CN112135124A - Method, device and system for calibrating and detecting position of holder - Google Patents
Method, device and system for calibrating and detecting position of holder Download PDFInfo
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- H—ELECTRICITY
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C25/00—Manufacturing, calibrating, cleaning, or repairing instruments or devices referred to in the other groups of this subclass
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Abstract
The invention provides a method and a device for calibrating and detecting the position of a holder, wherein the method comprises the following steps: acquiring first angle rotation information of the holder in a holder coordinate system according to step counting data of a motor for driving the holder to rotate; acquiring second inertia measurement data from an inertia measurement unit, wherein the inertia measurement unit is arranged on the holder; acquiring second angle rotation information of the holder in an attitude coordinate system according to the second inertial measurement data, wherein the attitude coordinate system is initialized according to first inertial measurement data acquired from the inertial measurement unit when the holder is at a reference zero position of the holder coordinate system; calculating a rotation angle deviation amount according to the first angle rotation information and the second angle rotation information; and detecting whether the holder is in a state to be calibrated or not according to the deviation value of the rotation angle. The method and the device provided by the invention realize the calibration and detection of the position of the holder, so that the cost is reduced, and the detection precision and flexibility are improved.
Description
Technical Field
The invention relates to the field of holder control, in particular to a method, a device and a system for detecting holder position calibration.
Background
With the continuous development of the security industry, video surveillance cameras based on a holder system are more and more widely applied. At present, most of holders comprise two degrees of freedom, namely horizontal degree and vertical degree of freedom, the holders are driven in an open-loop control mode based on a motor, and the absolute position of a holder coordinate system is determined according to the position of a zero switch during power-on.
However, due to aging of the transmission structure, resistance caused by shaking of the hanging rod of the camera or interference of human factors, and the like, the actual rotation resistance of the cradle head may exceed the load capacity of the motor to cause the loss of the cradle head, and the loss of the step cannot be detected on the control system level due to the open-loop control characteristic of the motor, so that the actual position of the cradle head is inconsistent with the calculated position of the control system, and the cradle head cannot be accurately positioned to the target position.
Aiming at the problems, currently, two solutions are mainly used in the industry to realize the loss of step recovery of the holder:
1) the coordinate system is recalibrated once at the position where the cradle head rotates through the zero switch every time, and the defects of the scheme are that the rotating path of the cradle head must pass through the zero switch, the rotating direction and the coordinate establishing direction must be consistent, and the flexibility is lacked. Meanwhile, due to the delay of the jump of the zero switch signal, the precision of the scheme is reduced along with the increase of the rotating speed of the holder;
2) the tail part of the transmission shaft is additionally provided with a position sensor to acquire the angle information of the holder in real time, and the scheme has the defects of higher cost, particularly high price of a photoelectric encoder. Secondly, the size of the position sensor is relatively large, the axial structure size of the camera can be correspondingly increased, and therefore the position sensor is difficult to install on a small-sized pan-tilt, low in universality and not beneficial to popularization and use.
Therefore, how to realize the calibration and detection of the position of the holder so as to reduce the cost and improve the detection precision and flexibility is a technical problem to be solved urgently by technical personnel in the field.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides a method, a device and a system for calibrating and detecting the position of a holder, so that the calibration and detection of the position of the holder are realized, the cost is reduced, and the detection precision and flexibility are improved.
According to an aspect of the present invention, there is provided a method for detecting a pan/tilt calibration, comprising:
acquiring first angle rotation information of the holder in a holder coordinate system according to step counting data of a motor for driving the holder to rotate;
acquiring second inertia measurement data from an inertia measurement unit, wherein the inertia measurement unit is arranged on the holder;
acquiring second angle rotation information of the holder in an attitude coordinate system according to the second inertial measurement data, wherein the attitude coordinate system is initialized according to first inertial measurement data acquired from the inertial measurement unit when the holder is at a reference zero position of the holder coordinate system;
calculating a rotation angle deviation amount according to the first angle rotation information and the second angle rotation information;
and detecting whether the holder is in a state to be calibrated or not according to the deviation value of the rotation angle.
In some embodiments of the invention, said obtaining second inertial measurement data from said inertial measurement unit comprises:
acquiring second inertia measurement data from the inertia measurement unit according to a set period, wherein the set period is more than or equal to the sampling period of the inertia measurement unit,
wherein the second angular rotation information is updated based on at least second inertial measurement data acquired each cycle.
In some embodiments of the present invention, the inertial measurement unit includes at least an angular velocity sensor and an acceleration sensor, the second inertial measurement data includes at least angular velocity information and acceleration information, and the obtaining second angular rotation information of the pan/tilt head in the attitude coordinate system according to the second inertial measurement data includes:
calculating first quasi-angle rotation information according to the components of the acceleration information acquired in the current period on all axes of the attitude coordinate system;
acquiring angle increment according to the angular speed information;
adding second angle rotation information acquired in the previous period to the angle increment to acquire second quasi angle rotation information;
and calculating second angle rotation information of the current period according to the first angle rotation information and the second angle rotation information.
In some embodiments of the present invention, the calculating the second angular rotation information of the current cycle according to the first quasi angular rotation information and the second quasi angular rotation information includes:
and performing complementary filtering according to the first quasi-angle rotation information and the second quasi-angle rotation information to obtain second angle rotation information of the current period.
In some embodiments of the present invention, the detecting whether the pan/tilt head is in a state to be calibrated according to the deviation amount of the rotation angle includes:
judging whether the deviation amount of the rotation angle is larger than a preset angle deviation amount or not;
if yes, judging that the holder is in the state to be calibrated;
if not, judging that the holder is not in the state to be calibrated.
In some embodiments of the present invention, if it is detected that the pan/tilt head is in a state to be calibrated according to the deviation amount of the rotation angle, then:
setting the current coordinate position of the holder in the holder coordinate system according to the second angle rotation information;
and driving the holder to rotate to the coordinate position indicated by the first angle rotation information in the holder coordinate system.
In some embodiments of the invention, the head position calibration detection method is only performed in a stationary state of the head.
According to another aspect of the present invention, there is also provided a pan/tilt head position calibration detection apparatus, including:
the first acquisition module is configured to acquire first angle rotation information of the holder in a holder coordinate system according to step counting data of a motor for driving the holder to rotate;
a second obtaining module configured to obtain second inertial measurement data from an inertial measurement unit disposed on the pan/tilt head;
a third obtaining module configured to obtain second angular rotation information of the pan/tilt head in an attitude coordinate system according to the second inertial measurement data, wherein the attitude coordinate system is initialized according to the first inertial measurement data obtained from the inertial measurement unit when the pan/tilt head is at a reference zero position of the pan/tilt head coordinate system;
a first calculation module configured to calculate a rotational angle deviation amount according to the first angle rotation information and the second angle rotation information;
and the detection module is configured to detect whether the holder is in a state to be calibrated according to the deviation amount of the rotation angle.
According to another aspect of the present invention, a pan/tilt head position calibration detection system includes:
a holder;
a motor configured to drive the holder to rotate;
the inertia measurement unit is arranged on the holder;
the holder position calibration detection device is in communication connection with the motor and the inertial measurement unit.
In some embodiments of the invention, the inertial measurement unit is parallel to the head or at least one side of a video acquisition module to which the head is connected.
According to still another aspect of the present invention, there is also provided an electronic apparatus, including: a processor; a storage medium having stored thereon a computer program which, when executed by the processor, performs the steps as described above.
According to yet another aspect of the present invention, there is also provided a storage medium having stored thereon a computer program which, when executed by a processor, performs the steps as described above.
Therefore, compared with the prior art, the scheme provided by the invention has the following advantages:
1) an attitude coordinate system is initialized by an inertia measurement unit, so that the angle change condition of the holder in the attitude coordinate system is monitored in real time according to inertia measurement data collected by the inertia measurement unit, and meanwhile, the step counting data of a motor obtains the angle change condition in the holder coordinate system of the holder, so that the rotation angle deviation of the holder can be obtained according to the angle change condition in the attitude coordinate system and the angle change condition in the holder coordinate system, and the position calibration and detection of the holder are realized;
2) compared with a zero-position switch calibration-based mode, the method has the advantages that the step-out condition can be monitored in any stroke range of the holder;
3) compared with the mode of additionally installing the position encoder, the invention can realize the position calibration detection of the holder only by using the inertia measurement element, can not change the structural form and the size of the holder while saving the cost, and is more beneficial to the practical popularization and application.
Drawings
The above and other features and advantages of the present invention will become more apparent by describing in detail exemplary embodiments thereof with reference to the attached drawings.
Fig. 1 shows a schematic diagram of a pan-tilt-position-calibration detection system according to an embodiment of the present invention.
Fig. 2 shows a schematic view of an inertial measurement unit mounted on a pan/tilt head according to an embodiment of the invention.
Fig. 3 shows a flow chart of a pan-tilt-position calibration detection method according to an embodiment of the present invention.
FIG. 4 shows a schematic diagram of initializing a pose coordinate system, according to an embodiment of the invention.
Fig. 5 shows a flowchart for calculating second angular rotation information according to an embodiment of the present invention.
Fig. 6 is a block diagram illustrating a pan/tilt/zoom calibration detecting apparatus according to an embodiment of the present invention.
Fig. 7 schematically illustrates a computer-readable storage medium in an exemplary embodiment of the disclosure.
Fig. 8 schematically illustrates an electronic device in an exemplary embodiment of the disclosure.
Detailed Description
Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many different forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the concept of example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.
Furthermore, the drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus their repetitive description will be omitted. Some of the block diagrams shown in the figures are functional entities and do not necessarily correspond to physically or logically separate entities. These functional entities may be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and/or processor devices and/or microcontroller devices.
The flow charts shown in the drawings are merely illustrative and do not necessarily include all of the steps. For example, some steps may be decomposed, and some steps may be combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
In order to overcome the defects in the prior art, the invention provides a method, a device and a system for calibrating and detecting the position of a holder, so that the calibration and detection of the position of the holder are realized, the cost is reduced, and the detection precision and flexibility are improved.
Referring first to fig. 1 and 2, fig. 1 shows a schematic diagram of a pan-tilt-position-calibration detection system according to an embodiment of the present invention. Fig. 2 shows a schematic view of an inertial measurement unit mounted on a pan/tilt head according to an embodiment of the invention.
The system for calibrating and detecting the position of the holder comprises the holder 100, a motor 106, an inertia measurement unit 102 and a holder position calibration and detection device 101.
Specifically, the motor 106 is used for driving the cradle head 100 to rotate. In this embodiment, the pan/tilt/head position calibration detection system further includes a motor driving circuit 105 for controlling the motor 106. The motor driving circuit 105 may be an integrated circuit of a DMOS (diffused Metal Oxide semiconductor) full bridge driving chip, such as a3988, a5988, and the like, which is not limited thereto. The motor 106 may be, for example, a stepper motor.
The pan/tilt calibration detecting device 101 is configured to obtain inertial measurement data of the inertial measurement unit 102, calculate pan/tilt attitude information, process motor control logic, and drive the motor driving circuit 105 to execute corresponding control actions. The holder position calibration and detection device 101 may be implemented by an MCU (MicroControllerUnit) or an SOC (system on chip). The cradle head position calibration detecting device 101 may perform the steps shown in fig. 3, and the module structure of the cradle head position calibration detecting device 101 may refer to fig. 6, which is not described herein again.
The inertial measurement unit 102 may include an angular velocity sensor 103 and an acceleration sensor 104 for measuring angular velocities of horizontal and vertical pan/tilt heads and linear acceleration information of corresponding axes. Specifically, the inertial measurement unit 102 may transmit the inertial measurement data to the pan/tilt/head position calibration detecting device 101 by using SPI (Serial Peripheral Interface), I2C (Inter-Integrated Circuit), ADC (analog to digital converter) sampling, and the like. Alternative inertial measurement device models may include MPU6050, ICM20690, and the like, although the invention is not so limited.
The inertia measurement unit 102 is generally installed in a camera core (the camera core is connected to the pan-tilt as a video acquisition module and rotates along with the pan-tilt), so that the inertia measurement unit 102 can sense the rotating speed of the pan-tilt and the acceleration of the core when the pan-tilt drives the core to rotate horizontally and vertically. The plane of the inertia measurement unit 102 may be in the plane of the rectangular structure of the camera movementOne less surface is parallel, so that it can be ensured that the two rotation axes of the measurement unit 102 can be parallel to the horizontal rotation axis P and the vertical rotation axis T of the pan/tilt head 100, respectively, and thus the measurement result is consistent with the actual rotation size of the pan/tilt head. In some variations, the inertial measurement unit 102 may also be mounted directly within the head 100, parallel to at least one of the faces of the rectangular parallelepiped of the head. The structure of the camera movement and the structure of the pan-tilt are not limited to a rectangular parallelepiped. Wherein, the rotation range of the pan/tilt head 100 around the horizontal rotation axis P is PA, and the rotation angle is ωp(ii) a The rotational range of the pan/tilt head 100 around the vertical rotational axis T is TA, and the rotational angle is ωt. The rotation axis parallel to the horizontal rotation axis P of the pan/tilt head may be set as a roll axis y, and the rotation axis parallel to the vertical rotation axis T of the pan/tilt head may be set as a pitch axis x. Wherein z is the yaw axis. In other words, as shown in fig. 2, the pan head horizontal rotation axis P and the pan head vertical rotation axis T form a pan head coordinate system; the roll axis y and the pitch axis x form a pose coordinate system.
The following describes the method for detecting the calibration of the pan/tilt head position according to the present invention with reference to fig. 3. Fig. 3 shows the following steps in total:
step S110: and acquiring first angle rotation information of the holder in a holder coordinate system according to step counting data of a motor for driving the holder to rotate.
Step S120: second inertial measurement data is acquired from the inertial measurement unit.
Specifically, the inertial measurement unit includes at least an angular velocity sensor and an acceleration sensor, and the second inertial measurement data includes at least corresponding angular velocity information and acceleration information.
Step S130: and acquiring second angle rotation information of the holder in an attitude coordinate system according to the second inertia measurement data.
Step S140: and calculating the deviation amount of the rotation angle according to the first angle rotation information and the second angle rotation information.
Step S150: and detecting whether the holder is in a state to be calibrated or not according to the deviation value of the rotation angle.
Specifically, before step S110, a step of initializing the posture coordinate system is further included. The initialization step comprises the step of initializing according to first inertia measurement data acquired from the inertia measurement unit when the attitude coordinate system is in a reference zero position of the cloud deck coordinate system.
Specifically, the pan/tilt head may confirm that the pan/tilt head is at a horizontal and vertical reference zero position in the pan/tilt coordinate system according to the zero switch (specifically, in some embodiments, the pan/tilt coordinate system may be constructed based on the reference zero position). And when the cloud platform is determined to be positioned at the reference zero position of the cloud platform coordinate system, acquiring triaxial acceleration data of a pitching shaft, a rolling shaft and a yawing shaft from an acceleration sensor of the inertia measurement unit. According to the data of the triaxial acceleration sensor, initializing an attitude coordinate system by taking a gravity acceleration direction vector as a reference, namely obtaining an initial Euler angle of the pan-tilt camera: pitch angle, roll angle and yaw angle, wherein pitch angle is used for instructing the angle change condition of perpendicular cloud platform, and roll angle is used for instructing the angle change condition of horizontal cloud platform, because the cloud platform has two degrees of freedom only, consequently can need not to use the yaw angle. Recording initial attitude information: initial pitch angle θ0And initial roll angle gamma0And the method is used for subsequent posture updating and position recovery judgment.
In some implementations, the steps described above can be implemented as follows: obtaining the triaxial acceleration of the inertia measurement unit as (alpha)x，αy，αz). If the position relationship of the current attitude coordinate system O-XYZ (X corresponds to the roll axis, Y corresponds to the pitch axis, and Z corresponds to the yaw axis) with respect to the gravitational acceleration vector G is as shown in fig. 4, the method of aligning the Z-axis direction with the G-gravitational acceleration direction is: firstly rotating ZOC around the positive direction of the Y axis to enable the Z axis to coincide with the OC vector, then rotating COB around a new X' axis in the reverse direction to enable the Z axis to coincide with G, and then obtaining the roll angle gamma of the initial coordinate system of the holder through the transformation step0And a pitch angle theta0Size:
wherein, theta0∈[-π/2，π/2]To make theta0Mapping to the range of 0-360 degrees, mapping the data of the X axis and the Z axis to OC vectors, and then judging the positive and negative relations of the data on the OC axis and the Y axis to determine theta0Mapping to 0-360 DEG, and judging the logic as:
at the same time, gamma0∈[-π，π]In order to compare the result with the holder angle, the roll angle can be further converted: gamma ray0＝γ0+ π, at this time θ0∈[0，2π]，γ0∈[0，2π]And recording and storing the initial attitude angle.
In the method for calibrating and detecting the position of the holder, the inertia measurement unit is utilized to initialize the attitude coordinate system, so that the angle change condition of the holder in the attitude coordinate system is monitored in real time according to the inertia measurement data collected by the inertia measurement unit, and meanwhile, the step counting data of the motor obtains the angle change condition in the holder coordinate system of the holder, so that the rotation angle deviation of the holder can be obtained according to the angle change condition in the attitude coordinate system and the angle change condition in the holder coordinate system, and the position calibration and detection of the holder are realized; compared with a zero-position switch calibration-based mode, the method has the advantages that the step-out condition can be monitored in any stroke range of the holder; compared with the mode of additionally installing the position encoder, the invention can realize the position calibration detection of the holder only by using the inertia measurement element, can not change the structural form and the size of the holder while saving the cost, and is more beneficial to the practical popularization and application.
Specifically, step S110 may be executed after step S130, or after step S120, and step S110 may also be executed in synchronization with step S120 or step S130, and the step execution sequence of the present invention is not limited thereto.
In some embodiments of the present invention, step S130 may include the steps of: and acquiring second inertia measurement data from the inertia measurement unit according to a set period, wherein the set period is greater than or equal to the sampling period of the inertia measurement unit, and the second angle rotation information is updated at least based on the second inertia measurement data acquired in each period.
Specifically, the update of the second angular rotation information may be realized by a timer. The timer period may be selected to be greater than or equal to the data sampling period of the inertial measurement unit. For example, 2 to 5 times of the sampling period of the inertial measurement unit may be selected, and the timer period may be set to T.
Specifically, in each period, the three-axis angular velocity can be obtained from the inertial measurement unit by means of SPI, I2C, ADC sampling, and the like
And acceleration data
In some embodiments, the acceleration data may be directly utilized to calculate the second angular rotation information of the current cycle:
at this time of't∈(-π/2，π/2)，γ′tE (- π, π), will be θ't、γ′tRemapping to [0, 2 π]Method of range and roll angle gamma0And a pitch angle theta0The same is true.
However, because the acceleration sensor has instantaneous errors, the computing method defaults that the holder is only influenced by the gravity acceleration, and errors exist in the result when external acceleration interference exists. Therefore, another embodiment may be adopted in which the angular velocity data obtained by the angular velocity sensor is integrated to obtain an angular increment, and the increment is superimposed on the previous second angular rotation information to obtain new second angular rotation information:
wherein the pitch angle and the roll angle of the tripod head obtained by the periodic resolution of the last timer are thetat-1、γt-1If the current period is the first period of the timer starting, then the obtained theta is initialized0And gamma0Is thetat-1、γt-1. T is the timer period.
However, this superposition calculation may cause the calculation angle to exceed 2 π, and therefore the calculation result needs to be determined: when theta ″')tWhen greater than 2 pi, theta ″)t＝θ″t-2 pi; when gamma ″'tWhen greater than 2 pi, gamma ″)t＝γ″t-2 π. However, the gyroscope has an accumulated error after integration, and the accumulated error is larger and larger as the integration time increases.
Therefore, in a preferred embodiment of the present invention, the updating of the second angular rotation information can be realized by the steps shown in fig. 5:
step S131: calculating first quasi-angle rotation information (such as theta 'obtained by the first calculation method) according to the components of the acceleration information acquired in the current period on each axis of the attitude coordinate system't、γ′t)。
Step S132: and acquiring angle increment according to the angular speed information.
Step S133: adding the second angular rotation information obtained from the previous period to the angular increment to obtain second quasi angular rotation information (e.g. θ ″' obtained by the second calculation methodt、γ″t)。
Step S134: and calculating second angle rotation information of the current period according to the first angle rotation information and the second angle rotation information.
For example, complementary filtering may be performed according to the first quasi-angle rotation information and the second quasi-angle rotation information, so as to obtain second angle rotation information of the current period.
The complementary filter coefficient of the pitch angle can be set to be K1, and the complementary filter coefficient of the roll angle can be set to be K2, wherein K1, K2 epsilon [ deg. ] ] [0，1]The specific numerical values of K1 and K2 can be determined by debugging tests. Second angular rotation information θt，γtCan be calculated according to the following formula:
the present invention is not limited thereto, and other combinations of the first quasi-angular rotation information and the second quasi-angular rotation information are also within the scope of the present invention.
In some embodiments of the invention, the head position calibration detection method is only performed in a stationary state of the head. Therefore, extra deviation amount caused by the posture updating delay in the moving process of the holder can be prevented.
In some embodiments of the present invention, the step S150 of detecting whether the pan/tilt head is in the state to be calibrated according to the deviation amount of the rotation angle may include the following steps: judging whether the deviation amount of the rotation angle is larger than a preset angle deviation amount or not; if yes, judging that the holder is in the state to be calibrated; if not, judging that the holder is not in the state to be calibrated. The preset angle deviation amount may be, for example, the maximum easy deviation amount of the system, and may be adjusted according to different systems and use links.
Specifically, the first angular rotation information includes horizontal and vertical rotation angle coordinates γ in the pan-tilt coordinate systemptz、θptzWherein γ isptz∈[0，2π]，θptz∈[0，π]Then the deviation of the rotation angle Delta thetat，ΔγtCalculated according to the following formula:
because the attitude angle in the second angle rotation information and the horizontal rotation angle of the holder in the first angle rotation information may have the transition problem from 0 to 360 degrees, the relationship between the angle deviation amount and the 180 degrees can be judgedThe angle conversion is performed. Specifically, when | Δ θ |tWhen | is greater than π, let Δ θt＝Δθt*(|Δθt|-π)/|ΔθtL, |; similarly, when | Δ γtWhen | is greater than π, let Δ γt＝Δγt*(|Δγt|-π)/|Δγt|。
In some embodiments of the present invention, if it is detected that the pan/tilt head is in a state to be calibrated according to the deviation amount of the rotation angle, setting a current coordinate position of the pan/tilt head in the pan/tilt head coordinate system according to the second angle rotation information; and driving the holder to rotate to the coordinate position indicated by the first angle rotation information in the holder coordinate system.
In other words, if it is determined that the pan/tilt head is at the horizontal position and is in the state to be calibrated, the actual coordinate of the pan/tilt head at the horizontal position should be the current coordinate
The coordinate of the holder at the current horizontal position is set as
Then, the coordinates of the horizontal position of the target are determined as γptzPosition to drive the head to rotate to gamma according to the target horizontal positionptzThe indicated position. Similarly, if the cradle head is judged to be in the state of waiting to be calibrated at the vertical position, the actual coordinate of the cradle head at the vertical position should be
Setting the coordinate of the holder at the vertical position at present as
Determining the coordinate of the vertical position of the target as thetaptzPosition to drive the head to rotate to theta in accordance with the target vertical positionptzThe indicated position.
Therefore, the steps can be repeated, so that the state of the holder is monitored in real time, and corresponding recovery operation is carried out.
The above exemplary embodiments of the present invention are shown, the present invention is not limited thereto, and in each embodiment, the addition, the omission, and the sequence change of the steps are all within the protection scope of the present invention; the embodiments may be implemented individually or in combination.
The following describes the pan/tilt/zoom calibration detection apparatus 200 according to the present invention with reference to fig. 6. The device 200 for detecting the calibration of the pan/tilt/zoom position comprises a first acquiring module 210, a second acquiring module 220, a third acquiring module 230, a first calculating module 240 and a detecting module 250.
The first obtaining module 210 is configured to obtain first angle rotation information of the pan/tilt head in a pan/tilt head coordinate system according to step counting data of a motor driving the pan/tilt head to rotate.
The second obtaining module 220 is configured to obtain second inertial measurement data from an inertial measurement unit disposed on the pan/tilt head.
The third obtaining module 230 is configured to obtain, according to the second inertial measurement data, second angular rotation information of the pan/tilt head in an attitude coordinate system, wherein the attitude coordinate system is initialized according to the first inertial measurement data obtained from the inertial measurement unit when the pan/tilt head is at a reference zero position of the pan/tilt head coordinate system.
The first calculation module 240 is configured to calculate a rotational angle deviation amount according to the first angular rotation information and the second angular rotation information.
The detection module 250 is configured to detect whether the pan/tilt head is in a state to be calibrated according to the deviation amount of the rotation angle.
In the device for calibrating and detecting the position of the holder, the inertia measurement unit is utilized to initialize the attitude coordinate system so as to monitor the angle change condition of the holder in the attitude coordinate system in real time according to the inertia measurement data collected by the inertia measurement unit, and meanwhile, the step counting data of the motor obtains the angle change condition in the holder coordinate system of the holder, so that the angle change condition in the attitude coordinate system and the angle change condition in the holder coordinate system can obtain the deviation amount of the rotation angle of the holder, and the position calibration and detection of the holder are realized; compared with a zero-position switch calibration-based mode, the method has the advantages that the step-out condition can be monitored in any stroke range of the holder; compared with the mode of additionally installing the position encoder, the invention can realize the position calibration detection of the holder only by using the inertia measurement element, can not change the structural form and the size of the holder while saving the cost, and is more beneficial to the practical popularization and application.
The present invention may implement the device 200 for calibrating and detecting the position of the pan/tilt head by software, hardware, firmware, or any combination thereof. Fig. 6 is a schematic diagram of the pan/tilt/zoom calibration detecting apparatus 200 provided in the present invention, and the splitting, combining, and adding of modules are within the scope of the present invention without departing from the spirit of the present invention.
In an exemplary embodiment of the present disclosure, there is also provided a computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor for example, can implement the steps of the pan/tilt/head position calibration detection method in any one of the above embodiments. In some possible embodiments, aspects of the present invention may also be implemented in the form of a program product comprising program code means for causing a terminal device to carry out the steps according to various exemplary embodiments of the present invention described in the above-mentioned cradle head position calibration detection method section of the present specification, if said program product is run on the terminal device.
Referring to fig. 7, a program product 800 for implementing the above method according to an embodiment of the present invention is described, which may employ a portable compact disc read only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited in this regard and, in the present document, a readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
The computer readable storage medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable storage medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a readable storage medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the tenant computing device, partly on the tenant device, as a stand-alone software package, partly on the tenant computing device and partly on a remote computing device, or entirely on the remote computing device or server. In the case of remote computing devices, the remote computing devices may be connected to the tenant computing device through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computing device (e.g., through the internet using an internet service provider).
In an exemplary embodiment of the present disclosure, there is also provided an electronic device, which may include a processor, and a memory for storing executable instructions of the processor. Wherein the processor is configured to perform the steps of the pan-tilt-position-calibration detection method in any of the above embodiments via execution of the executable instructions.
As will be appreciated by one skilled in the art, aspects of the present invention may be embodied as a system, method or program product. Thus, various aspects of the invention may be embodied in the form of: an entirely hardware embodiment, an entirely software embodiment (including firmware, microcode, etc.) or an embodiment combining hardware and software aspects that may all generally be referred to herein as a "circuit," module "or" system.
An electronic device 600 according to this embodiment of the invention is described below with reference to fig. 8. The electronic device 600 shown in fig. 8 is only an example, and should not bring any limitation to the functions and the scope of use of the embodiments of the present invention.
As shown in fig. 8, the electronic device 600 is embodied in the form of a general purpose computing device. The components of the electronic device 600 may include, but are not limited to: at least one processing unit 610, at least one storage unit 620, a bus 630 that connects the various system components (including the storage unit 620 and the processing unit 610), a display unit 640, and the like.
Wherein the storage unit stores program code executable by the processing unit 610 to cause the processing unit 610 to perform steps according to various exemplary embodiments of the present invention described in the above-mentioned pan/tilt/position calibration detection method section of the present specification. For example, the processing unit 610 may perform the steps as shown in fig. 1 to 6.
The storage unit 620 may include readable media in the form of volatile memory units, such as a random access memory unit (RAM)6201 and/or a cache memory unit 6202, and may further include a read-only memory unit (ROM) 6203.
The memory unit 620 may also include a program/utility 6204 having a set (at least one) of program modules 6205, such program modules 6205 including, but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which, or some combination thereof, may comprise an implementation of a network environment.
The electronic device 600 may also communicate with one or more external devices 700 (e.g., keyboard, pointing device, bluetooth device, etc.), with one or more devices that enable a tenant to interact with the electronic device 600, and/or with any devices (e.g., router, modem, etc.) that enable the electronic device 600 to communicate with one or more other computing devices. Such communication may occur via an input/output (I/O) interface 650. Also, the electronic device 600 may communicate with one or more networks (e.g., a Local Area Network (LAN), a Wide Area Network (WAN), and/or a public network such as the Internet) via the network adapter 660. The network adapter 660 may communicate with other modules of the electronic device 600 via the bus 630. It should be appreciated that although not shown, other hardware and/or software modules may be used in conjunction with the electronic device 600, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems, among others.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, or a network device, etc.) to execute the above-mentioned pan-tilt position calibration detection method according to the embodiments of the present disclosure.
Therefore, compared with the prior art, the scheme provided by the invention has the following advantages:
1) an attitude coordinate system is initialized by an inertia measurement unit, so that the angle change condition of the holder in the attitude coordinate system is monitored in real time according to inertia measurement data collected by the inertia measurement unit, and meanwhile, the step counting data of a motor obtains the angle change condition in the holder coordinate system of the holder, so that the rotation angle deviation of the holder can be obtained according to the angle change condition in the attitude coordinate system and the angle change condition in the holder coordinate system, and the position calibration and detection of the holder are realized;
2) compared with a zero-position switch calibration-based mode, the method has the advantages that the step-out condition can be monitored in any stroke range of the holder;
3) compared with the mode of additionally installing the position encoder, the invention can realize the position calibration detection of the holder only by using the inertia measurement element, can not change the structural form and the size of the holder while saving the cost, and is more beneficial to the practical popularization and application.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
Claims (10)
1. A method for calibrating and detecting the position of a holder is characterized by comprising the following steps:
acquiring first angle rotation information of the holder in a holder coordinate system according to step counting data of a motor for driving the holder to rotate;
acquiring second inertia measurement data from an inertia measurement unit, wherein the inertia measurement unit is arranged on the holder;
acquiring second angle rotation information of the holder in an attitude coordinate system according to the second inertial measurement data, wherein the attitude coordinate system is initialized according to first inertial measurement data acquired from the inertial measurement unit when the holder is at a reference zero position of the holder coordinate system;
calculating a rotation angle deviation amount according to the first angle rotation information and the second angle rotation information;
and detecting whether the holder is in a state to be calibrated or not according to the deviation value of the rotation angle.
2. The pan-tilt head position calibration detection method according to claim 1, wherein said acquiring second inertial measurement data from said inertial measurement unit comprises:
acquiring second inertia measurement data from the inertia measurement unit according to a set period, wherein the set period is more than or equal to the sampling period of the inertia measurement unit,
wherein the second angular rotation information is updated based on at least second inertial measurement data acquired each cycle.
3. The pan-tilt head position calibration detection method according to claim 2, wherein the inertial measurement unit comprises at least an angular velocity sensor and an acceleration sensor, the second inertial measurement data comprises at least angular velocity information and acceleration information, and the acquiring of the second angular rotation information of the pan-tilt head in the attitude coordinate system according to the second inertial measurement data comprises:
calculating first quasi-angle rotation information according to the components of the acceleration information acquired in the current period on all axes of the attitude coordinate system;
acquiring angle increment according to the angular speed information;
adding second angle rotation information acquired in the previous period to the angle increment to acquire second quasi angle rotation information;
and calculating second angle rotation information of the current period according to the first angle rotation information and the second angle rotation information.
4. The pan-tilt head position calibration detection method according to claim 3, wherein said calculating second angular rotation information of the current period based on the first quasi-angular rotation information and the second quasi-angular rotation information comprises:
and performing complementary filtering according to the first quasi-angle rotation information and the second quasi-angle rotation information to obtain second angle rotation information of the current period.
5. A method according to any one of claims 1 to 4, wherein said detecting whether said head is in a state to be calibrated according to said deviation of rotation angle comprises:
judging whether the deviation amount of the rotation angle is larger than a preset angle deviation amount or not;
if yes, judging that the holder is in the state to be calibrated;
if not, judging that the holder is not in the state to be calibrated.
6. A holder position calibration detection method according to any one of claims 1 to 4,
if the cradle head is detected to be in a state to be calibrated according to the deviation value of the rotation angle, the method comprises the following steps:
setting the current coordinate position of the holder in the holder coordinate system according to the second angle rotation information;
and driving the holder to rotate to the coordinate position indicated by the first angle rotation information in the holder coordinate system.
7. A pan and tilt head position calibration detection method according to any one of claims 1 to 4, wherein said pan and tilt head position calibration detection method is only performed in a stationary state of the pan and tilt head.
8. A cloud platform position calibration detection device, its characterized in that includes:
the first acquisition module is configured to acquire first angle rotation information of the holder in a holder coordinate system according to step counting data of a motor for driving the holder to rotate;
a second obtaining module configured to obtain second inertial measurement data from an inertial measurement unit disposed on the pan/tilt head;
a third obtaining module configured to obtain second angular rotation information of the pan/tilt head in an attitude coordinate system according to the second inertial measurement data, wherein the attitude coordinate system is initialized according to the first inertial measurement data obtained from the inertial measurement unit when the pan/tilt head is at a reference zero position of the pan/tilt head coordinate system;
a first calculation module configured to calculate a rotational angle deviation amount according to the first angle rotation information and the second angle rotation information;
and the detection module is configured to detect whether the holder is in a state to be calibrated according to the deviation amount of the rotation angle.
9. A pan-tilt-position calibration detection system, comprising:
a holder;
a motor configured to drive the holder to rotate;
the inertia measurement unit is arranged on the holder;
a pan/tilt head position calibration detection apparatus according to claim 8, in communicative connection with said motor and said inertial measurement unit.
10. A pan/tilt head position calibration detection system according to claim 9, wherein said inertial measurement unit is parallel to said pan/tilt head or at least one side of a video acquisition module to which the pan/tilt head is connected.
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| CN202011016612.1A CN112135124A (en) | 2020-09-24 | 2020-09-24 | Method, device and system for calibrating and detecting position of holder |
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| CN113568438A (en) * | 2021-07-02 | 2021-10-29 | 杭州海康威视数字技术股份有限公司 | Method, device and equipment for recovering attitude angle |
| WO2022222262A1 (en) * | 2021-04-23 | 2022-10-27 | 歌尔股份有限公司 | Control method and apparatus for electronic device, and device and readable storage medium |
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Application publication date: 20201225 |