WO2016154996A1 - 稳定平台及其跟随控制系统及方法 - Google Patents
稳定平台及其跟随控制系统及方法 Download PDFInfo
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- WO2016154996A1 WO2016154996A1 PCT/CN2015/075807 CN2015075807W WO2016154996A1 WO 2016154996 A1 WO2016154996 A1 WO 2016154996A1 CN 2015075807 W CN2015075807 W CN 2015075807W WO 2016154996 A1 WO2016154996 A1 WO 2016154996A1
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- 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
Definitions
- a stable platform following control system for carrying a load the stable platform comprising a translation axis, a roll axis, and a pitch axis connected in sequence, the pitch axis for connecting the load
- the method includes: detecting a module: detecting whether the stable platform is in a following posture, wherein the following posture is a posture in which the stable platform rotates in a direction of a pitch axis such that the stable platform loads upward or downward; determining a module: real-time Obtaining current position information of the roll axis of the stable platform, and calculating relative position information of the roll axis with respect to the following attitude; following module: automatically controlling the position according to relative position information of the roll axis The roll shaft is rotated to perform automatic following of the roll axis until returning to the following attitude.
- FIG. 1 is a system architecture diagram of a preferred embodiment of a stable platform following control system of the present invention.
- FIG. 4 is a schematic view showing the load of the stabilizing platform shown in FIG. 2 facing downward.
- Fig. 5 is a schematic view showing the load of the stabilizing platform shown in Fig. 2 facing upward.
- FIG. 6 is a flow chart of a preferred embodiment of a stable platform following control method of the present invention.
- the stable platform following control system 18 (hereinafter referred to as the following control system 18) is applied to a stable platform 1.
- the stable platform 1 is used to carry a load 14.
- the load 14 can be any other suitable imaging device such as a camera, camera or lens.
- the stable platform 1 is a cloud platform.
- the stable platform 1 is a handheld cloud platform (as shown in FIG. 2).
- the load 14 is an image acquisition device.
- the stabilizing platform 1 includes at least, but not limited to, a translational axis 11 (Pan or Yaw axis, which may also be referred to as a heading axis) and a roller axis 12 (Roll axis), which are sequentially connected, A pitch axis 13 (Pitch or Tilt axis), a first driving device 110, a first position detecting device 111, a second driving device 120, a second position detecting device 121, a third driving device 130, and a third position detecting device 131.
- a translational axis 11 Pan or Yaw axis, which may also be referred to as a heading axis
- Roll axis 12 roller axis 12
- a pitch axis 13 Pitch or Tilt axis
- first driving device 110 the second driving device 120, and the third driving device 130 may be a brushless motor or a driving device such as a brush motor.
- the third position detecting device 131 is configured to detect position information (ie, a rotation angle) of the pitch axis 13 with respect to the zero point position.
- the position detecting device described above may be provided on the corresponding driving device.
- the position detecting means described above may be an encoder.
- the position detecting device described above may also be a position sensor.
- Each of the position detecting devices acquires positional information of each of the axes with respect to a zero position by detecting a rotation angle of a drive shaft of each of the drive devices.
- the stable platform 1 described in the present invention has a three-axis follow mode, and when the mode is turned on, the processor of the stable platform 1 is rotated when the stable platform 1 is rotated (for example, rotated or tilted).
- the three axes are also controlled to perform corresponding rotations to control the load 14 to smoothly perform respective rotational and pitching actions to maintain the relative position of the load 14 and the stable platform 1 unchanged.
- the speed of the rotation can be accurately set by the processor 16 of the stable platform.
- the stabilization platform 1 further includes, but is not limited to, an inertial measurement unit (IMU) and a storage device 17.
- IMU inertial measurement unit
- the inertial measurement unit 15 is configured to detect a pose of the load 14 carried on the stable platform 1, and the pose may include, but is not limited to, the position and angle of the load 14.
- the processor 16 is configured to execute and process various types of commands and data of the stable platform 1.
- the storage device 17 is configured to store various types of data of the stable platform 1. In other embodiments, the storage device 17 may be a memory external to the stable platform 1.
- the following control system 18 may be segmented into one or more modules that are stored in the storage device 17 of the stabilizing platform 1 and configured to be comprised of one or more
- the processor (this embodiment is a processor 16) is executed to complete the present invention.
- the stable platform of the present invention follows the functional block diagram of the preferred embodiment of the control system.
- the following control system 18 includes a detection module 180, a determination module 181, and a following module 182.
- Each of the above functional modules 180-181 is a respective program segment for completing a specific function, and is more suitable for describing the execution process of the software in the computer than the software program itself, such as being executed in the processor 16 of the stable platform 1, and thus the present invention is directed to the software program.
- the descriptions are all described in modules.
- the user when the user needs to use the stable platform 1 to perform the load 14 to face down or down, the user can start the stable platform 1 in the direction of the pitch axis 13 after starting the stable platform 1. Rotating so that the load 14 carried by the stabilizing platform 1 faces downward (see FIG. 4) or upwards (see FIG. 5) to use the stable platform 1 currently in a downward or upward attitude of the load 14.
- the stable platform 1 currently in a downward or upward attitude of the load 14.
- the detecting module 180 is configured to detect whether the stable platform 1 is in a following posture.
- the following attitude is a posture in which the stable platform 1 is rotated in the direction of the pitch axis 13 such that the load 14 of the stable platform 1 faces upward or downward.
- the following gesture may be updated in real time. That is, the following posture may be based on whether the current pose information of the load 14 and the current position information of the translation axis 11, the roll axis 12, and the pitch axis 13 of the stable platform 1 satisfy a preset condition. Update in real time.
- the preset condition is that the tilt angle of the load 14 relative to the horizontal plane is a preset tilt angle gama, and the rotation angle of the shift axis 11 relative to the zero position of the stable platform 1 is a preset angle psi.
- the rotation angle of the roll axis 12 with respect to the zero point position is a preset angle phi
- the rotation angle of the pitch axis 13 with respect to the zero point position is a preset angle theta.
- the determining module 181 is configured to acquire current position information of the roll axis 12 of the stable platform 1 in real time according to the motion of the stable platform 1 Relative position information of the cross roller 12 with respect to the following attitude is described.
- the following module 182 is configured to control the rotation of the second driving device 120 of the stable platform 1 according to the determined relative position information of the roll axis 12 to drive the roll shaft 12 to rotate to perform the horizontal The automatic follow of the roller 12 until the stable platform 1 returns to the following attitude. Specifically, the following module 182 determines whether the relative position information of the roll axis 12 satisfies a preset roll axis following condition to perform automatic following of the roll axis 12. When the relative position information of the roll shaft 12 satisfies the preset roll axis following condition, the following module 182 drives the roll axis 12 to rotate so that the current roll axis 12 of the stable platform 1 is current.
- the position information coincides with the position information of the roll shaft 12 corresponding to the following posture to perform automatic following of the roll shaft 12.
- the following module 182 keeps the current posture of the roll axis 12 of the stable platform 1 unchanged, and does not execute the roll axis 12 follow.
- the preset roll axis following condition is that when the roll angle of the roll axis 12 relative to the following attitude exceeds a predetermined angle range, the roll axis 12 is executed. Automatic follow-up, or automatic following of the roll axis 12 when the angle of rotation of the roll axis 12 relative to the following attitude is not zero.
- the present invention mainly uses the position difference of the roll shaft 12 to realize the load 14 facing downward or follow the shooting up.
- the position information of the translation axis 11 and the pitch axis 13 of the stable platform 1 is changed or changed more than one.
- the determining module 181 and the following module 182 also drive the translation axis 11 and the pitch axis 13 according to the relative position information of the translation axis 11 and the pitch axis 13 with respect to the following attitude. Rotate until the stabilizing platform 1 returns to the following attitude.
- the following module 182 is further configured to determine whether the relative position information of the translation axis 11 satisfies a preset translation axis following condition.
- the following module 182 controls the rotation of the first driving device 110 of the stable platform 1 to drive the translation axis 11 to rotate, so that The current position information of the translation axis 11 of the stabilization platform 1 coincides with the position information of the translation axis 11 corresponding to the following posture to perform automatic following of the translation axis 11.
- the following module 182 maintains the current posture of the translation axis 11 of the stable platform 1 unchanged, and does not perform the following of the translation axis 11.
- the preset translation axis following condition is: when the rotation angle of the translation axis 11 relative to the following posture exceeds a predetermined angle range, automatic tracking of the translation axis 11 is performed. Or when the rotation angle of the translation axis 11 with respect to the following posture is not zero, automatic following of the translation axis 11 is performed.
- the determining module 181 when it is determined that the stable platform 1 is in the following attitude, is further configured to acquire the stable platform 1 in real time according to the motion of the stable platform 1
- the current position information of the pitch axis 13 is calculated, and relative position information of the pitch axis 13 with respect to the following attitude is calculated.
- the following module 182 does not control the three axes of the stable platform 1 to follow.
- Step S602 the detecting module 180 detects whether the stable platform 1 is in a following posture.
- the following attitude is a posture in which the stable platform 1 is rotated in the direction of the pitch axis 13 such that the load 14 of the stable platform 1 faces upward or downward.
- the detecting module 180 detects the current pose of the load 14 carried on the stable platform 1 in real time by controlling the inertial measurement unit 15, and controls the first position detecting device 111,
- the second position detecting device 121 and the third position detecting device 131 respectively detect the current position information of the translation axis 11, the roll axis 12, and the pitch axis 13 in real time to determine the current posture of the stable platform 1 and pass through
- the current posture of the stable platform 1 is compared with the following posture of the stable platform 1 to determine whether the stable platform 1 is in a following posture.
- the following gesture may be updated in real time. That is, the following posture may be based on whether the current pose information of the load 14 and the current position information of the translation axis 11, the roll axis 12, and the pitch axis 13 of the stable platform 1 satisfy a preset condition. Update in real time.
- the preset condition is that the tilt angle of the load 14 relative to the horizontal plane is a preset tilt angle gama, and the rotation angle of the shift axis 11 relative to the zero position of the stable platform 1 is a preset angle psi.
- the rotation angle of the roll axis 12 with respect to the zero point position is a preset angle phi
- the rotation angle of the pitch axis 13 with respect to the zero point position is a preset angle theta.
- the angle of inclination of the load 14 of the stabilizing platform 1 with respect to the horizontal plane can be measured by using a horizontal goniometer (not shown) externally or built in the stable platform 1. Determining the stable platform 1 when the current tilt angle of the load 14 with respect to the horizontal plane and the current position information of the translation axis 11 , the roll axis 12 , and the pitch axis 13 of the stable platform 1 satisfy the preset condition described above.
- the current posture as a follow gesture.
- the preset tilt angle gama is greater than -30 degrees and less than 30 degrees.
- the preset angle theta is greater than -60 degrees and less than 60 degrees.
- the preset angle phi is greater than -40 degrees and less than 40 degrees.
- the preset angle psi is an arbitrary angle value. The range corresponding to the preset tilt angle gama, the preset angle theta, the preset angle phi, and the preset angle psi may be adjusted according to actual needs.
- step S603 when it is determined that the stable platform 1 is in the following attitude, the determining module 181 acquires current position information of the roll axis 12 of the stable platform 1 in real time according to the motion of the stable platform 1, and calculates Relative position information of the roll axis 12 with respect to the following attitude.
- Step S604 the following module 182 controls the rotation of the second driving device 120 of the stable platform 1 according to the relative position information of the determined roll axis 12 to drive the roll shaft 12 to rotate until the stabilization The platform 1 is restored to the following posture. Specifically, the following module 182 determines whether the relative position information of the roll axis 12 satisfies a preset roll axis following condition to perform automatic following of the roll axis 12. When the relative position information of the roll shaft 12 satisfies the preset roll axis following condition, the following module 182 drives the roll axis 12 to rotate so that the current roll axis 12 of the stable platform 1 is current. The position information coincides with the position information of the roll shaft 12 corresponding to the following posture to perform automatic following of the roll shaft 12. When the relative position information of the roll shaft 12 does not satisfy the preset roll axis following condition, the following module 182 keeps the current posture of the roll axis 12 of the stable platform 1 unchanged, and does not execute the roll axis 12 follow.
- the preset roll axis following condition is that when the roll angle of the roll axis 12 relative to the following attitude exceeds a predetermined angle range, the roll axis 12 is executed. Automatic follow-up, or automatic following of the roll axis 12 when the angle of rotation of the roll axis 12 relative to the following attitude is not zero.
- the step 603 further includes: when determining that the stable platform 1 is in the following posture, the determining module 181 is according to the stable platform 1 The motion acquires current position information of the translation axis 11 of the stable platform 1 in real time, and calculates relative position information of the translation axis 11 with respect to the following posture.
- the step 604 further includes: the following module 182 controls the rotation of the first driving device 110 of the stable platform 1 according to the determined relative position information of the translation axis 11 to drive the translation shaft 11 to rotate until the The stable platform 1 is restored to the following posture.
- the following module 182 performs automatic following of the translation axis 11 by determining whether the relative position information of the translation axis 11 satisfies a preset translation axis following condition.
- the following module 182 drives the translation axis 11 to rotate, so that the current position information of the translation axis 11 of the stable platform 1 is The positional information of the translation axis 11 corresponding to the following posture is identical to perform automatic following of the translation axis 11.
- the following module 182 maintains the current posture of the translation axis 11 of the stable platform 1 unchanged, and does not perform the following of the translation axis 11.
- the preset translation axis following condition is that when the rotation angle of the translation axis 11 relative to the following posture exceeds a predetermined angle range, the automatic following of the translation axis 11 is performed. Or when the rotation angle of the translation shaft 11 with respect to the following posture is not zero, the automatic following of the translation shaft 11 is performed.
- the step S603 further includes: when determining that the stable platform 1 is in the following posture, the determining module 181 acquires the stable platform in real time according to the motion of the stable platform 1 The current position information of the pitch axis 13 of 1 is calculated, and the relative position information of the pitch axis 13 with respect to the following attitude is calculated.
- the step S604 further includes: the following module 182 controls the rotation of the first driving device 110 of the stable platform 1 according to the determined relative position information of the pitch axis 13 to drive the pitch axis 13 to rotate until the step The stable platform 1 is restored to the following posture.
- the following module 182 performs automatic following of the pitch axis 13 by determining whether the relative position information of the pitch axis 13 satisfies a preset translation axis following condition.
- the following module 182 drives the pitch axis 13 to rotate, so that the current position information of the pitch axis 13 of the stable platform 1 is The positional information of the pitch axis 13 corresponding to the following attitude is identical to perform automatic following of the pitch axis 13.
- the following module 182 maintains the current attitude of the pitch axis 13 of the stable platform 1 unchanged, and does not perform the following of the panning axis 11.
- the preset pitch axis following condition is: performing automatic following of the pitch axis 13 when the rotation angle of the pitch axis 13 relative to the following attitude exceeds a predetermined angle range Or when the rotation angle of the pitch axis 13 with respect to the following attitude is not zero, automatic following of the pitch axis 13 is performed.
- the stable platform following control system 18 of the present invention allows the user to freely and conveniently follow the shooting of the load 14 downwards or upwards, and automatically follows the drive of the roll shaft by the positional difference of the roll shaft 12. Since the three-axis follow mode is turned on, it does not affect the function of other poses in other poses, which is convenient for the user.
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Abstract
Description
稳定平台 | 1 |
平移轴 | 11 |
第一驱动装置 | 110 |
第一位置检测装置 | 111 |
横滚轴 | 12 |
第二驱动装置 | 120 |
第二位置检测装置 | 121 |
俯仰轴 | 13 |
第三驱动装置 | 130 |
第三位置检测装置 | 131 |
负载 | 14 |
惯性测量单元 | 15 |
处理器 | 16 |
存储装置 | 17 |
跟随控制系统 | 18 |
检测模块 | 180 |
确定模块 | 181 |
跟随模块 | 182 |
Claims (45)
- 一种稳定平台跟随控制系统,所述稳定平台用于承载一负载,所述稳定平台包括依次连接的平移轴、横滚轴、以及俯仰轴,所述俯仰轴用于连接所述负载,其特征在于,该系统包括:检测模块:检测所述稳定平台是否处于一跟随姿态,所述跟随姿态为所述稳定平台沿俯仰轴的方向转动使得所述稳定平台负载朝上或朝下时的姿态;确定模块:实时获取所述稳定平台的横滚轴的当前位置信息,并计算所述横滚轴相对于所述跟随姿态的相对位置信息;跟随模块:根据所述横滚轴的相对位置信息,自动控制所述横滚轴转动,以执行所述横滚轴的自动跟随,直至恢复至所述跟随姿态。
- 如权利要求1所述的稳定平台跟随控制系统,其特征在于,所述跟随模块还用于:判断所述横滚轴的相对位置信息是否满足预设横滚轴跟随条件;若是,则控制所述横滚轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述横滚轴的当前姿态。
- 如权利要求2所述的稳定平台跟随控制方法,其特征在于,所述预设横滚轴跟随条件为:当所述横滚轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述横滚轴开始跟随;或当所述横滚轴相对于所述跟随姿态的转动角度不为零时,所述横滚轴跟随。
- 如权利要求1所述的稳定平台跟随控制系统,其特征在于,所述确定模块还用于:实时获取所述稳定平台的平移轴相对于所述跟随姿态的相对位置信息;以及所述跟随模块还用于:根据所述平移轴的相对位置信息,自动控制所述平移轴转动,直至恢复至所述跟随姿态。
- 如权利要求4所述的稳定平台跟随控制系统,其特征在于,所述跟随模块还用于:判断所述平移轴的相对位置信息是否满足预设平移轴跟随条件;若是,则控制所述平移轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述平移轴的当前姿态。
- 如权利要求5所述的稳定平台跟随控制系统,其特征在于,所述预设平移轴跟随条件为:当所述平移轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述平移轴开始跟随;或当所述平移轴相对于所述跟随姿态的转动角度不为零时,所述平移轴跟随。
- 如权利要求1所述的稳定平台跟随控制系统,其特征在于,所述确定模块还用于:实时获取所述稳定平台的俯仰轴相对于所述跟随姿态的相对位置信息;及所述跟随模块还用于:根据所述俯仰轴的相对位置信息,自动控制所述俯仰轴转动,直至恢复至所述跟随姿态。
- 如权利要求7所述的稳定平台跟随控制系统,其特征在于,所述跟随模块还用于:判断所述俯仰轴的相对位置信息是否满足预设俯仰轴跟随条件;若是,则控制所述俯仰轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述俯仰轴的当前姿态。
- 如权利要求8所述的稳定平台跟随控制系统,其特征在于,所述预设俯仰轴跟随条件为:当所述俯仰轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述俯仰轴开始跟随;或者,当所述俯仰轴相对于所述跟随姿态的转动角度不为零时,所述俯仰轴跟随。
- 如权利要求1所述的稳定平台跟随控制系统,其特征在于,所述检测模块还用于:在所述稳定平台处于三轴跟随模式时,检测所述负载的位姿信息、以及所述稳定平台的平移轴、横滚轴、俯仰轴的位置信息;判断所述负载的位姿信息、以及所述稳定平台的平移轴、横滚轴、俯仰轴的位置信息是否满足预设条件;若是,确定所述稳定平台的当前姿态为跟随姿态。
- 如权利要求10所述的稳定平台跟随控制系统,其特征在于,所述预设条件为:当所述负载相对于水平面的倾斜角度为预设倾斜角度gama,所述平移轴相对于零点位置的转动角度为预设角度psi,所述俯仰轴相对于零点位置的转动角度为预设角度theta,所述横滚轴相对于零点位置的转动角度为预设角度phi时,则确定所述稳定平台的当前姿态为跟随姿态。
- 如权利要求11所述的稳定平台跟随控制系统,其特征在于,所述预设倾斜角度gama大于-30度,小于30度。
- 如权利要求11所述的稳定平台跟随控制系统,其特征在于,所述预设角度theta大于-60度,小于60度。
- 如权利要求11所述的稳定平台跟随控制系统,其特征在于,所述预设角度phi大于-40度,小于40度。
- 如权利要求1所述的稳定平台跟随控制系统,其特征在于,所述稳定平台为一云台,所述负载为图像获取装置。
- 一种稳定平台跟随控制方法,所述稳定平台用于承载一负载,所述稳定平台包括依次连接的平移轴、横滚轴、以及俯仰轴,所述俯仰轴用于连接所述负载,其特征在于,该方法包括:检测步骤:检测所述稳定平台是否处于一跟随姿态,所述跟随姿态为所述稳定平台沿俯仰轴的方向转动使得所述稳定平台负载朝上或朝下时的姿态;确定步骤:实时获取所述稳定平台的横滚轴的当前位置信息,并计算所述横滚轴相对于所述跟随姿态的相对位置信息;跟随步骤:根据所述横滚轴的相对位置信息,自动控制所述横滚轴转动,以执行所述横滚轴的自动跟随,直至恢复至所述跟随姿态。
- 如权利要求16所述的稳定平台跟随控制方法,其特征在于,所述跟随步骤还包括:判断所述横滚轴的相对位置信息是否满足预设横滚轴跟随条件;若是,则控制所述横滚轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述横滚轴的当前姿态。
- 如权利要求17所述的稳定平台跟随控制方法,其特征在于,所述预设横滚轴跟随条件为:当所述横滚轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述横滚轴开始跟随;或当所述横滚轴相对于所述跟随姿态的转动角度不为零时,所述横滚轴跟随。
- 如权利要求16所述的稳定平台跟随控制方法,其特征在于,所述确定步骤还包括:实时获取所述稳定平台的平移轴相对于所述跟随姿态的相对位置信息;所述跟随步骤还包括:根据所述平移轴的相对位置信息,自动控制所述平移轴转动,直至恢复至所述跟随姿态。
- 如权利要求19所述的稳定平台跟随控制方法,其特征在于,所述根据所述相对位置信息,自动控制所述平移轴转动,直至恢复至所述跟随姿态的步骤包括:判断所述平移轴的相对位置信息是否满足预设平移轴跟随条件;若是,则控制所述平移轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述平移轴的当前姿态。
- 如权利要求20所述的稳定平台跟随控制方法,其特征在于,所述预设平移轴跟随条件为:当所述平移轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述平移轴开始跟随;或当所述平移轴相对于所述跟随姿态的转动角度不为零时,所述平移轴跟随。
- 如权利要求16所述的稳定平台跟随控制方法,其特征在于,所述确定步骤还包括:实时获取所述稳定平台的俯仰轴相对于所述跟随姿态的相对位置信息;所述跟随步骤还包括:根据所述俯仰轴的相对位置信息,自动控制所述俯仰轴转动,直至恢复至所述跟随姿态。
- 如权利要求22所述的稳定平台跟随控制方法,其特征在于,所述根据所述相对位置信息,自动控制所述俯仰轴转动,直至恢复至所述跟随姿态的步骤包括:判断所述俯仰轴的相对位置信息是否满足预设俯仰轴跟随条件;若是,则控制所述俯仰轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述俯仰轴的当前姿态。
- 如权利要求23所述的稳定平台跟随控制方法,其特征在于,所述预设俯仰轴跟随条件为:当所述俯仰轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述俯仰轴开始跟随;或者,当所述俯仰轴相对于所述跟随姿态的转动角度不为零时,所述俯仰轴跟随。
- 如权利要求16所述的稳定平台跟随控制方法,其特征在于,所述检测步骤还包括:在所述稳定平台处于跟随模式下时,检测所述负载的位姿信息、以及所述稳定平台的平移轴、横滚轴、俯仰轴的位置信息;判断所述负载的位姿信息、以及所述稳定平台的平移轴、横滚轴、俯仰轴的位置信息是否满足预设条件;若是,确定所述稳定平台的当前姿态为跟随姿态。
- 如权利要求25所述的稳定平台跟随控制方法,其特征在于,所述预设条件为:当所述负载相对于水平面的倾斜角度为预设倾斜角度gama,所述平移轴相对于零点位置的转动角度为预设角度psi,所述俯仰轴相对于零点位置的转动角度为预设角度theta,所述横滚轴相对于零点位置的转动角度为预设角度phi时,则确定所述稳定平台的当前姿态为跟随姿态。
- 如权利要求26所述的稳定平台跟随控制方法,其特征在于,所述预设倾斜角度gama大于-30度,小于30度。
- 如权利要求26所述的稳定平台跟随控制方法,其特征在于,所述预设角度theta大于-60度,小于60度。
- 如权利要求26所述的稳定平台跟随控制方法,其特征在于,所述预设角度phi大于-40度,小于40度。
- 如权利要求16所述的稳定平台跟随控制方法,其特征在于,所述稳定平台为一云台,所述负载为图像获取装置。
- 一种稳定平台,该稳定平台用于承载一负载,其特征在于,该稳定平台包括:平移轴;横滚轴,与所述平移轴连接;俯仰轴,与所述横滚轴连接,所述俯仰轴用于连接一负载;惯性测量单元,用于检测所述负载的位姿;及处理器,被配置为:检测所述稳定平台是否处于一跟随姿态,所述跟随姿态为所述稳定平台沿俯仰轴的方向转动使得所述稳定平台的负载朝上或朝下时的姿态;实时获取所述稳定平台的横滚轴的当前位置信息,并计算所述横滚轴相对于所述跟随姿态的相对位置信息;根据所述横滚轴的相对位置信息,自动控制所述横滚轴转动,以执行所述横滚轴的自动跟随,直至恢复至所述跟随姿态。
- 如权利要求31所述的稳定平台,所述处理器还用于:判断所述横滚轴的相对位置信息是否满足预设横滚轴跟随条件;若是,则控制所述横滚轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述横滚轴的当前姿态。
- 如权利要求32所述的稳定平台,所述预设横滚轴跟随条件为:当所述横滚轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述横滚轴开始跟随;或当所述横滚轴相对于所述跟随姿态的转动角度不为零时,所述横滚轴跟随。
- 如权利要求31所述的稳定平台,其特征在于,所述处理器还用于:实时获取所述稳定平台的平移轴相对于所述跟随姿态的相对位置信息;以及根据所述平移轴的相对位置信息,自动控制所述平移轴转动,直至恢复至所述跟随姿态。
- 如权利要求34所述的稳定平台,所述处理器还用于:判断所述平移轴的相对位置信息是否满足预设平移轴跟随条件;若是,则控制所述平移轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述平移轴的当前姿态。
- 如权利要求35所述的稳定平台,所述预设平移轴跟随条件为:当所述平移轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述平移轴开始跟随;或当所述平移轴相对于所述跟随姿态的转动角度不为零时,所述平移轴跟随。
- 如权利要求31所述的稳定平台,其特征在于,所述处理器还用于:实时获取所述稳定平台的俯仰轴相对于所述跟随姿态的相对位置信息;及根据所述俯仰轴的相对位置信息,自动控制所述俯仰轴转动,直至恢复至所述跟随姿态。
- 如权利要求37所述的稳定平台,其特征在于,所述处理器还用于:判断所述俯仰轴的相对位置信息是否满足预设俯仰轴跟随条件;若是,则控制所述俯仰轴转动,直至恢复至所述跟随姿态;若否,则继续保持所述俯仰轴的当前姿态。
- 如权利要求38所述的稳定平台,其特征在于,所述预设俯仰轴跟随条件为:当所述俯仰轴相对于所述跟随姿态的转动角度超过预设角度范围时,所述俯仰轴开始跟随;或者,当所述俯仰轴相对于所述跟随姿态的转动角度不为零时,所述俯仰轴跟随。
- 如权利要求31所述的稳定平台,其特征在于,所述处理器还用于:在所述稳定平台处于跟随模式时,检测所述负载的位姿信息、以及所述稳定平台的平移轴、横滚轴、俯仰轴的位置信息;判断所述负载的位姿信息、以及所述稳定平台的平移轴、横滚轴、俯仰轴的位置信息是否满足预设条件;若是,确定所述稳定平台的当前姿态为跟随姿态。
- 如权利要求40所述的稳定平台,其特征在于,所述预设条件为:当所述负载相对于水平面的倾斜角度为预设倾斜角度gama,所述平移轴相对于零点位置的转动角度为预设角度psi,所述俯仰轴相对于零点位置的转动角度为预设角度theta,所述横滚轴相对于零点位置的转动角度为预设角度phi时,则确定所述稳定平台的当前姿态为跟随姿态。
- 如权利要求41所述的稳定平台,其特征在于,所述预设倾斜角度gama大于-30度,小于30度。
- 如权利要求41所述的稳定平台,其特征在于,所述预设角度theta大于-60度,小于60度。
- 如权利要求41所述的稳定平台,其特征在于,所述预设角度phi大于-40度,小于40度。
- 如权利要求31所述的稳定平台,其特征在于,所述稳定平台为一云台,所述负载为图像获取装置。
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CN108803681A (zh) * | 2018-07-31 | 2018-11-13 | 南京拓威航空科技有限公司 | 一种无刷电机增稳云台控制方法及系统 |
WO2020097893A1 (zh) * | 2018-11-15 | 2020-05-22 | 深圳市大疆创新科技有限公司 | 手持云台的控制方法和手持云台 |
EP3564574A4 (en) * | 2016-12-30 | 2020-08-19 | SZ DJI Osmo Technology Co., Ltd. | METHOD AND DEVICE FOR CONTROLLING A BEARING HEAD AND BEARING HEAD |
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CN106774444A (zh) * | 2016-11-22 | 2017-05-31 | 天津大学 | 一种大俯仰角相机平台的自平衡控制方法 |
WO2019126932A1 (zh) * | 2017-12-25 | 2019-07-04 | 深圳市大疆创新科技有限公司 | 云台的控制方法和控制设备 |
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