimbal and gimbal |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111684386A true CN111684386A (en) | 2020-09-18 |
Family
ID=72433303
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201980009600.5A Pending CN111684386A (en) | 2019-05-28 | 2019-05-28 | Cradle head zero calibration method and cradle head |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN111684386A (en) |
| WO (1) | WO2020237493A1 (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923894A (en) * | 2021-01-21 | 2021-06-08 | 西安因诺航空科技有限公司 | Mechanical angle automatic calibration method applied to holder |
| CN114485727A (en) * | 2022-01-04 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Precision self-detection method and device for strapdown inertial navigation system |
| CN114962958A (en) * | 2021-02-26 | 2022-08-30 | 智神信息(深圳)有限公司 | Hand-held cloud platform |
| WO2023035106A1 (en) * | 2021-09-07 | 2023-03-16 | 深圳市大疆创新科技有限公司 | Gimbal leveling method, gimbal control apparatus, gimbal and storage medium |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09243396A (en) * | 1996-03-04 | 1997-09-19 | Tech Res & Dev Inst Of Japan Def Agency | Inertial navigation system |
| CN104469292A (en) * | 2014-11-27 | 2015-03-25 | 国网上海市电力公司 | Control device and method for PTZ camera with altitude self-calibration function |
| CN106569512A (en) * | 2016-11-04 | 2017-04-19 | 极翼机器人(上海)有限公司 | Holder calibration method |
| CN108496137A (en) * | 2017-04-21 | 2018-09-04 | 深圳市大疆灵眸科技有限公司 | Remote controler, holder and cloud platform control method, device, system |
| CN108778932A (en) * | 2017-12-29 | 2018-11-09 | 深圳市大疆创新科技有限公司 | The method and apparatus of control holder reset, holder, unmanned vehicle |
| CN108873946A (en) * | 2018-06-04 | 2018-11-23 | 浙江大华技术股份有限公司 | A kind of positioning mechanism of holder, localization method, positioning system and video camera |
| CN109074103A (en) * | 2017-12-23 | 2018-12-21 | 深圳市大疆创新科技有限公司 | A kind of holder calibration method and tripod head equipment |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5569681B2 (en) * | 2010-04-23 | 2014-08-13 | 国立大学法人 東京大学 | POSITION ESTIMATION DEVICE AND POSITION ESTIMATION METHOD OF MOBILE BODY USING INDUCTION SENSOR, MAGNETIC SENSOR AND SPEED METER |
| CN103659806B (en) * | 2012-09-06 | 2016-05-25 | 沈阳新松机器人自动化股份有限公司 | A kind of industrial robot zero-position scaling method |
| US10132932B1 (en) * | 2015-06-25 | 2018-11-20 | Horizon Hobby, LLC | Geo-fencing systems and methods for aerial vehicles |
| WO2019000239A1 (en) * | 2017-06-27 | 2019-01-03 | 深圳市大疆灵眸科技有限公司 | Handheld pan-tilt device, control method therefor and computer readable storage medium |
| CN107463187A (en) * | 2017-09-21 | 2017-12-12 | 桂林师范高等专科学校 | Head stability augmentation system |
-
2019
- 2019-05-28 WO PCT/CN2019/088731 patent/WO2020237493A1/en active Application Filing
- 2019-05-28 CN CN201980009600.5A patent/CN111684386A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09243396A (en) * | 1996-03-04 | 1997-09-19 | Tech Res & Dev Inst Of Japan Def Agency | Inertial navigation system |
| CN104469292A (en) * | 2014-11-27 | 2015-03-25 | 国网上海市电力公司 | Control device and method for PTZ camera with altitude self-calibration function |
| CN106569512A (en) * | 2016-11-04 | 2017-04-19 | 极翼机器人(上海)有限公司 | Holder calibration method |
| CN108496137A (en) * | 2017-04-21 | 2018-09-04 | 深圳市大疆灵眸科技有限公司 | Remote controler, holder and cloud platform control method, device, system |
| CN109074103A (en) * | 2017-12-23 | 2018-12-21 | 深圳市大疆创新科技有限公司 | A kind of holder calibration method and tripod head equipment |
| CN108778932A (en) * | 2017-12-29 | 2018-11-09 | 深圳市大疆创新科技有限公司 | The method and apparatus of control holder reset, holder, unmanned vehicle |
| CN108873946A (en) * | 2018-06-04 | 2018-11-23 | 浙江大华技术股份有限公司 | A kind of positioning mechanism of holder, localization method, positioning system and video camera |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112923894A (en) * | 2021-01-21 | 2021-06-08 | 西安因诺航空科技有限公司 | Mechanical angle automatic calibration method applied to holder |
| CN114962958A (en) * | 2021-02-26 | 2022-08-30 | 智神信息(深圳)有限公司 | Hand-held cloud platform |
| CN114962958B (en) * | 2021-02-26 | 2024-04-09 | 智神信息(深圳)有限公司 | Handheld cradle head |
| WO2023035106A1 (en) * | 2021-09-07 | 2023-03-16 | 深圳市大疆创新科技有限公司 | Gimbal leveling method, gimbal control apparatus, gimbal and storage medium |
| CN114485727A (en) * | 2022-01-04 | 2022-05-13 | 中国煤炭科工集团太原研究院有限公司 | Precision self-detection method and device for strapdown inertial navigation system |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2020237493A1 (en) | 2020-12-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111684386A (en) | Cradle head zero calibration method and cradle head | |
| CN108184061B (en) | Tracking control method and device for handheld cloud deck, handheld cloud deck and storage medium | |
| CN109196266B (en) | Control method of holder, holder controller and holder | |
| CN108521814B (en) | Control method and controller of cloud deck and cloud deck | |
| US20200332944A1 (en) | Control method for non-orthogonal gimbal, gimbal thereof, and storage device | |
| CN108521777B (en) | Control method of cradle head, cradle head and unmanned aerial vehicle | |
| CN111316029B (en) | Cloud deck gravity center balancing method, cloud deck and client | |
| CN110337560B (en) | Control method of holder, shooting device and readable storage medium | |
| CN111213002A (en) | Cloud deck control method, equipment, cloud deck, system and storage medium | |
| CN112334855A (en) | Method and device for calibrating holder system, holder system and computer readable medium | |
| CN110832423A (en) | Control method of holder, mobile platform and computer readable storage medium | |
| CN110869283A (en) | Control method and device of cloud deck, cloud deck system and unmanned aerial vehicle | |
| WO2020019260A1 (en) | Calibration method for magnetic sensor, control terminal and movable platform | |
| US20220163166A1 (en) | Handheld gimbal, gimbal control method and computer-readable storage medium | |
| CN110770671A (en) | Cloud platform, control method thereof and movable platform | |
| CN110770669A (en) | Target position marking method of holder, holder and shooting device | |
| CN109844394A (en) | A kind of control method and holder of holder | |
| US20210107146A1 (en) | Gimbal control method and gimbal | |
| CN110831860A (en) | Control method of holder, aircraft and computer-readable storage medium | |
| CN112544065A (en) | Cloud deck control method and cloud deck | |
| CN106931965B (en) | Method and device for determining terminal posture | |
| CN108279708B (en) | Automatic cradle head calibration method and device and cradle head | |
| WO2022205207A1 (en) | Gimbal, and configuration recognition method and apparatus therefor | |
| WO2021016855A1 (en) | Handheld gimbal control method and device, handheld gimbal, and storage medium | |
| CN113424126A (en) | Cloud deck control method and cloud deck |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20200918 |