CN113227633A - Pan-tilt jitter monitoring and processing method, pan-tilt and storage medium - Google Patents

Pan-tilt jitter monitoring and processing method, pan-tilt and storage medium Download PDF

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Publication number
CN113227633A
CN113227633A CN202080007152.8A CN202080007152A CN113227633A CN 113227633 A CN113227633 A CN 113227633A CN 202080007152 A CN202080007152 A CN 202080007152A CN 113227633 A CN113227633 A CN 113227633A
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China
Prior art keywords
motor
attitude sensor
sensing data
peak value
determining
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Pending
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CN202080007152.8A
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Chinese (zh)
Inventor
王文杰
蒋毅
谢文麟
王映知
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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Publication of CN113227633A publication Critical patent/CN113227633A/en
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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
    • F16F15/02—Suppression of vibrations of non-rotating, e.g. reciprocating systems; Suppression of vibrations of rotating systems by use of members not moving with the rotating systems
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/0047—Measuring, indicating
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/08—Sensor arrangement
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
    • F16F2230/00—Purpose; Design features
    • F16F2230/18—Control arrangements

Abstract

A method for monitoring and processing cradle head shake, a cradle head and a storage medium are provided, the method comprises: acquiring power parameters of a motor and/or sensing data measured by the attitude sensor (S101); determining the current shaking state of the holder according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor (S102); and executing corresponding processing according to the current shaking state of the holder (S103).

Description

Pan-tilt jitter monitoring and processing method, pan-tilt and storage medium
Technical Field
The application relates to the technical field of anti-shake, in particular to a method for monitoring and processing cradle head shake, a cradle head and a storage medium.
Background
One problem that mobile phone cloud platforms face is: after a part of thinner and lighter mobile phone is installed on the mobile phone clamp (namely, the load fixing device), a certain gap exists between the mobile phone and the mobile phone clamp, the fixation is not tight enough, and the mobile phone is movable relative to the mobile phone clamp, which easily causes the integral cradle head to generate extra mechanical resonance, generates vibration, and seriously affects the stability increasing performance of the mobile phone cradle head. The problem exists on the mobile phone holder for a long time, and is a serious influence factor for restricting the mobile phone holder to adapt to more loads.
Disclosure of Invention
Based on the above, the application provides a method for monitoring and processing cradle head shake, a cradle head and a storage medium.
In a first aspect, the present application provides a method for monitoring and processing cradle head shake, where the cradle head includes: a load fixture, a motor for adjusting the load fixture, and an attitude sensor for measuring the load fixture, the method comprising:
acquiring power parameters of the motor and/or sensing data measured by the attitude sensor;
determining the current shaking state of the holder according to the dynamic parameters of the motor and/or sensing data obtained by the attitude sensor;
and executing corresponding processing according to the current shaking state of the holder.
In a second aspect, the present application provides a head, comprising: load fixing device, be used for adjusting load fixing device's motor and be used for measuring load fixing device's attitude sensor, the cloud platform still includes: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
acquiring power parameters of a motor and/or sensing data measured by the attitude sensor;
determining the current shaking state of the holder according to the dynamic parameters of the motor and/or sensing data obtained by the attitude sensor;
and executing corresponding processing according to the current shaking state of the holder.
In a third aspect, the present application provides a computer-readable storage medium storing a computer program, which when executed by a processor causes the processor to implement the method for monitoring and processing the pan-tilt jitter as described above.
The embodiment of the application provides a method for monitoring and processing cradle head shake, a cradle head and a storage medium, and the method comprises the steps of obtaining dynamic parameters of a motor and/or sensing data obtained by measurement of an attitude sensor; determining the current shaking state of the holder according to the dynamic parameters of the motor and/or sensing data obtained by the attitude sensor; and executing corresponding processing according to the current shaking state of the holder. Whether the cradle head shakes or not can be reflected by the dynamic parameters of the motor and/or the sensing data obtained by the attitude sensor, and the current shaking condition of the cradle head can be determined according to the obtained dynamic parameters of the motor and/or the sensing data obtained by the attitude sensor; and then corresponding processing is executed, and through the method, technical support can be provided for eliminating jitter and ensuring the stability increasing performance of the holder. If the cradle head shake is determined, a corresponding shake eliminating method can be executed, and the stability increasing performance of the cradle head can be ensured.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of an embodiment of a method for monitoring and processing pan-tilt jitter according to the present application;
FIG. 2 is a schematic view of the operating principle of the pan/tilt head in an embodiment of the method for monitoring and processing pan/tilt head shake according to the present application;
FIG. 3 is a schematic structural diagram of a mobile phone holder according to an embodiment of a method for monitoring and processing holder jitter according to the present application;
FIG. 4 is a schematic flow chart diagram illustrating another embodiment of a method for monitoring and processing pan/tilt/zoom (PTZ) jitter according to the present application;
FIG. 5 is a schematic diagram illustrating changes of an embodiment of dynamic parameters and sensing data in the method for monitoring and processing cradle head shake according to the present application;
FIG. 6 is a schematic flow chart diagram illustrating a method for monitoring and processing pan/tilt/zoom (PTZ) according to another embodiment of the present invention;
FIG. 7 is a schematic flow chart diagram illustrating a method for monitoring and processing pan/tilt/zoom (PTZ) according to another embodiment of the present invention;
FIG. 8 is a schematic flow chart diagram illustrating a method for monitoring and processing pan/tilt/zoom (PTZ) according to another embodiment of the present invention;
FIG. 9 is a schematic flow chart diagram illustrating a method for monitoring and processing pan/tilt/zoom (PTZ) according to another embodiment of the present invention;
fig. 10 is a schematic structural diagram of an embodiment of the cloud deck of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application.
The flow diagrams depicted in the figures are merely illustrative and do not necessarily include all of the elements and operations/steps, nor do they necessarily have to be performed in the order depicted. For example, some operations/steps may be decomposed, combined or partially combined, so that the actual execution sequence may be changed according to the actual situation.
After a part of thinner and lighter mobile phone is installed on a mobile phone clamp (namely a load fixing device), a certain gap exists between the mobile phone and the mobile phone clamp, the mobile phone is not fixed tightly enough, and the mobile phone moves relative to the mobile phone clamp, so that extra mechanical resonance is easily generated on the whole cradle head, the shaking is generated, the stability increasing performance of the cradle head is seriously influenced, and the cradle head is restricted from being adapted with more loads.
The embodiment of the application provides a method for monitoring and processing cradle head shake, a cradle head and a storage medium, and the method comprises the steps of obtaining dynamic parameters of a motor and/or sensing data obtained by measurement of an attitude sensor; determining the current shaking state of the holder according to the dynamic parameters of the motor and/or sensing data obtained by the attitude sensor; and executing corresponding processing according to the current shaking state of the holder. Whether the cradle head shakes or not can be reflected by the dynamic parameters of the motor and/or the sensing data obtained by the attitude sensor, and the current shaking condition of the cradle head can be determined according to the obtained dynamic parameters of the motor and/or the sensing data obtained by the attitude sensor; and then corresponding processing is executed, and through the method, technical support can be provided for eliminating jitter and ensuring the stability increasing performance of the holder. If the cradle head shake is determined, a corresponding shake eliminating method can be executed, and the stability increasing performance of the cradle head can be ensured.
Some embodiments of the present application will be described in detail below with reference to the accompanying drawings. The embodiments described below and the features of the embodiments can be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of an embodiment of a method for monitoring and processing pan/tilt head shake according to the present application, where the pan/tilt head includes: a load fixture, a motor for adjusting the load fixture, and an attitude sensor for measuring the load fixture, the method comprising:
step S101: and acquiring the power parameters of the motor and/or sensing data measured by the attitude sensor.
In this embodiment, the power parameter of the motor may be data that the control command sent to the motor indicates the output of the motor, and the power parameter of the motor may include the output torque.
The power parameters of the motor are output and then act on the load fixing device, and at the moment, the load fixing device can be measured through the attitude sensor, and corresponding sensing data can be obtained. The power parameter of the motor is output and then acts on the load fixing device, and the load fixing device is required to reach target data. And after the sensing data obtained by the attitude sensor is obtained, comparing the sensing data with the target data of the load fixing device to obtain the deviation between the sensing data of the load fixing device and the target data, adjusting the power parameters of the motor according to the deviation, and then circulating the process. Therefore, the dynamic parameters of the motor and the sensing data measured by the attitude sensor are dynamically changing data. In general, dynamic parameters of the motor and dynamic changes of sensing data measured by the attitude sensor are basically synchronous, that is, peaks occur when the peaks occur, and frequency ranges of the peaks are basically consistent.
Wherein the attitude sensor includes an inertial measurement unit.
The method of the embodiment is applied to the pan-tilt, and in an application, the working principle of the method can be that the control deviation is calculated by detecting the actual attitude (namely, sensing data) of the load and comparing the actual attitude (namely, the sensing data) with the target attitude (namely, target data), so that negative feedback control is performed, the torque (namely, the power parameter of the motor) is output to the motor, the control deviation is finally reduced, and the actual attitude and the target attitude of the load are ensured to be as small as possible, as shown in fig. 2. The load is fixed on the load fixing device, the actual posture of the load is equal to the actual posture of the load fixing device, the motor acts on the load fixing device, and the posture of the load is changed by changing the posture of the load fixing device; attitude sensors (e.g., inertial measurement units) are typically provided on the load fixture, and the attitude sensors can measure the sensed data from the load fixture identically to the sensed data from the load.
Wherein, the cloud platform can be the commonly used cell-phone cloud platform. Referring to fig. 3, fig. 3 is a schematic structural diagram of an embodiment of a mobile phone holder. This cell-phone cloud platform includes: the mobile phone 19 (i.e., the load) is fixed on the load fixing device 18 corresponding to a roll shaft (roll shaft) motor 11, a pitch shaft (pitch shaft) motor 12, a yaw shaft (yaw shaft) motor 13, a roll shaft arm 14, a pitch shaft arm 15, a yaw shaft arm 16, a handle (base) 17 and the load fixing device 18 in three different directions.
The power parameter of the motor and/or the sensing data measured by the attitude sensor may be the power parameter of the motor corresponding to each direction and/or the sensing data measured by the attitude sensor corresponding to each direction.
In an ideal situation, the power parameters of the motor and the sensing data measured by the attitude sensor change relatively smoothly. When external interference exists (such as shaking), the power parameters of the motor and the sensing data measured by the attitude sensor fluctuate; the dynamic parameters of the motor and the fluctuation of the sensing data measured by the attitude sensor are different due to different external interference factors.
The method can calculate the respective corresponding change rules of the power parameters of the motor and the sensing data measured by the attitude sensor under various different interference factors in advance by manufacturing various different interference factors. In turn, according to the acquired dynamic parameters of the motor and/or the sensing data measured by the attitude sensor, it can be determined whether the cradle head has external interference (for example, shake), and if the cradle head has external interference, which kind of corresponding external interference factor is specific.
Step S102: and determining the current shaking state of the holder according to the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor.
Step S103: and executing corresponding processing according to the current shaking state of the holder.
The jitter is a condition in external interference, and the embodiment of the application mainly needs to determine the current jitter state of the pan/tilt head. In this embodiment, the shake state may be whether the pan/tilt head shakes, and if the pan/tilt head shakes, the cause of shake may be determined. The corresponding processing may be performed by executing a processing method corresponding to the shake state, and if there is no shake in the pan/tilt head, a method unrelated to shake elimination may be performed, for example, without performing additional processing; if the cradle head has jitter, corresponding processing is respectively executed to eliminate the jitter according to the reason of the jitter generation, and the like.
According to the embodiment of the application, the power parameter of the motor and/or the sensing data measured by the attitude sensor are/is acquired, and the power parameter of the motor is adjusted according to the deviation between the sensing data of the action object of the motor and the target data of the action object of the motor; determining the current shaking state of the holder according to the dynamic parameters of the motor and/or sensing data obtained by the attitude sensor; and executing corresponding processing according to the current shaking state of the holder. Whether the cradle head shakes or not can be reflected by the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor, and the current shaking condition of the cradle head can be determined by monitoring the dynamic parameters of the motor and/or the sensing data measured by the attitude sensor; and then corresponding processing is executed, and through the method, technical support can be provided for eliminating jitter and ensuring the stability increasing performance of the holder. If the cradle head jitter is determined, a corresponding method for eliminating the jitter can be executed, and the stability increasing performance of the cradle head can be ensured; because the stability increasing performance of the holder can be ensured by the method of eliminating the jitter, the load fixing device of the holder can adapt to more different types of loads (even if a gap exists between the load fixing device and the loads). For example: taking a mobile phone holder as an example, the mobile phone model supported by the current mobile phone holder can be expanded.
Details of step S102 are described in detail below.
In an embodiment, in a case of limited computational power, computational resources, and the like, determining a current shake state of the pan/tilt head by combining a power parameter of a motor and a change rule of sensing data measured by the attitude sensor, that is, step S102, determining the current shake state of the pan/tilt head according to the power parameter of the motor and/or the sensing data measured by the attitude sensor may include: substep S102A1 and substep S102A2, as shown in FIG. 4.
Sub-step S102a 1: and determining whether the power parameters and the sensing data jump back and forth in the positive and negative directions according to the power parameters of the motor and the sensing data obtained by the attitude sensor.
Sub-step S102a 2: and if the dynamic parameters and the sensing data jump back and forth in the positive and negative directions, determining that the cradle head shakes currently.
Under the condition of limited computational power, computational resources and the like, when the power parameters of the motor and/or the change condition of the sensing data obtained by the attitude sensor can not be accurately determined, the change rule of the power parameters and the sensing data can be roughly determined. In general, if there is a gap between the load fixing device and the load, which causes the pan-tilt to shake, the dynamic parameters and the sensing data will jump back and forth in the positive and negative directions, as shown in fig. 5. Therefore, if the dynamic parameters and the sensing data jump back and forth in the positive and negative directions, the current shake of the pan-tilt head can be determined. Typically, such jitter is caused by the play between the load securing device and the load.
If sufficient computational power, computational resources and the like exist, the power parameters of the motor and/or the change conditions of the sensing data obtained by the measurement of the attitude sensor can be accurately determined, the mode is relatively accurate, and meanwhile, the power parameters of the motor and the change conditions of the sensing data obtained by the measurement of the attitude sensor are determined, the computational power, the computational resources and the like can be wasted, so that the current shaking state of the holder is usually determined according to the power parameters of the motor or the sensing data obtained by the measurement of the attitude sensor. Four cases are specifically described below.
First, in step S102, the determining a current shake state of the pan/tilt head according to the dynamic parameter of the motor and/or the sensing data measured by the attitude sensor may include: substep S102B1 and substep S102B2, as shown in FIG. 6.
Sub-step S102B 1: and determining whether the power parameter of the motor has a peak value in a preset frequency band or not according to the power parameter of the motor.
Sub-step S102B 2: and if the peak value appears in a preset frequency band and is greater than or equal to a preset threshold value, determining that the holder is jittered currently.
In this embodiment, the preset frequency band and the preset threshold may be determined in advance through experiments. The load fixing device can be used for fixing the load firmly for multiple times, gaps between the load fixing device and the load are manufactured for multiple times, power parameters of the motor are collected, whether a peak value appears or not, the size of the peak value and the frequency range are determined, the corresponding frequency range and the range of the peak value when jitter appears are determined accordingly, and the preset frequency band and the preset threshold value are determined according to the frequency range and the range of the peak value.
Conversely, when the power parameter of the motor has a peak value in a preset frequency band, and the peak value is greater than or equal to a preset threshold value, it can be determined that the cradle head is jittered currently. Typically, such jitter is caused by the play between the load securing device and the load.
Secondly, in step S102, the determining a current shake state of the pan/tilt head according to the dynamic parameter of the motor and/or the sensing data measured by the attitude sensor may include: substeps S102C1 and substeps 102C2, as shown in fig. 7.
Sub-step S102C 1: and determining whether the sensing data measured by the attitude sensor has a peak value in a preset frequency band or not according to the sensing data measured by the attitude sensor.
Sub-step S102C 2: and if the peak value appears in a preset frequency band and is greater than or equal to a preset threshold value, determining that the holder is jittered currently.
In this embodiment, the preset frequency band and the preset threshold may be determined in advance through experiments. The load fixing device can be used for fixing the load firmly for multiple times, gaps between the load fixing device and the load are manufactured for multiple times, sensing data obtained by measurement of the attitude sensor are collected, whether a peak value appears or not, the size of the peak value and the frequency range are determined, the corresponding frequency range and the range of the peak value when jitter appears are determined according to the sensing data, and the preset frequency range and the preset threshold value are determined according to the frequency range and the range of the peak value.
Conversely, when the sensing data measured by the attitude sensor has a peak value in a preset frequency band, and the peak value is greater than or equal to a preset threshold value, it can be determined that the holder is jittered currently. Typically, such jitter is caused by the play between the load securing device and the load.
Thirdly, in step S102, determining a current shake state of the pan/tilt head according to the dynamic parameter of the motor and/or the sensing data measured by the attitude sensor may include: substeps S102D1 and substep S102D2, as shown in fig. 8.
Sub-step S102D 1: and determining whether the power parameter of the motor is a newly increased peak value in a full frequency band range or not according to the power parameter of the motor.
Sub-step S102D 2: and if the peak value is newly increased in the full frequency band range and the newly increased peak value is larger than or equal to a preset threshold value, determining that the holder is jittered currently.
In the present embodiment, the preset threshold value may be determined experimentally in advance. The load fixing device can be used for fixing the load firmly for multiple times, gaps between the load fixing device and the load are manufactured for multiple times, power parameters of the motor are collected, whether the peak value appears or not and the size of the peak value are determined, the range of the corresponding peak value when the jitter appears is determined according to the size of the peak value, and the preset threshold value is determined according to the range of the peak value.
The peak value is monitored in the full-frequency-band range, and when the power parameter of the motor is a newly increased peak value in the full-frequency-band range and the newly increased peak value is larger than or equal to the preset threshold value, the fact that the holder shakes currently can be determined. Typically, such jitter is caused by the play between the load securing device and the load.
Fourthly, in step S102, the determining a current shake state of the pan/tilt head according to the dynamic parameter of the motor and/or the sensing data measured by the attitude sensor may include: substeps S102E1 and substep S102E2, as shown in fig. 9.
Sub-step S102E 1: and determining whether the sensing data measured by the attitude sensor has a newly increased peak value in a full frequency band range according to the sensing data measured by the attitude sensor.
Sub-step S102E 2: and if a newly increased peak value appears in the full frequency band range and the newly increased peak value is larger than or equal to a preset threshold value, determining that the holder is jittered currently.
In the present embodiment, the preset threshold value may be determined experimentally in advance. The load fixing device can be used for fixing the load firmly for multiple times, gaps between the load fixing device and the load are manufactured for multiple times, sensing data obtained by measurement of the attitude sensor are collected, whether the peak value appears or not and the size of the peak value are determined, the range of the corresponding peak value when the jitter appears is determined according to the peak value, and the preset threshold value is determined according to the range of the peak value.
In the embodiment, the peak value is monitored in the full frequency band range, and when the sensing data measured by the attitude sensor has a newly increased peak value in the full frequency band range, and the newly increased peak value is greater than or equal to the preset threshold value, it can be determined that the holder is jittered currently. Typically, such jitter is caused by the play between the load securing device and the load.
Details of step S103 are described in detail below.
In an embodiment, when determining that there is shake in the pan/tilt head, the shake may be eliminated by a resonance suppression method, that is, step S103, and the executing corresponding processing according to the current shake state of the pan/tilt head may include: and if the holder has shake at present, processing the shake by a resonance suppression method to eliminate the shake.
The jitter can be eliminated by a common method of eliminating the jitter by adding a filter, that is, the jitter is processed by adding the filter to eliminate the jitter.
In another embodiment, if it is determined that the cradle head currently has a shake, the user may be prompted, that is, in step S103, and the corresponding processing is executed according to the current shake state of the cradle head, where the processing includes: and if the cradle head shakes currently, sending prompt information to prompt a user to implement a method for reducing or eliminating the gap between the load fixing device and the load.
The prompting mode can adopt common language prompting or text prompting on a screen. A user-implemented method of reducing or eliminating a gap between the load securing device and a load may include: repositioning the load to firmly fix the load fixing device, replacing another load (for example, replacing a mobile phone), binding an elastic rubber band at the joint of the load and the load fixing device, adding a rubber pad between the load and the load fixing device, and the like.
Wherein, the prompt message includes prompting the user to add the rubber mat between the load fixing device and the load.
Referring to fig. 10 and fig. 10 are schematic structural diagrams of an embodiment of the pan/tilt head of the present application, it should be noted that the pan/tilt head of the present embodiment can execute steps in the above-mentioned pan/tilt head shake monitoring and processing method, and details of relevant contents refer to the above-mentioned pan/tilt head shake monitoring and processing method, which is not described herein in detail.
The cradle head 100 comprises: load fixing device 3, be used for adjusting load fixing device's motor 4 and be used for measuring load fixing device's attitude sensor 5, cloud platform 100 still includes: a memory 1 and a processor 2; the processor 2 is connected with the memory 1 through a bus, and the processor 2 is connected with the motor 4 and the attitude sensor 5 through the bus.
The processor 2 may be a micro-control unit, a central processing unit, a digital signal processor, or the like.
The memory 1 may be a Flash chip, a read-only memory, a magnetic disk, an optical disk, a usb disk, or a removable hard disk.
The memory 1 is used for storing a computer program; the processor 2 is configured to execute the computer program and, when executing the computer program, implement the following steps:
acquiring power parameters of a motor and/or sensing data measured by the attitude sensor; determining the current shaking state of the holder according to the dynamic parameters of the motor and/or sensing data obtained by the attitude sensor; and executing corresponding processing according to the current shaking state of the holder.
Wherein the processor, when executing the computer program, implements the steps of: determining whether the power parameters and the sensing data jump back and forth in the positive and negative directions according to the power parameters of the motor and the sensing data measured by the attitude sensor; and if the dynamic parameters and the sensing data jump back and forth in the positive and negative directions, determining that the cradle head shakes currently.
Wherein the processor, when executing the computer program, implements the steps of: determining whether the power parameter of the motor has a peak value in a preset frequency band or not according to the power parameter of the motor; and if the peak value appears in a preset frequency band and is greater than or equal to a preset threshold value, determining that the holder is jittered currently.
Wherein the processor, when executing the computer program, implements the steps of: determining whether the sensing data measured by the attitude sensor has a peak value in a preset frequency band or not according to the sensing data measured by the attitude sensor; and if the peak value appears in a preset frequency band and is greater than or equal to a preset threshold value, determining that the holder is jittered currently.
Wherein the processor, when executing the computer program, implements the steps of: determining whether the power parameter of the motor has a newly increased peak value in a full frequency band range or not according to the power parameter of the motor; and if the peak value is newly increased in the full frequency band range and the newly increased peak value is larger than or equal to a preset threshold value, determining that the holder is jittered currently.
Wherein the processor, when executing the computer program, implements the steps of: determining whether the sensing data measured by the attitude sensor has a newly increased peak value in a full frequency band range according to the sensing data measured by the attitude sensor; and if a newly increased peak value appears in the full frequency band range and the newly increased peak value is larger than or equal to a preset threshold value, determining that the holder is jittered currently.
Wherein the processor, when executing the computer program, implements the steps of: and if the cradle head has the shake at present, processing the shake through the resonance-suppressed cradle head so as to eliminate the shake.
Wherein the processor, when executing the computer program, implements the steps of: the jitter is processed by adding a filter to remove the jitter.
Wherein the processor, when executing the computer program, implements the steps of: and if the cradle head shakes currently, sending prompt information to prompt a user to implement a method for reducing or eliminating the gap between the load fixing device and the load.
Wherein, the prompt message includes prompting the user to add the rubber mat between the load fixing device and the load.
Wherein the attitude sensor includes an inertial measurement unit.
The present application also provides a computer-readable storage medium storing a computer program, which when executed by a processor causes the processor to implement the method for monitoring and processing pan-tilt jitter as described in any one of the above. For a detailed description of relevant contents, reference is made to the above-mentioned relevant contents section, which is not described herein again in a redundant manner.
The computer-readable storage medium may be an internal storage unit of the foregoing pan/tilt head, such as a hard disk or a memory. The computer readable storage medium may also be an external storage device such as a hard drive equipped with a plug-in, smart memory card, secure digital card, flash memory card, or the like.
It is to be understood that the terminology used in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It should also be understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.
The above description is only for the specific embodiment of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive various equivalent modifications or substitutions within the technical scope of the present application, and these modifications or substitutions should be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.

Claims (23)

1. A method for monitoring and processing cradle head shake, characterized in that the cradle head comprises: a load fixture, a motor for adjusting the load fixture, and an attitude sensor for measuring the load fixture, the method comprising:
acquiring power parameters of the motor and/or sensing data measured by the attitude sensor;
determining the current shaking state of the holder according to the dynamic parameters of the motor and/or sensing data obtained by the attitude sensor;
and executing corresponding processing according to the current shaking state of the holder.
2. The method according to claim 1, wherein said determining the current shake state of the head according to the dynamic parameters of the motor and/or the sensed data measured by the attitude sensor comprises:
determining whether the power parameters and the sensing data jump back and forth in the positive and negative directions according to the power parameters of the motor and the sensing data measured by the attitude sensor;
and if the dynamic parameters and the sensing data jump back and forth in the positive and negative directions, determining that the cradle head shakes currently.
3. The method according to claim 1, wherein said determining the current shake state of the head according to the dynamic parameters of the motor and/or the sensed data measured by the attitude sensor comprises:
determining whether the power parameter of the motor has a peak value in a preset frequency band or not according to the power parameter of the motor;
and if the peak value appears in a preset frequency band and is greater than or equal to a preset threshold value, determining that the holder is jittered currently.
4. The method according to claim 1, wherein said determining the current shake state of the head according to the dynamic parameters of the motor and/or the sensed data measured by the attitude sensor comprises:
determining whether the sensing data measured by the attitude sensor has a peak value in a preset frequency band or not according to the sensing data measured by the attitude sensor;
and if the peak value appears in a preset frequency band and is greater than or equal to a preset threshold value, determining that the holder is jittered currently.
5. The method according to claim 1, wherein said determining the current shake state of the head according to the dynamic parameters of the motor and/or the sensed data measured by the attitude sensor comprises:
determining whether the power parameter of the motor has a newly increased peak value in a full frequency band range or not according to the power parameter of the motor;
and if the peak value is newly increased in the full frequency band range and the newly increased peak value is larger than or equal to a preset threshold value, determining that the holder is jittered currently.
6. The method according to claim 1, wherein said determining the current shake state of the head according to the dynamic parameters of the motor and/or the sensed data measured by the attitude sensor comprises:
determining whether the sensing data measured by the attitude sensor has a newly increased peak value in a full frequency band range according to the sensing data measured by the attitude sensor;
and if a newly increased peak value appears in the full frequency band range and the newly increased peak value is larger than or equal to a preset threshold value, determining that the holder is jittered currently.
7. The method according to any one of claims 2-6, wherein said executing corresponding processing according to the current shaking state of said pan/tilt head comprises:
and if the holder has shake at present, processing the shake by a resonance suppression method to eliminate the shake.
8. The method of claim 7, wherein the processing the jitter by a method of resonance suppression to eliminate the jitter comprises:
the jitter is processed by adding a filter to remove the jitter.
9. The method according to any one of claims 2-6, wherein said executing corresponding processing according to the current shaking state of said pan/tilt head comprises:
and if the cradle head shakes currently, sending prompt information to prompt a user to implement a method for reducing or eliminating the gap between the load fixing device and the load.
10. The method of claim 9, wherein the prompting includes prompting the user to add a cushion between the load securing device and the load.
11. The method of claim 1, wherein the attitude sensor comprises an inertial measurement unit.
12. A head, characterized in that it comprises: load fixing device, be used for adjusting load fixing device's motor and be used for measuring load fixing device's attitude sensor, the cloud platform still includes: a memory and a processor;
the memory is used for storing a computer program;
the processor is configured to execute the computer program and, when executing the computer program, implement the steps of:
acquiring power parameters of the motor and/or sensing data measured by the attitude sensor;
determining the current shaking state of the holder according to the dynamic parameters of the motor and/or sensing data obtained by the attitude sensor;
and executing corresponding processing according to the current shaking state of the holder.
13. A head according to claim 12, wherein said processor, when executing said computer program, carries out the steps of:
determining whether the power parameters and the sensing data jump back and forth in the positive and negative directions according to the power parameters of the motor and the sensing data measured by the attitude sensor;
and if the dynamic parameters and the sensing data jump back and forth in the positive and negative directions, determining that the cradle head shakes currently.
14. A head according to claim 12, wherein said processor, when executing said computer program, carries out the steps of:
determining whether the power parameter of the motor has a peak value in a preset frequency band or not according to the power parameter of the motor;
and if the peak value appears in a preset frequency band and is greater than or equal to a preset threshold value, determining that the holder is jittered currently.
15. A head according to claim 12, wherein said processor, when executing said computer program, carries out the steps of:
determining whether the sensing data measured by the attitude sensor has a peak value in a preset frequency band or not according to the sensing data measured by the attitude sensor;
and if the peak value appears in a preset frequency band and is greater than or equal to a preset threshold value, determining that the holder is jittered currently.
16. A head according to claim 12, wherein said processor, when executing said computer program, carries out the steps of:
determining whether the power parameter of the motor has a newly increased peak value in a full frequency band range or not according to the power parameter of the motor;
and if the peak value is newly increased in the full frequency band range and the newly increased peak value is larger than or equal to a preset threshold value, determining that the holder is jittered currently.
17. A head according to claim 12, wherein said processor, when executing said computer program, carries out the steps of:
determining whether the sensing data measured by the attitude sensor has a newly increased peak value in a full frequency band range according to the sensing data measured by the attitude sensor;
and if a newly increased peak value appears in the full frequency band range and the newly increased peak value is larger than or equal to a preset threshold value, determining that the holder is jittered currently.
18. A head according to any one of claims 13-17, wherein said processor, when executing said computer program, carries out the steps of:
and if the cradle head has the shake at present, processing the shake through the resonance-suppressed cradle head so as to eliminate the shake.
19. A head according to claim 18, wherein said processor, when executing said computer program, carries out the steps of:
the jitter is processed by adding a filter to remove the jitter.
20. A head according to any one of claims 13-17, wherein said processor, when executing said computer program, carries out the steps of:
and if the cradle head shakes currently, sending prompt information to prompt a user to implement a method for reducing or eliminating the gap between the load fixing device and the load.
21. A head according to claim 21, wherein said notification message includes a prompt to the user to add a cushion between said load securing means and the load.
22. A head according to claim 12, wherein said attitude sensor comprises an inertial measurement unit.
23. A computer-readable storage medium, characterized in that it stores a computer program which, when executed by a processor, causes the processor to implement the method of monitoring and processing of pan-tilt jitter according to any one of claims 1-11.
CN202080007152.8A 2020-08-24 2020-08-24 Pan-tilt jitter monitoring and processing method, pan-tilt and storage medium Pending CN113227633A (en)

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