CN114153234A - Cloud deck control method and device, electronic equipment, storage medium and pod - Google Patents
Cloud deck control method and device, electronic equipment, storage medium and pod Download PDFInfo
- Publication number
- CN114153234A CN114153234A CN202111451464.0A CN202111451464A CN114153234A CN 114153234 A CN114153234 A CN 114153234A CN 202111451464 A CN202111451464 A CN 202111451464A CN 114153234 A CN114153234 A CN 114153234A
- Authority
- CN
- China
- Prior art keywords
- attitude
- holder
- parameters
- parameter
- historical
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 49
- 238000012545 processing Methods 0.000 claims description 14
- 239000000126 substance Substances 0.000 claims description 2
- 238000004364 calculation method Methods 0.000 description 29
- 230000008569 process Effects 0.000 description 16
- 230000008859 change Effects 0.000 description 11
- 238000010586 diagram Methods 0.000 description 9
- 230000009466 transformation Effects 0.000 description 9
- 150000001875 compounds Chemical class 0.000 description 8
- 230000006870 function Effects 0.000 description 8
- 239000011159 matrix material Substances 0.000 description 7
- 230000001133 acceleration Effects 0.000 description 6
- 230000000694 effects Effects 0.000 description 6
- 238000013507 mapping Methods 0.000 description 6
- 238000004891 communication Methods 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000012886 linear function Methods 0.000 description 4
- 230000009471 action Effects 0.000 description 3
- 125000004432 carbon atom Chemical group C* 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000005096 rolling process Methods 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004590 computer program Methods 0.000 description 1
- 230000004069 differentiation Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000011664 signaling Effects 0.000 description 1
- 210000001258 synovial membrane Anatomy 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
- G05D3/12—Control of position or direction using feedback
Abstract
This document relates to a method for controlling a head, said head comprising a motor, comprising: acquiring historical attitude parameters, historical motor control quantity and system model parameters of the holder; determining the dynamic disturbance parameters according to the historical attitude parameters of the holder, the historical motor control quantity and the system model parameters; the dynamic disturbance parameter is a current disturbance parameter of the holder in a current working state relative to a nominal working state; and carrying out attitude control on the holder according to the dynamic disturbance parameters. Calculating dynamic disturbance parameters according to historical attitude parameters, historical motor control quantity and system model parameters of the holder; and then, the attitude control of the cradle head is realized through the dynamic disturbance parameters, the influence of the dynamic disturbance parameters on the attitude control of the cradle head can be effectively avoided, and the accuracy of the attitude control of the cradle head is improved.
Description
Technical Field
The application relates to the technical field of holder control, in particular to a holder control method and device, electronic equipment, storage medium and a pod.
Background
In a control scene of the pan/tilt head, a cascade control mode is generally adopted, angle control is used as a control outer ring, angular velocity control is used as a control inner ring, a set angle or angular velocity of the pan/tilt head is given, and a measured value of the angle or angular velocity is used as feedback, so that a closed-loop control system is constructed.
During the working process of the cradle head, a mounted camera can be used for shooting some target objects, so that tasks such as target tracking, mapping and the like are completed.
However, when the camera shoots the target object, the system characteristic parameters of the entire pan/tilt system may change under the influence of the change of the working state, so that the pan/tilt control accuracy is reduced.
Disclosure of Invention
The following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.
The embodiment of the present disclosure provides a holder control method, where the holder includes a motor, including:
acquiring historical attitude parameters, historical motor control quantity and system model parameters of the holder;
determining the dynamic disturbance parameters according to the historical attitude parameters of the holder, the historical motor control quantity and the system model parameters; the dynamic disturbance parameter is a current disturbance parameter of the holder in a current working state relative to a nominal working state;
and carrying out attitude control on the holder according to the dynamic disturbance parameters.
The embodiment of the present disclosure provides a cloud platform controlling means, the cloud platform includes the motor, includes:
the processing module is used for acquiring historical attitude parameters, historical motor control quantity and system model parameters of the holder; determining the dynamic disturbance parameters according to the historical attitude parameters of the holder, the historical motor control quantity and the system model parameters; the dynamic disturbance parameter is a current disturbance parameter of the holder in a current working state relative to a nominal working state;
and the control module is used for carrying out attitude control on the holder according to the dynamic disturbance parameters.
An embodiment of the present disclosure provides an electronic device, including:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor, which when executed by the at least one processor, cause the at least one processor to perform the above-described pan/tilt control method.
The embodiment of the disclosure provides a computer-readable storage medium, wherein computer-executable instructions are stored in the storage medium and are set to execute the holder control method.
The embodiment of the disclosure provides a nacelle comprising the tripod head control device.
Some technical solutions provided by the embodiments of the present disclosure can achieve the following technical effects:
calculating dynamic disturbance parameters according to historical attitude parameters, historical motor control quantity and system model parameters of the holder; and then, the attitude control of the cradle head is realized through the dynamic disturbance parameters, the influence of the dynamic disturbance parameters on the attitude control of the cradle head can be effectively avoided, and the accuracy of the attitude control of the cradle head is improved.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
Drawings
One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:
fig. 1 shows a comparison of the control effect when the lens length is varied.
Fig. 2 shows a schematic block diagram of a control device provided in the present application.
Fig. 3 shows an exemplary flowchart of a pan-tilt control method provided in the present application.
Fig. 4 shows an exemplary relationship between the lens coordinate system and the motor coordinate system.
Fig. 5 shows another control effect comparison diagram when the lens length is changed.
Fig. 6 shows an exemplary structural block diagram of a pan/tilt control apparatus provided in the present application.
In the figure: 100-a control device; 101-a memory; 102-a processor; 103-a communication interface; 300-a pan-tilt control device; 301-a processing module; 302-control module.
Detailed Description
To make the purpose, technical solutions and advantages of the present application clearer, the technical solutions in the present application will be clearly and completely described below with reference to the accompanying drawings in some embodiments of the present application, and it is obvious that the described embodiments are some, but not all embodiments of the present application. The components of the present application, as generally described and illustrated in the figures herein, may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the present application, as presented in the figures, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on a part of the embodiments in the present application without any creative effort belong to the protection scope of the present application.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present application, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
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.
In a pan-tilt using scene such as that described above, a target object may be photographed through a camera lens mounted on the pan-tilt, and based on different photographing requirements, a zoom operation may be performed on the camera.
In some possible scenes, under the influence of changes of the working state of the holder, some system characteristic parameters of the holder system may change, so that the control precision of the holder is reduced.
For example, when the cloud platform carries out the in-process that flies on unmanned aerial vehicle, the size of the windage that the cloud platform receives or direction etc. generally can change, lead to the unbalanced moment of cloud platform probably to change for there is the difference in the gesture change volume of user through equipment operation cloud platform such as remote controller with the actual gesture change volume of cloud platform, causes the control accuracy of cloud platform to reduce.
For another example, in the process of performing a zoom operation on a camera, since the length of a lens of the camera generally changes, system characteristic parameters such as the center of gravity and the moment of inertia of the overall pan/tilt head system including the camera may change.
Illustratively, the calculation is performed by taking the length of the camera lens at a certain zoom magnification, and the electrical time constant of each rotating shaft can be expressed by combining the electrical parameters of the motor of the pan/tilt head as follows:
wherein, TmRepresenting the electrical time constant, J representing the sum of the moment of inertia of the motor and the load, R representing the motor armature resistance, KeRepresenting the back electromotive force constant, K, of the motortRepresenting the motor torque constant.
In the above calculation formula, R, Ke、KtAll the parameters are electrical parameters of the motor and can be directly read and obtained; j represents the sum of the rotational inertia of the motor and the load, and the value of J is related to the length of the camera lens.
And, when the inductance influence of the dc motor is not considered, the equation of the single-axis system rotational motion can be expressed as follows:
wherein, theta and omega respectively represent the angle and angular speed of the rotation of the holder, and KdRepresenting motor speed gain factor, TLRepresents the sum of the friction torque on a single shaft and the unbalance torque from the balance point, and u represents the armature current of the motor.
Therefore, by combining the above formula, when the length of the camera lens changes, the value of the sum J of the rotational inertia of the motor and the load also changes, so that the rotational angle and the angular velocity of the pan/tilt head also change, and the control accuracy of the pan/tilt head is reduced, for example, the rotational angle of the pan/tilt head is lower than the received command angle.
For example, referring to fig. 1, a first variation curve in fig. 1 may indicate an angle variation curve of the pan/tilt head when the camera lens is shortest, and a second variation curve may indicate an angle variation curve of the pan/tilt head when the camera lens is longest; through simple contrast, it can be found that when the camera lens becomes long, the angle control of the holder can be greatly overshot, and the control effect is reduced.
Therefore, based on the above drawbacks, the present application provides some possible embodiments as follows:
the dynamic disturbance parameters at the current moment are estimated through some historical parameters of the holder, and then the influence of the dynamic disturbance parameters on the posture of the holder can be effectively avoided in the process according to the estimated dynamic disturbance parameters at the current moment when the posture of the current holder is controlled.
Referring to fig. 2, fig. 2 shows a schematic structural block diagram of a control device 100 provided in the present application, where the control device 100 may be a control unit of a pan/tilt head, a control unit of an unmanned aerial vehicle, or other devices electrically connected to the pan/tilt head for controlling the pan/tilt head.
In some embodiments, the control device 100 may include a memory 101, a processor 102, and a communication interface 103, the memory 101, the processor 102, and the communication interface 103 being electrically connected to one another, directly or indirectly, to enable the transfer or interaction of data. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The memory 101 may be configured to store software programs and modules, such as program instructions/modules corresponding to the pan/tilt control apparatus provided in the present application, and the processor 102 executes the software programs and modules stored in the memory 101, so as to execute various functional applications and data processing, and further execute the steps of the pan/tilt control method provided in the present application. The communication interface 103 may be used for communicating signaling or data with other node devices.
The Memory 101 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Programmable Read-Only Memory (EEPROM), and the like.
The processor 102 may be an integrated circuit chip having signal processing capabilities. The Processor 102 may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but also Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components.
It will be appreciated that the configuration shown in fig. 2 is merely illustrative and that the control device 100 may also include more or fewer components than shown in fig. 2 or have a different configuration than shown in fig. 2. The components shown in fig. 2 may be implemented in hardware, software, or a combination thereof.
The pan/tilt head control method provided by the present application will be described below with the control apparatus 100 shown in fig. 2 as a schematic execution main body.
Referring to fig. 3, fig. 3 shows an exemplary flowchart of a pan/tilt control method provided in the present application, and in some embodiments, the pan/tilt control method may include the following steps:
step S301, acquiring historical attitude parameters, historical motor control quantity and system model parameters of the holder;
step S302, determining the dynamic disturbance parameters according to the historical attitude parameters of the holder, the historical motor control quantity and the system model parameters; the dynamic disturbance parameter is a current disturbance parameter of the holder in a current working state relative to a nominal working state;
and step S303, carrying out attitude control on the holder according to the dynamic disturbance parameters.
In some optional embodiments, the determining the dynamic disturbance parameter according to the historical attitude parameter of the pan/tilt head, the historical motor control quantity, and the system model parameter includes:
calculating attitude deviation of the historical attitude parameters of the holder relative to the nominal attitude parameters according to the historical motor control quantity, the historical motor control quantity and the system model parameters; wherein the nominal attitude parameter is an attitude parameter of the holder in a nominal working state;
and calculating the current disturbance parameter of the holder relative to the nominal working state under the current working state according to the attitude deviation and the historical disturbance parameter.
In some optional embodiments, the obtaining the system model parameters includes:
adjusting the holder to the nominal working state;
and calculating system model parameters of the controller according to the rotational inertia of the holder in the nominal working state.
In some optional embodiments, the calculating an attitude deviation of the historical attitude parameter of the pan/tilt head from a nominal attitude parameter includes:
calculating an estimated attitude parameter of the holder in the nominal working state based on a preconfigured observer;
and determining the difference between the historical attitude parameter of the holder and the estimated attitude parameter as the attitude deviation of the historical attitude parameter of the holder relative to the nominal attitude parameter.
In some of the alternative embodiments, the first and second,
the system model parameters include an electrical time constant TmAnd motor speed gain coefficient Kd；
Calculating the dynamic disturbance parameter using the following formula:
in the formula (I), the compound is shown in the specification,
representing the estimated disturbance parameter at the t-th moment;
representing the disturbance parameter at the t-1 time;
representing the attitude deviation at the t-1 st moment; f represents a preset nonlinear function; h represents the time from the t-1 th time to the t th timeSpacing; l represents a preset observer parameter;
calculated using the following formula
In the above formula, the first and second carbon atoms are,
and is
θm(t-1) represents the measurement angle, ω, of the pan/tilt head at time t-1m(t-1) represents the measured angular velocity of the pan/tilt head at the time t-1;
calculated using the following formula
In the formula (I), the compound is shown in the specification,
representing the estimated angle at time t;
represents the estimated angle at the t-1 th time; h represents the time interval from the t-1 th time to the t-th time;
representing the estimated angular velocity at time t; to represent
An estimated angular velocity at time t-1; t ismIndicating electric timeAn inter constant; kdThe motor speed gain coefficient is shown, and u (t-1) shows the motor control quantity at the t-1 th moment;
representing the estimated disturbance parameter at the t-1 moment;
indicating the attitude deviation at time t-1.
In some alternative embodiments, f represents a preset non-linear function as:
in the formula, ε represents a set error threshold.
In some optional embodiments, the method further comprises:
and updating system model parameters of the controller according to the rotational inertia of the rotational shaft of the holder at the current moment.
In some optional embodiments, the performing attitude control on the pan/tilt head according to the dynamic disturbance parameter specifically includes:
acquiring a control instruction parameter and an attitude parameter of a holder;
determining the control quantity of the motor according to the control instruction parameters, the attitude parameters of the holder and the dynamic disturbance parameters;
and controlling the motor of the holder according to the motor control quantity.
In some optional embodiments, the determining a motor control amount according to the control instruction parameter, the attitude parameter of the pan/tilt head, and the dynamic disturbance parameter specifically includes:
calculating an attitude control error of the holder according to the control instruction parameters and the attitude parameters of the holder;
and inputting the attitude control error and the dynamic disturbance parameter into a preset controller, wherein the result output by the controller is the motor control quantity.
In some optional embodiments, the control instruction parameters include: a target angular acceleration, a target angle, and a target angular velocity;
the attitude parameters of the holder comprise: measuring angles and measuring angular velocities.
In some embodiments, by taking the above formula (1) as an example, the control device may record a nominal operating state, where the nominal operating state may be an operating state of the pan/tilt head when the camera lens of the pan/tilt head is in a preset state, or an operating state when the pan/tilt head is not affected by wind resistance; for example, taking the camera lens in the preset state as an example, assuming that the variation range of the camera lens is 10-40 mm, the working state of the pan/tilt head when the length of the camera lens is 20mm may be determined as the nominal working state of the pan/tilt head.
It should be understood, of course, that the above description is only an example, and the nominal working state of the pan/tilt head is described, in some other possible embodiments of the present application, the nominal working state of the pan/tilt head may also be a working state of the pan/tilt head when the camera lens is in other states, and the present application does not limit this.
Based on the nominal working state, in the process of executing the cradle head control method provided by the application, the control device can firstly calculate the current disturbance parameter of the cradle head relative to the nominal working state under the current working state according to the historical attitude parameter of the cradle head.
For example, the control device may adopt an iterative calculation mode, and assuming that the current time is the tth time and t is an integer greater than 1, the control device may determine the attitude parameter of the pan-tilt acquired at the t-1 time as the historical attitude parameter at the tth time; determining the attitude parameter of the holder acquired at the time t as the historical attitude parameter at the time t + 1; determining the attitude parameter of the holder acquired at the t +1 moment as the historical attitude parameter at the t +2 moment; … … are provided.
In some embodiments, the current disturbance parameter calculated by the control device may be used as a compensation amount for pan-tilt control, so that when receiving an attitude control instruction sent by a device such as a remote controller, the control device may use the received control instruction as an instruction control parameter for controlling the attitude of the pan-tilt, and generate a motor control amount of the pan-tilt by combining the current attitude parameter of the pan-tilt and the current disturbance parameter calculated in step 201, so that the control device may perform attitude control on the pan-tilt based on the motor control amount; namely: the control equipment can compensate by using the calculated current disturbance parameter in the process of carrying out attitude control on the holder based on the instruction control parameter, thereby reducing the influence of the change of the length of a camera lens of the holder on holder control and further improving the control precision of the holder.
In some embodiments, in the process of executing step 201 to calculate the current disturbance parameter of the pan/tilt head, the control device may determine, based on a differential calculation manner, a nominal working state of the pan/tilt head as a reference object, determine an attitude parameter of the pan/tilt head in the nominal working state as a nominal attitude parameter, and calculate an attitude deviation of a historical attitude parameter of the pan/tilt head relative to the nominal attitude parameter.
For example, the control device may be configured with an observer in advance, and the observer corresponds to a model parameter, and the model parameter may indicate a model parameter of the pan/tilt head in a nominal working state, for example, taking the length of the camera lens as described above as an example, the length of the camera lens in the observer may be 20mm as described above, that is, the camera lens of the pan/tilt head is in a preset state.
Based on this, in the process of calculating the attitude deviation of the historical attitude parameter of the pan/tilt head relative to the nominal attitude parameter, the control device may calculate the estimated attitude parameter of the pan/tilt head in the nominal working state based on the pre-configured observer.
For example, taking the angular velocity and the angle of the pan/tilt head as the calculation dimensions of the attitude parameter as an example, the calculation formula of the estimated attitude parameter of the pan/tilt head in the nominal working state may be represented as follows:
in the formula (I), the compound is shown in the specification,
representing the estimated angle at time t;
represents the estimated angle at the t-1 th time; h represents the time interval from the t-1 th time to the t-th time;
representing the estimated angular velocity at time t;
represents the estimated angular velocity at time t-1; t ismRepresents an electrical time constant; kdThe motor speed gain coefficient is shown, and u (t-1) shows the motor control quantity at the t-1 th moment;
representing the estimated disturbance parameter at the t-1 moment; l represents a preset observer parameter;
the attitude deviation at the t-1 th time is expressed, and the calculation formula can be expressed as follows:
in the formula (I), the compound is shown in the specification,
and is
θm(t-1) represents the measurement angle, ω, of the pan/tilt head at time t-1m(t-1) represents the measured angular velocity of the pan/tilt head at time t-1.
Then, the estimated attitude parameters (including the estimated angular velocity) at the t-th time calculated based on the above estimation
And estimate the angle
) The control device can compare the historical attitude parameters with the cradle head at the t-th moment (including the measured angular speed omega of the cradle head at the t-th moment)m(t) and measuring the angle θm(t)) making a difference, and determining the difference between the obtained historical attitude parameter and the estimated attitude parameter of the holder as the attitude deviation of the historical attitude parameter of the holder relative to the nominal attitude parameter
Namely: in an iterative manner, the state deviation
The calculation formula of (c) can be expressed as follows:
in the formula (I), the compound is shown in the specification,
and is
θm(t) represents the angle of measurement, ω, of the head at time tm(t) represents the measured angular velocity of the head at time t.
Then, based on the calculated attitude deviation, the control device may calculate a current disturbance parameter of the pan/tilt head in the current working state relative to the nominal working state according to the attitude deviation and the stored historical disturbance parameter.
For example, based on the iterative calculation, the calculation formula of the current disturbance parameter can be represented as follows:
in the formula (I), the compound is shown in the specification,
representing the estimated disturbance parameter at the t-th moment;
representing the stored disturbance parameters estimated at the t-1 moment;
representing the attitude deviation at the t-1 st moment; f represents a preset non-linear function, and the expression of the function can be as follows:
in the formula, ε represents a set observation error threshold value. In some possible scenes, when the attitude deviation calculated by the control device is small, compared with a linear function mode, the mode provided by the application can improve the convergence speed of disturbance parameter estimation calculation, so that the disturbance parameter can be calculated more accurately in a shorter time.
It should be noted that the implementation manner provided by the present application is only an example, and a differential calculation manner is adopted, and when the estimated disturbance parameter at the t-th time is calculated, iterative calculation is performed by using the estimated disturbance parameter at the t-1-th time; in some other possible implementations of the present application, the control device may further obtain the current disturbance parameter by using a pre-configured differential formula and using the calculated attitude deviation as an input, without combining the disturbance parameter estimated at the previous time, for example, in a differentiation manner.
In addition, in some possible scenarios, in the process of executing step 203, the control device may process the command control parameter, the current attitude parameter of the pan/tilt head, and the current disturbance parameter obtained by the above calculation, in combination with a preset controller, so as to generate a motor control amount of the pan/tilt head.
For example, in some possible implementation manners, in the operation of calculating the attitude control error of the pan/tilt head by the control device according to the control instruction parameter and the attitude parameter of the pan/tilt head, taking angle and angular velocity control as an example, a calculation formula of the attitude control error of the pan/tilt head may be represented as follows:
in the formula, eθ(t) represents an angle error among the attitude control errors; e.g. of the typeω(t) an angular velocity error among the attitude control errors; thetar(t) an angle parameter among command control parameters at the t-th time; omegar(t) an angular velocity parameter among command control parameters at the t-th time; thetam(t) an angle parameter in attitude parameters of the pan-tilt at the t-th moment; omegam(t) represents an angular velocity parameter among attitude parameters of the pan/tilt head at the t-th time.
Next, based on the calculated attitude control error, the control apparatus may input the attitude control error and the calculated current disturbance parameter to the preset controller, and obtain a result output by the controller, thereby taking the result output by the controller as a motor control amount of the pan/tilt head.
For example, in some possible embodiments, the calculation formula of the motor control amount of the pan/tilt head at the t-th time may be represented as follows:
wherein u (t) represents a motor control amount at the time t, and the parameter is a current value; s (t) ═ ceθ(t)+eω(t), c, k and η are all preset controller parameters; alpha is alphar(t) represents the acceleration in the command control parameter at time t; sgn(s) is a sign function.
In this way, after the motor control amount u (t) of the pan/tilt head at the time t is calculated according to, for example, the above formula, the control device may use the motor control amount as a control input of the motor to perform the attitude control of the pan/tilt head based on the motor control amount.
It should be noted that in some possible scenarios, the rotational axis of the pan/tilt head generally includes a heading axis, a pitch axis, and a roll axis. When acquiring the current attitude parameters of the pan/tilt head, the attitude parameters of the pan/tilt head in, for example, the heading direction, the pitch direction, and the roll direction can be measured by using the angle sensors disposed on the respective rotating shafts of the pan/tilt head. In some embodiments, the acceleration fed back by an IMU (Inertial Measurement Unit) on the lens may also be used to determine the angle of the pan/tilt head.
However, due to the change of the rotation angle of each rotation shaft of the holder, the IMU on the lens is not completely parallel to the motor shaft, so that the attitude parameter measured by the IMU does not correspond to the attitude parameter of the motor shaft rotation. Therefore, it is necessary to map the measured attitude parameters of the IMU axes onto the respective motor axes.
In combination with fig. 4, taking angular velocity mapping as an example, when the camera lens of the pan/tilt is in a zero position, the lens coordinate system coincides with the motor coordinate system. When the camera lens rotates around the course axis, the camera lens part of the holder rotates together with the roll motor and the pitch motor, and at the moment, the motor coordinate system of the holder is still overlapped with the lens coordinate system, so that the mapping relation between the camera lens and the motor coordinate system cannot be changed when the course is rotated.
When the camera lens of the pan-tilt rotates around the transverse rolling shaft
The frame where the pitching motor is located rotates along with the camera lens, at the moment, the pitching motor shaft of the holder is still parallel to the pitching shaft of the lens, but an included angle exists between the course axis C' axis of the lens and the course axis Z of the motor, and the following mapping relationship is provided:
when the camera lens of the tripod head rotates around the pitch axis by the angle gamma, the rotation of the lens causes the horizontal roll of the tripod head and the included angle between the heading motor shaft and the camera lens, and the camera lens has the following mapping relation:
when the camera lens of the pan-tilt rotates by an angle gamma in the pitching direction, the rolling direction and the course direction,
ψ, the relationship between the lens coordinate system and the motor coordinate system of the camera is shown in fig. 4.
Therefore, based on the rotation transformation matrix corresponding to a single axis, a coordinate transformation matrix for calculating a lens coordinate system to a motor coordinate system can be expressed as:
therefore, based on the above expression formula of the coordinate transformation matrix, before calculating the attitude control error of the pan/tilt head according to the command control parameter and the current attitude parameter of the pan/tilt head, the control device may further substitute the attitude parameter of the camera lens of the pan/tilt head at the current time into the above coordinate transformation matrix expression, so as to obtain a rotation transformation matrix corresponding to the camera lens at the current time, so as to perform coordinate transformation on the current attitude parameter of the pan/tilt head by using the rotation transformation matrix corresponding to the camera lens at the current time, that is: and converting the coordinate parameters under the lens coordinate system into a holder coordinate system, thereby decoupling the current attitude parameters of the holder and executing the operation of calculating the operation control error of the holder by using the current attitude parameters after coordinate transformation.
For example, taking the angular velocity mapping as an example, based on the coordinate transformation matrix, the calculation formula for decoupling the rotational angular velocity measured by the camera lens IMU to obtain the angular velocity of each motor shaft can be expressed as follows:
ω＝Ωω′……(13)
wherein ω' is an angular velocity measured by the lens IMU, and ω is an angular velocity of each motor shaft after coordinate conversion.
It should be noted that, in combination with the above formula (9), when calculating the motor control amount of the pan/tilt head at the T-th time, the calculation formula used includes some system model parameters of the controller, such as the electrical time constant TmMotor speed gain coefficient KdAnd c, k, η, etc. preset controller parameters; in combination with the formula (1), the electrical time constant T can be foundmIs a parameter related to the sum of the moment of inertia of the motor and the load, that is: electric time constant TmMay be affected by changes in the length of the camera lens.
In some embodiments, the control apparatus may use the set electrical time constant T in calculating the motor control amount u (T) of the motor based on equation (9)mParticipating in calculation; however, in order to improve the calculation accuracy of the motor control quantity u (T), in some possible scenarios, the control device may further update the system model parameter of the controller according to the moment of inertia of the rotating shaft of the pan/tilt head at the current moment, such as the electrical time constant T described abovemTherefore, the control equipment can utilize the updated system model parameters of the controller to calculate the motor control quantity u (t) so as to improve the calculation precision of the motor control quantity u (t) and further improve the control precision of the holder.
In addition, as can be seen from the foregoing embodiments provided in the present application, the pan-tilt control method provided in the present application needs to use the nominal working state of the pan-tilt as a reference, and calculate the current disturbance parameter of the pan-tilt in the current working state relative to the nominal working state, so as to compensate the command control parameter by using the current disturbance parameter, so as to improve the control accuracy of the pan-tilt.
For example, in the above example, the nominal working state may be a working state of the pan/tilt head when the length of the camera lens is 20 mm. During calculation, the tripod head is required to be positionedThe system model parameters of the controller under nominal working conditions are involved in the calculation, such as the electrical time constant T of the pan-tilt during the electrificationm。
Therefore, in some possible embodiments, before performing step 301, when the pan/tilt head is powered on, the control device may adjust the pan/tilt head to a nominal working state, and calculate the system model parameters of the controller according to the rotational inertia of the pan/tilt head in the nominal working state, so as to apply the calculated system model parameters to the above calculation process; for example, when the console is powered on, the electrical time constant T may be calculated by using the formula (1), for examplemAnd calculating the electrical time constant TmThe method is applied to the calculation processes of formula (2), formula (3) and formula (9).
In this case, for example, taking the length of the camera lens of the pan/tilt head as the dimension of the nominal working state as an example, the control device may adjust the camera lens of the pan/tilt head to a preset state in the process of adjusting the pan/tilt head to the nominal working state, for example, the length of the camera lens of the above example is adjusted to 20mm, so that the pan/tilt head is in the nominal working state.
Of course, it is understood that the above-mentioned manner is only an example, and the system model parameters of the controller when the pan-tilt is powered on are calculated in an automatic calculation manner; in some other possible embodiments of the present application, the control device may also obtain the initial system model parameters of the controller by receiving other device inputs or by user settings.
The cradle head control method provided by the present application is exemplified below based on some cradle head control scenarios.
A sliding mode controller and a disturbance observer can operate in the control equipment, and when the motor and the load of each shaft of the holder work, the working current u of the holder can be respectively collected through the arranged current sensor, the angular velocity sensor and the angle sensormAngular velocity after decoupling ωmAnd an angle thetam(ii) a Moreover, when the cradle head is powered on, the control device may calculate the electrical time constant in a manner of, for example, the above equation (1)TmAnd system model parameters are equal.
In some possible scenarios, the remote controller may send a command acceleration α to the pan/tilt headrCommand angular velocity ωrCommand angle thetarAnd waiting for instruction control parameters to control the cradle head to adjust the posture.
In the process of executing the pan/tilt/zoom control method provided by the present application, the disturbance observer operating in the control device may perform iterative computation by using the stored motor control amount u (t-1) at the previous computation time and the stored attitude parameters such as the angle and the angular velocity based on the algorithms such as the formula (3) and the formula (4), so as to obtain the attitude deviation at the previous computation time
Then, the disturbance observer may utilize the stored disturbance parameter at the last calculation time based on the above-mentioned algorithms such as formula (5) and formula (6)
The attitude deviation of the last calculation time is obtained by calculation
Angular velocity omega measured by angular velocity sensormAnd the angle theta measured by the angle sensormCalculating the disturbance parameter of the current time
And applying the perturbation parameter
Outputting the signal to a synovial membrane controller which operates in the control equipment; accordingly, the synovial controller can utilize the calculated electrical time constant T based on the above-mentioned algorithms of formula (8), formula (9), and the likemPre-configured motor speed gain coefficient KdAnd calculating the obtained disturbance parameter of the current moment
Received command acceleration alpharCommand angular velocity ωrCommand angle thetarThe measured angular velocity omegamAnd an angle thetamAs input, the motor control quantity u (t) of the pan-tilt head at the current moment is calculated, the motor control quantity u (t) is output to the current controller, and then the current controller obtains the motor control quantity u (t) and the working current u (t) measured by the current sensormAnd controlling the holder to adjust the posture of the holder.
In order to explain the control effect of the pan/tilt/zoom control method provided by the present application, with reference to fig. 5, a first variation curve in fig. 5 may indicate an angle variation curve of the pan/tilt/zoom when a camera lens is shortest, and a second variation curve may indicate an angle variation curve of the pan/tilt when the camera lens is longest; it can be seen that even if the camera lens is changed within the range from the shortest to the longest, the angle control of the holder is not overshot, and the control effect is improved.
In addition, referring to fig. 6 based on the same inventive concept as the above-mentioned pan/tilt control method provided in the present application, fig. 6 shows an exemplary structural block diagram of a pan/tilt control apparatus 300 provided in the present application, and in some possible embodiments, the pan/tilt control apparatus 300 may include a processing module 301 and a control module 302.
The processing module 301 is configured to obtain historical attitude parameters, historical motor control quantities, and system model parameters of the pan/tilt; determining the dynamic disturbance parameters according to the historical attitude parameters of the holder, the historical motor control quantity and the system model parameters; the dynamic disturbance parameter is a current disturbance parameter of the holder in a current working state relative to a nominal working state;
and the control module 302 is configured to perform attitude control on the pan/tilt head according to the dynamic disturbance parameter.
In some optional embodiments, when determining the dynamic disturbance parameter according to the historical attitude parameter of the pan/tilt head, the historical motor control quantity, and the system model parameter, the processing module 301 is specifically configured to:
calculating attitude deviation of the historical attitude parameters of the holder relative to the nominal attitude parameters according to the historical motor control quantity, the historical motor control quantity and the system model parameters; wherein the nominal attitude parameter is an attitude parameter of the holder in a nominal working state;
and calculating the current disturbance parameter of the holder relative to the nominal working state under the current working state according to the attitude deviation and the historical disturbance parameter.
In some optional embodiments, when the processing module 301 obtains the system model parameters, it is specifically configured to:
adjusting the holder to the nominal working state;
and calculating system model parameters of the controller according to the rotational inertia of the holder in the nominal working state.
In some optional embodiments, when the processing module 301 calculates the attitude deviation of the historical attitude parameter of the pan/tilt head with respect to the nominal attitude parameter, it is specifically configured to:
calculating an estimated attitude parameter of the holder in the nominal working state based on a preconfigured observer;
and determining the difference between the historical attitude parameter of the holder and the estimated attitude parameter as the attitude deviation of the historical attitude parameter of the holder relative to the nominal attitude parameter.
In some optional embodiments, the system model parameters include an electrical time constant TmAnd motor speed gain coefficient Kd；
The processing module calculates the dynamic disturbance parameter by using the following formula:
in the formula (I), the compound is shown in the specification,
representing the estimated disturbance parameter at the t-th moment;
representing the disturbance parameter at the t-1 time;
representing the attitude deviation at the t-1 st moment; f represents a preset nonlinear function; h represents the time interval from the t-1 th time to the t-th time; l represents a preset observer parameter;
calculated using the following formula
In the above formula, the first and second carbon atoms are,
and is
θm(t-1) represents the measurement angle, ω, of the pan/tilt head at time t-1m(t-1) represents the measured angular velocity of the pan/tilt head at the time t-1;
calculated using the following formula
In the formula (I), the compound is shown in the specification,
representing the estimated angle at time t;
represents the estimated angle at the t-1 th time; h represents the time from t-1 to tA time interval of a time;
representing the estimated angular velocity at time t; to represent
An estimated angular velocity at time t-1; t ismRepresents an electrical time constant; kdThe motor speed gain coefficient is shown, and u (t-1) shows the motor control quantity at the t-1 th moment;
representing the estimated disturbance parameter at the t-1 moment;
indicating the attitude deviation at time t-1.
In some alternative embodiments, f represents a preset non-linear function as:
in the formula, ε represents a set error threshold.
In some optional embodiments, the processing module 301 is further configured to:
and updating system model parameters of the controller according to the rotational inertia of the rotational shaft of the holder at the current moment.
In some alternative embodiments, the control module 302 determines the dynamic disturbance parameter based on the dynamic disturbance parameter,
carrying out attitude control on the cradle head, and specifically comprising:
acquiring a control instruction parameter and an attitude parameter of a holder;
determining the control quantity of the motor according to the control instruction parameters, the attitude parameters of the holder and the dynamic disturbance parameters;
and controlling the motor of the holder according to the motor control quantity.
In some optional embodiments, the control module 302 determines the motor control amount according to the control instruction parameter, the attitude parameter of the pan/tilt head, and the dynamic disturbance parameter, and specifically includes:
calculating an attitude control error of the holder according to the control instruction parameters and the attitude parameters of the holder;
and inputting the attitude control error and the dynamic disturbance parameter into a preset controller, wherein the result output by the controller is the motor control quantity.
In some of the alternative embodiments, the first and second,
the control instruction parameters include: a target angular acceleration, a target angle, and a target angular velocity;
the attitude parameters of the holder comprise: measuring angles and measuring angular velocities.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The apparatus embodiments described above are merely illustrative, and for example, the flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods and computer program products according to some embodiments of the present application. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s).
It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved.
It will also be noted that each block of the block diagrams and/or flowchart illustration, and combinations of blocks in the block diagrams and/or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
In addition, functional modules in some embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
The functions, if implemented in the form of software functional modules and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to perform all or part of the steps of the method according to some embodiments of the present application. And the aforementioned storage medium includes: u disk, removable hard disk, read only memory, random access memory, magnetic or optical disk, etc. for storing program codes.
The above description is only a few examples of the present application and is not intended to limit the present application, and those skilled in the art will appreciate that various modifications and variations can be made in the present application. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
It will be evident to those skilled in the art that the present application is not limited to the details of the foregoing illustrative embodiments, and that the present application may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the application being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (10)
1. A holder control method, the holder includes the electrical machinery, characterized by, include:
acquiring historical attitude parameters, historical motor control quantity and system model parameters of the holder;
determining the dynamic disturbance parameters according to the historical attitude parameters of the holder, the historical motor control quantity and the system model parameters; the dynamic disturbance parameter is a current disturbance parameter of the holder in a current working state relative to a nominal working state;
and carrying out attitude control on the holder according to the dynamic disturbance parameters.
2. The method of claim 1, wherein determining the dynamic disturbance parameter based on historical attitude parameters of the pan/tilt head, the historical motor control quantities, and the system model parameters comprises:
calculating attitude deviation of the historical attitude parameters of the holder relative to the nominal attitude parameters according to the historical motor control quantity, the historical motor control quantity and the system model parameters; wherein the nominal attitude parameter is an attitude parameter of the holder in a nominal working state;
and calculating the current disturbance parameter of the holder relative to the nominal working state under the current working state according to the attitude deviation and the historical disturbance parameter.
3. The method of claim 2, wherein calculating the attitude deviation of the historical attitude parameter of the pan/tilt head from a nominal attitude parameter comprises:
calculating an estimated attitude parameter of the holder in the nominal working state based on a preconfigured observer;
and determining the difference between the historical attitude parameter of the holder and the estimated attitude parameter as the attitude deviation of the historical attitude parameter of the holder relative to the nominal attitude parameter.
4. The method according to any one of claims 1 to 3,
and according to the dynamic disturbance parameters, carrying out attitude control on the holder, specifically comprising:
acquiring a control instruction parameter and an attitude parameter of a holder;
determining the control quantity of the motor according to the control instruction parameters, the attitude parameters of the holder and the dynamic disturbance parameters;
and controlling the motor of the holder according to the motor control quantity.
5. The utility model provides a cloud platform controlling means, the cloud platform includes the motor, its characterized in that includes:
the processing module is used for acquiring historical attitude parameters, historical motor control quantity and system model parameters of the holder; determining the dynamic disturbance parameters according to the historical attitude parameters of the holder, the historical motor control quantity and the system model parameters; the dynamic disturbance parameter is a current disturbance parameter of the holder in a current working state relative to a nominal working state;
and the control module is used for carrying out attitude control on the holder according to the dynamic disturbance parameters.
6. A pan/tilt head control device according to claim 5, wherein the processing module, when determining the dynamic disturbance parameter according to the historical attitude parameter of the pan/tilt head, the historical motor control quantity and the system model parameter, is specifically configured to:
calculating attitude deviation of the historical attitude parameters of the holder relative to the nominal attitude parameters according to the historical motor control quantity, the historical motor control quantity and the system model parameters; wherein the nominal attitude parameter is an attitude parameter of the holder in a nominal working state;
and calculating the current disturbance parameter of the holder relative to the nominal working state under the current working state according to the attitude deviation and the historical disturbance parameter.
7. A pan and tilt head control apparatus according to claim 5 or 6,
the control module is used for carrying out attitude control on the holder according to the dynamic disturbance parameters, and is specifically used for:
acquiring a control instruction parameter and an attitude parameter of a holder;
determining the control quantity of the motor according to the control instruction parameters, the attitude parameters of the holder and the dynamic disturbance parameters;
and controlling the motor of the holder according to the motor control quantity.
8. An electronic device, comprising:
at least one processor; and
a memory communicatively coupled to the at least one processor; wherein the content of the first and second substances,
the memory stores instructions executable by the at least one processor, the instructions, when executed by the at least one processor, causing the at least one processor to perform the method of any one of claims 1-10.
9. A computer-readable storage medium having stored thereon computer-executable instructions configured to perform the method of any one of claims 1-4.
10. A pod, characterized by comprising a head control device according to any one of claims 5 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111451464.0A CN114153234A (en) | 2021-12-01 | 2021-12-01 | Cloud deck control method and device, electronic equipment, storage medium and pod |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111451464.0A CN114153234A (en) | 2021-12-01 | 2021-12-01 | Cloud deck control method and device, electronic equipment, storage medium and pod |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114153234A true CN114153234A (en) | 2022-03-08 |
Family
ID=80455436
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111451464.0A Pending CN114153234A (en) | 2021-12-01 | 2021-12-01 | Cloud deck control method and device, electronic equipment, storage medium and pod |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114153234A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116926A (en) * | 2015-08-20 | 2015-12-02 | 深圳一电科技有限公司 | Holder control method and device |
| WO2018099260A1 (en) * | 2016-12-01 | 2018-06-07 | 亿航智能设备（广州）有限公司 | Method and system for ball head posture control |
| CN112292320A (en) * | 2019-11-25 | 2021-01-29 | 深圳市大疆创新科技有限公司 | Control method of holder, unmanned aerial vehicle and storage medium |
| CN113170051A (en) * | 2020-06-08 | 2021-07-23 | 深圳市大疆创新科技有限公司 | Holder control method, handheld holder and computer readable storage medium |
| CN113359867A (en) * | 2021-06-07 | 2021-09-07 | 合肥工业大学 | Unmanned aerial vehicle self-stabilizing cradle head and control method |
-
2021
- 2021-12-01 CN CN202111451464.0A patent/CN114153234A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105116926A (en) * | 2015-08-20 | 2015-12-02 | 深圳一电科技有限公司 | Holder control method and device |
| WO2018099260A1 (en) * | 2016-12-01 | 2018-06-07 | 亿航智能设备（广州）有限公司 | Method and system for ball head posture control |
| CN112292320A (en) * | 2019-11-25 | 2021-01-29 | 深圳市大疆创新科技有限公司 | Control method of holder, unmanned aerial vehicle and storage medium |
| CN113170051A (en) * | 2020-06-08 | 2021-07-23 | 深圳市大疆创新科技有限公司 | Holder control method, handheld holder and computer readable storage medium |
| CN113359867A (en) * | 2021-06-07 | 2021-09-07 | 合肥工业大学 | Unmanned aerial vehicle self-stabilizing cradle head and control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109000612B (en) | Equipment angle estimation method and device, camera shooting assembly and aircraft | |
| US10928838B2 (en) | Method and device of determining position of target, tracking device and tracking system | |
| US11156905B2 (en) | Control method for gimbal, controller, and gimbal | |
| WO2018184467A1 (en) | Method and device for detecting posture of ball head | |
| US11073389B2 (en) | Hover control | |
| CN107807680B (en) | Pan-tilt drift compensation method | |
| WO2019104571A1 (en) | Image processing method and device | |
| CN108829123B (en) | Control method, system and device for four-rotor aircraft | |
| CN107526373B (en) | Cloud deck control system and control method and device thereof | |
| WO2018191964A1 (en) | Camera mount control method, and camera mount | |
| US11669109B2 (en) | Method and apparatus for yaw fusion and aircraft | |
| CN105045293A (en) | Cradle head control method, external carrier control method and cradle head | |
| CN110873563B (en) | Cloud deck attitude estimation method and device | |
| CN111352410A (en) | Flight control method and device, storage medium, automatic pilot and unmanned aerial vehicle | |
| CN110530400B (en) | Gyroscope drift correction method and device, photoelectric pod and aircraft | |
| CN110989691B (en) | Cloud deck control method and device, storage medium, electronic equipment and unmanned aerial vehicle | |
| CN116149193B (en) | Anti-disturbance control method and system for rotor unmanned aerial vehicle based on vision | |
| CN110645976B (en) | Attitude estimation method of mobile robot and terminal equipment | |
| WO2021056503A1 (en) | Positioning method and apparatus for movable platform, movable platform, and storage medium | |
| CN114153234A (en) | Cloud deck control method and device, electronic equipment, storage medium and pod | |
| CN114167901A (en) | Cloud deck control method and device, electronic equipment, pod and storage medium | |
| CN114167902A (en) | Holder control method, holder control device, control equipment and storage medium | |
| CN111998870A (en) | Calibration method and device of camera inertial navigation system | |
| CN111238486B (en) | Navigation method and device for unmanned equipment, storage medium and unmanned equipment | |
| CN107765712B (en) | Holder rotation angle estimation method, controller and system based on sensor data fusion |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |