CN214504163U

CN214504163U - Three-axis self-stabilizing holder control device

Info

Publication number: CN214504163U
Application number: CN202120358743.1U
Authority: CN
Inventors: 刘寅莹; 王珣; 杜长青; 庞宗强
Original assignee: State Grid Jiangsu Electric Power Engineering Consultation Co ltd; Nanjing University of Posts and Telecommunications
Current assignee: State Grid Jiangsu Electric Power Engineering Consultation Co ltd; Nanjing University of Posts and Telecommunications
Priority date: 2021-02-09
Filing date: 2021-02-09
Publication date: 2021-10-26
Anticipated expiration: 2031-02-09

Abstract

The utility model discloses a triaxial self-stabilizing pan-tilt control device, which comprises an attitude sensor module, an image sensor module, a microcontroller module, a triaxial pan-tilt control module and a power supply module; the attitude sensor module is mechanically and fixedly connected with the image sensor module and is in communication connection with the microcontroller module through a serial port bus; the three-axis pan-tilt control module is connected with a pin multiplexed with the external of a microcontroller module timer and is regulated and controlled through SPWM waves; the power supply module supplies power to the attitude sensor module, the image sensor module, the microcontroller module and the three-axis holder control module. The utility model discloses utilize high accuracy attitude sensor to acquire image sensor's position attitude information in real time and input the controller and carry out motion compensation, imaging system stability is high, and image sensor module is when gathering image information, tracks the target object through the iterative corrosion algorithm, and system overall structure is simple, and is stable effectual, and reaction rate is fast, and extensive applicability is general.

Description

Three-axis self-stabilizing holder control device

Technical Field

The utility model relates to a from steady cloud platform control technical field, in particular to triaxial is from steady cloud platform controlling means.

Background

With the development of image processing technology, the requirements of related technologies on the definition and resolution of images and videos are gradually improved, so that the improvement of imaging stability is very important while the related parameters of the imaging resolution of image hardware are improved.

However, since the parameters and internal structures of various cameras or small imaging devices are different, the parameters of the stabilization system and the auxiliary algorithm need to be designed separately for different lenses, and the separate stabilization system also increases the cost of the manufacturer of the imaging device, so that the system cannot be widely used. And some outside mechanical stabilization structure is widely used in professional photography equipment or unmanned aerial vehicle's stable maintenance because its extensive applicability and the outstanding characteristics of stable effect.

The early stable system is mostly pure mechanical structure cloud platform, needs the professional training through the long time just can use, and the ease for use is relatively poor, the structure is complicated, the price is expensive, can not be used widely. With the rapid development of microelectronic technology and sensor technology, the market urgently needs to develop a self-stabilizing pan-tilt control system with better stabilizing effect, faster reaction speed, wider applicability and lower cost.

SUMMERY OF THE UTILITY MODEL

Utility model purpose: an object of the utility model is to provide a through the acceleration and the angular velocity of high accuracy attitude sensor acquisition system, the cooperation filtering gesture is resolved the algorithm and is acquireed the attitude angle of system, thereby carries out the triaxial self-stabilization cloud platform controlling means that reverse compensation kept imaging system's stability with its input to controller output control motion compensator.

The technical scheme is as follows: a triaxial is from steady cloud platform controlling means, including attitude sensor module, image sensor module, microcontroller module, triaxial cloud platform control module and power module. The attitude sensor of the attitude sensor module is mechanically and fixedly connected with the image sensor of the image sensor module and is in communication connection with the microcontroller module through a serial port bus; the three-axis pan-tilt control module is connected with a pin of a microcontroller module timer and is regulated and controlled through SPWM waves; the power supply module supplies power to the modules.

The attitude sensor module collects angular velocity and acceleration information of the image sensor module and sends the information to the microcontroller module in real time.

Preferably, the attitude sensor is an MPU6050 sensor.

The image sensor module acquires image information and obtains the central pixel position and the edge information of a target by adopting an iterative corrosion algorithm aiming at specific target information.

Preferably, the image sensor module is an OpenMV module.

And the microcontroller module analyzes the position and attitude information and the image information of the system and performs PID output control on the three-axis holder control module.

Preferably, the main control chip of the microcontroller module adopts an STM32F103RCT6 chip.

And the driving motor of the three-axis holder control module is a direct current brushless motor.

Preferably, a DRV8313 chip is adopted as a driving chip of the three-axis pan-tilt control module.

Has the advantages that: compared with the prior art, the utility model has the advantages of it is following: the position and attitude information of the image sensor is acquired in real time by using the high-precision attitude sensor and is input into the microcontroller to output and control the motion compensator to carry out reverse compensation so as to keep the stability of the imaging system; the image sensor module can realize the tracking of a target object through an iterative corrosion algorithm while acquiring image information; the system has the advantages of simple overall structure, good stabilizing effect, high reaction speed and wide applicability.

Drawings

FIG. 1 is a schematic diagram of the hardware structure of the device of the present invention;

fig. 2 is a flow chart of the present invention.

Detailed Description

As shown in fig. 1, the three-axis self-stabilizing pan/tilt control device according to this embodiment includes an attitude sensor module, an image sensor module, a microcontroller module, a three-axis pan/tilt control module, and a power supply module. The attitude sensor of the attitude sensor module is fixedly connected with the image sensor of the image sensor module, keeps relatively static, and is in communication connection with the microcontroller module through a serial port bus; the three-axis pan-tilt control module is connected with a pin multiplexed with the external of a microcontroller module timer and is regulated and controlled through SPWM waves; and the power supply module is responsible for supplying power to the attitude sensor module, the image sensor module, the microcontroller module and the three-axis holder control module.

The attitude sensor module adopts an MPU6050 sensor, is mainly used for collecting angular velocity and acceleration information of the image sensor module and sending the angular velocity and acceleration information to the microcontroller module in real time. The image sensor module adopts an OpenMV module, and when image information is collected, an iterative corrosion algorithm is adopted for specific target information to obtain the central pixel position and the edge information of a target so as to realize the tracking of a target object. And the main control chip of the microcontroller module is an STM32F103RCT6 chip and is used for analyzing the position and posture information and the image information of the system and simultaneously carrying out PID output control on the three-axis holder control module. The three-axis pan-tilt control module adopts a direct current brushless motor, and the driving chip adopts a DRV8313 chip.

As shown in fig. 2, the working process of the three-axis self-stabilizing pan/tilt control device in this embodiment is as follows: starting up, initializing a program, including the initialization of the attitude module, the initialization of the image module and the initialization of the motor driving module, and simultaneously distributing system hardware resources. The attitude sensor adopts an MPU6050 sensor, keeps relatively static with the image sensor module, calculates and acquires and updates the attitude information of the image sensor module by measuring angular velocity and acceleration information and matching with a quaternion first-order complementary filtering algorithm, and expresses and outputs the attitude information in the form of Euler angles. The image sensor module adopts an OpenMV module, and when image information is collected, an iterative corrosion algorithm is adopted for specific target information to obtain the central pixel position and the edge information of a target. The microcontroller module adopts an STM32F103RCT6 chip for analyzing the position and posture information and the image information of the system, and simultaneously controls a DRV8313 chip to drive a direct current brushless motor of the three-axis pan-tilt control module through SPWM waves, so as to compensate relative motion and simultaneously complete the tracking function of a target object.

The actual controller can be divided into two layers: the inner layer controller is mainly used for keeping the stability of the imaging system and ensuring the basic function of the system; the outer layer controller is mainly used for processing the control quantity of the output angle of the image information and realizing the target tracking function of the image.

Claims

1. A three-axis self-stabilizing pan-tilt control device is characterized by comprising an attitude sensor module, an image sensor module, a microcontroller module, a three-axis pan-tilt control module and a power supply module;

the attitude sensor of the attitude sensor module is fixedly connected with the image sensor of the image sensor module and is in communication connection with the microcontroller module through a serial port bus;

the three-axis pan-tilt control module is connected with a pin of a timer of the microcontroller module and is regulated and controlled through SPWM waves;

the power supply module supplies power to the modules.

2. The three-axis self-stabilizing pan-tilt control device according to claim 1, wherein the attitude sensor module collects angular velocity and acceleration information of the image sensor module and sends the information to the microcontroller module in real time.

3. The three-axis self-stabilizing pan-tilt control device according to claim 2, wherein the attitude sensor is an MPU6050 sensor.

4. The control device of claim 1, wherein the image sensor module acquires the image information and acquires the center pixel position and the edge information of the target.

5. The three-axis self-stabilizing pan-tilt control device according to claim 4, wherein the image sensor module is an OpenMV module.

6. The apparatus according to claim 1, wherein the micro-controller module analyzes the system position and posture information and the image information, and performs PID output control on the three-axis pan-tilt control module.

7. The three-axis self-stabilizing pan-tilt head control device according to claim 6, wherein the main control chip of the microcontroller module is an STM32F103RCT6 chip.

8. The apparatus according to claim 1, wherein the driving motor of the three-axis pan-tilt control module is a brushless dc motor.

9. The apparatus according to claim 8, wherein the driving chip of the three-axis pan-tilt control module is a DRV8313 chip.