WO2019148446A1

WO2019148446A1 - Control method for gimbal capable of replacing lenses, and gimbal

Info

Publication number: WO2019148446A1
Application number: PCT/CN2018/075083
Authority: WO
Inventors: 刘帅
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2018-02-02
Filing date: 2018-02-02
Publication date: 2019-08-08
Also published as: CN110383198B; CN110383198A

Abstract

Provided are a control method for a gimbal capable of replacing lenses, and a gimbal. The method comprises: after a gimbal receives a lens replacement instruction, entering a lens replacement mode; a control assembly generating a first work instruction and sending the first work instruction to an electric motor assembly; and the electric motor assembly executing the first work instruction and making a corresponding action. The embodiments of the present disclosure can rapidly replace lenses, without powering off, and ensure that a gimbal can run normally during lens replacement, and same are simple to operate, save on users' time, reduce labor costs, and meet the requirements of the users for automation and intelligentization.

Description

PTZ control method with interchangeable lens and pan/tilt

Technical field

The present disclosure relates to the field of cloud platform control technologies, and in particular, to a pan/tilt control method and a pan/tilt head of an interchangeable lens.

Background technique

The pan/tilt is a carrying device for mounting and fixing the camera, which can cooperate with the motor through the gimbal arm to complete the rotation of the camera carried by the camera in one or more directions. During use, sometimes a single lens cannot satisfy all application scenarios, such as using a short focal length lens when shooting close-ups and a long focal length lens when shooting distant scenes. In order to meet the different shooting needs of users, a pan/tilt head device with an interchangeable lens is required.

However, the existing PTZ must be powered off when the lens is replaced. At the same time, because the different lens inertias are inconsistent, the user changes the lens under the condition of constant power, and the load of the PTZ changes. If the control parameters of the PTZ are not adjusted in time, it may be This will cause the PTZ controller to diverge, and the PTZ will be uncontrolled, affecting the user experience.

Summary of the invention

The embodiment of the present disclosure provides a pan/tilt control method and a pan/tilt head of an interchangeable lens that can quickly change the lens under the condition of constant power and can ensure the normal operation of the gimbal when it is replaced.

Embodiments of the present disclosure provide a pan/tilt control method, including the following steps:

The control component receives a replacement lens command, the pan/tilt enters a replacement lens mode; the control component generates a first work instruction, and sends the first work instruction to the motor component; the motor component executes the first work instruction, And make the corresponding action.

Correspondingly, an embodiment of the present disclosure further provides a cloud platform for an interchangeable lens, including:

a frame assembly for carrying a load device, the frame assembly including at least one of a pitch axis bracket, a roll axle bracket, and a translation shaft bracket;

a control component, configured to receive a control instruction, and output one or more work instructions according to the control instruction;

a motor assembly, including at least one of a pitch motor, a roll motor, or a translation motor, for driving the pitch axis bracket, the roll axle bracket, and the translation shaft bracket motion, respectively;

Wherein, when the pan/tilt enters the interchange lens mode, the control component receives the replacement lens command, generates a first work command, and sends the first work command to the motor component, and the motor component executes the first Work instructions and make corresponding actions.

Embodiments of the present disclosure are capable of receiving a replacement lens command in the event of an uninterrupted power, such that the gimbal quickly enters the interchange lens mode. In this mode, the pan/tilt does not perform normal feedback adjustments, such as only weak negative feedback adjustments that are less than normal negative feedback adjustments or no negative feedback adjustments. At this time, even if the load of the PTZ changes, the PTZ control component controls the motor component to execute a weak work command or a non-work command, so that the output value of the work command received by the motor component is smaller than the output value of the normal work command or the output value is zero, thereby Avoid the situation that the pan/tilt is not controlled when the gimbal load inertia suddenly decreases. The embodiment of the present disclosure can ensure that the pan/tilt can operate normally when the lens is replaced, the operation is simple, the user time is saved, the labor cost is reduced, and the user's automation and intelligent requirements are met.

DRAWINGS

1 is a schematic structural view of a pan/tilt head of an interchangeable lens according to an embodiment of the present disclosure;

2 is a schematic structural view of another movable platform of an interchangeable lens according to an embodiment of the present disclosure;

3 is a schematic structural view of a pan/tilt head of another interchangeable lens according to an embodiment of the present disclosure;

4 is a schematic structural view of another movable platform of an interchangeable lens according to an embodiment of the present disclosure;

FIG. 5 is a schematic flowchart diagram of a pan/tilt control method of an interchangeable lens according to an embodiment of the present disclosure; FIG.

6 is a schematic flow chart of a pan/tilt control method of another interchangeable lens according to an embodiment of the present disclosure;

7 is a schematic flow chart of a pan/tilt control method of another interchangeable lens according to an embodiment of the present disclosure;

FIG. 8 is a schematic flow chart of another pan/tilt control method of an interchangeable lens according to an embodiment of the present disclosure.

Detailed ways

The technical solutions in the embodiments of the present disclosure are clearly and completely described in the following with reference to the accompanying drawings in the embodiments of the present disclosure. It is obvious that the described embodiments are only a part of the embodiments of the present disclosure, and not all of the embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments of the present disclosure without departing from the inventive scope are the scope of the disclosure.

The embodiment of the present disclosure provides a pan/tilt control method and a pan/tilt head of an interchangeable lens that can quickly change the lens under the condition of constant power and can ensure the normal operation of the gimbal when the replacement and replacement are completed.

Under the normal working mode of Yuntai, the negative feedback system is used to complete the self-stability control of the gimbal. The negative feedback system controls the movement of the load mounted on the gimbal to control the action of the gimbal in the opposite direction of the load movement, thereby eliminating the sloshing of the load and ensuring the stability of the load.

For example, for a three-axis pan/tilt head, an inertial measurement sensor that measures the pitch axis, the roll axis, and the pan axis attitude in real time is generally provided, and the corresponding pitch motor for controlling the pan/tilt axis rotation and the control cloud are generally provided. A roll motor that rotates the table roll and a translation motor that controls the rotation of the pan/tilt axis.

In general, the PID control system can be used to implement negative feedback control of the gimbal. The PID control system controls the controlled object by the ratio of deviation (P, Proportional), integral (I, Intergral) and differential (D, Derivative). The deviation ratio refers to the output value and input value of the PID control system. The ratio, the proportional gain, is the ratio of the output value to the deviation value. For the three-axis pan/tilt, the input value of the PID control system is the real-time attitude information of the pan-tilt pitch axis, the roll axis and the pan axis measured by the inertial measurement sensor in real time, and the output value is the control component according to the real-time posture relative to the desired posture. The output work instruction obtained after the corresponding operation is performed after the deviation value, and the output work instruction is related to the real-time attitude information and the proportional gain. Control of the output work command can be achieved by adjusting the proportional gain. The output work instruction may be an output value for adjusting the real-time posture to the desired posture, or an output value for adjusting the real-time posture to be larger than the desired posture, or may be an output value for adjusting the real-time posture to be smaller than the desired posture.

Some embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

Please refer to FIG. 1 to FIG. 3 together, which is a schematic structural diagram of a pan/tilt head 10 of an interchangeable lens according to an embodiment of the present disclosure. The pan/tilt head 10 can carry different types of lenses 30. The platform 10 includes a frame assembly 20, a control assembly 40 disposed within the frame assembly 20, and a motor assembly 50 disposed on the frame assembly 20. The motor assembly 50 is used to drive the frame assembly 20 to operate. The control assembly 40 is used to control the motor assembly 50.

The frame assembly 20 is used to mount the lens 30. The frame assembly 20 includes a cross roller bracket 202 and a translating shaft bracket 203. A lens connection assembly 110 is disposed on the platform 10 . The lens 30 is detachably coupled to the lens connecting assembly 110.

The control component 40 is configured to receive a control instruction and output one or more work instructions according to the control instruction. The control assembly 40 can be disposed within the frame assembly 20.

The motor assembly 50 is configured to drive the motor according to the one or more work orders. The motor assembly 50 includes a pitch motor 501, a roll motor 502, and a translation motor 503. The pitch motor 501 is disposed on the roll axle bracket 202 for driving the lens connecting assembly 110 to rotate along the pitch axis. The roll axis motor 502 and the translation motor 503 are used to drive the roll axis bracket 202 and the translation shaft bracket 203, respectively.

In other embodiments, the frame assembly 20 can include at least one of a pitch axis bracket, a roll axle bracket 202, and a translation shaft bracket 203. Accordingly, the motor assembly 50 includes a pitch motor 501, a roll motor 502, and At least one of the motor 503 is translated.

When the user needs to change the lens under the condition of constant power, since the load of the PTZ changes, if the passive feedback system is used to realize the self-stabilization control of the PTZ, the PTZ controller may be diverged and the PTZ will not be affected. The situation of control. In the embodiment of the present disclosure, the replacement lens command can be input by the user, and the control component 40 controls the pan/tilt head 10 to enter the replacement lens mode. It can be understood that the replacement lens command can be sent by a physical button such as a mechanical button or a touch button that is previously set on the platform 10 . Further, it can also be sent by a remote control terminal to issue a control command or the like.

In another embodiment, the lens connecting component 110 disposed on the pan/tilt head 10 is provided with a contact portion 1101. Correspondingly, the lens 30 is provided with an electrical connection unit electrically connected to the platform 10 . The contact portion 1101 is electrically connected to the lens 30. Separation/connection detection between the pan/tilt head 10 and the lens 30 is achieved by receiving an electrical signal between the contact portion 1101 and the lens 30. When the pan/tilt head 10 is separated from the lens 30, the contact portion 1101 provided on the lens connection assembly 110 is separated from the electrical connection unit on the lens 30, and the electrical signal connected between the platform 10 and the lens 30 is disconnected. The contact portion 1101 is automatically sent to the control component 40 after detecting the disconnected electrical signal. Control component 40 issues the replacement lens command. Preferably, in the embodiment, the contact portion 1101 is a metal contact. After the control component 40 receives the corresponding lens replacement command, the pan/tilt head 10 enters the interchange lens mode. The control component 40 generates a first work order.

Unlike the normal working mode of the gimbal, in the lens replacement mode, the control component 40 does not perform normal negative feedback control. For example, control component 40 performs weak negative feedback control that is less than normal negative feedback control or does not perform negative feedback control. The corresponding first work command controls the motor assembly 50 to perform a weak work command that is less than the normal work command or the motor assembly 50 does not operate. The motor component 50 executes the received first work instruction after receiving the first work instruction. For example, at least one of the pitch motor 501, the roll motor 502, or the translation motor 503 performs a weak work command or a no work command that is smaller than a normal work command. At this time, even if the lens 30 (pTZ load) changes, the control unit 40 of the platform 10 controls the motor assembly 50 to execute a weak work command or a non-work command, so that the work command output value received by the motor assembly 50 is smaller than the normal work command. The output value or the output value is zero, so that the pan/tilt is not controlled when the gimbal load inertia suddenly decreases.

Referring to FIG. 3, in the embodiment of the present disclosure, the platform 10 further includes a gesture acquisition component 60.

The attitude acquiring component 60 is configured to acquire posture information of the lens connecting component 110 rotating along the pitch axis, at least one of the roll axis bracket 202 and the translation axis bracket 203. The attitude acquisition component 60 includes a gyroscope and/or an accelerometer. For example, the angular velocity of the lens connection assembly 110 of the pan/tilt head 10 rotating along the pitch axis, the roll axis bracket 202, and the translation axis bracket 203 is measured in real time by a gyroscope, and the lens connection assembly of the pan/tilt head 10 is measured in real time using an accelerometer. The acceleration of at least one of the rotation of the pitch axis, the roll axis bracket 202, and the translation axis bracket 203.

After receiving the replacement lens command, the pan/tilt head 10 enters the interchange lens mode. Control component 40 generates a first work order. At this time, the control unit 40 does not perform normal negative feedback control. For example, control component 40 performs weak negative feedback control that is less than normal negative feedback control. The control component 40 transmits a second work instruction to the motor assembly 50 based on the real-time attitude information acquired by the gesture acquisition component 60.

In one embodiment, the second work order is a preset work order. For example, the preset second work command is that the control component 40 controls the pitch motor 501 to rotate by a certain angle. Preferably, the pitch motor 501 is controlled to rotate to -90 degrees. At this time, the lens 30 faces downward, and the corresponding photosensitive device in the lens 30 is parallel to the horizontal direction, which is beneficial for preventing dust and the like from entering when the lens is replaced, and further functions as a protection.

In another embodiment, the second work order is a weak work order that is less than the normal work order. For example, the motor assembly 50 can perform a weak work command that is less than the normal work command by reducing the proportional gain in the PID control system. At this time, the work instruction sent by the control unit 40 controls the lens connection assembly 110 of the pan/tilt head 10 to rotate along the pitch axis, and the rotation value of at least one of the roll axis bracket 202 and the translation axis bracket 203 is smaller than the measured real-time posture relative to the desired posture. The deviation value.

When the pan/tilt head 10 enters the lens replacement mode, the lens 30 (pTZ load) changes. The corresponding motor assembly 50 executes a weak work command that is smaller than the normal work command, so that the adjustment of the pan-tilt three-axis attitude adapts to the change of the lens 30, thereby avoiding the situation that the pan/tilt is uncontrolled when the pan-mount load inertia suddenly decreases.

Referring to FIG. 4, in the embodiment of the present disclosure, the platform 10 further includes a joint angle acquisition component 70.

The joint angle acquisition component 70 is configured to acquire joint angle information of at least one of the pitch motor 501, the roll motor 502, or the translation motor 503.

After the control component 40 receives the first work instruction, the joint angle acquisition component 70 acquires real-time joint angle information of the three motors of the platform 10 . Transmitting, according to the real-time joint angle information, a third work instruction to the motor assembly 50, wherein the third work command controls the control component 40 to control at least one of the pitch motor 501, the roll motor 502, or the translation motor 503 to rotate, Further, adjustment of the joint angle of the pan/tilt motor is realized. The joint angle acquisition assembly 70 includes one of a potentiometer, a Hall sensor, or a magnetic encoder to measure rotation angle information of at least one of the pitch motor 501, the roll motor 502, or the translation motor 503 in real time.

After receiving the replacement lens command, the pan/tilt head 10 enters the interchange lens mode. Control component 40 generates a first work order. At this time, the control unit 40 does not perform normal negative feedback control. For example, control component 40 performs weak negative feedback control that is less than normal negative feedback control. The control assembly 40 transmits a third work order to the motor assembly 50 based on the real-time joint angle information acquired by the joint angle acquisition component 70.

In one embodiment, the third work order is a weak work order that is less than the normal work order. For example, the motor assembly 50 can perform a weak work command that is less than the normal operating output value by reducing the proportional gain in the PID control system. At this time, the work command sent by the control unit 40 controls the rotation value of at least one of the pitch motor 501, the roll motor 502 or the translation motor 503 to be smaller than the deviation value of the measured real-time joint angle with respect to the desired joint angle.

When the pan/tilt head 10 enters the lens replacement mode, the lens 30 (pTZ load) changes. The corresponding motor assembly 50 executes a weak work command that is less than the normal work command, so that the adjustment of the joint angle of the pan/tilt motor is adapted to the change of the lens 30, thereby avoiding the situation that the pan/tilt is uncontrolled when the load on the gimbal suddenly decreases.

In the embodiment of the present disclosure, when the platform 10 and the lens 30 are reconnected, the contact portion 1101 disposed on the lens connection assembly 110 is connected to the electrical connection unit on the lens 30, and the connection between the platform 10 and the lens 30 is Electrical signal connection. After the contact portion 1101 detects the connected electrical signal, it is automatically sent to the control component 40. The control assembly 40 issues the replacement lens completion command. After the pan/tilt head 10 receives the replacement lens completion command, the pan/tilt head 10 enters the replacement lens completion mode. The control component 40 acquires the real-time posture information of the pan/tilt head 10 through the gesture acquisition component 60. The control component 40 obtains a deviation value of the real-time posture from the desired posture based on the real-time attitude information, and generates a fourth work instruction to be sent to the motor assembly 50. The fourth work instruction is a normal work instruction for adjusting the real-time posture to a desired posture. The motor assembly 50 rotates the corresponding angle according to the received fourth working command, and completes the pitch adjustment of the corresponding lens connecting assembly 110 by adjusting the joint angle of at least one of the pitch motor 501, the roll motor 502, or the translation motor 503. Adjustment of at least one of the shaft rotation, the roll axle bracket 202, and the translation shaft bracket 203. The pan/tilt head 10 enters a normal working mode. At this time, the gimbal 10 performs normal negative feedback adjustment.

It can be understood that different lenses have different inertias. When the pan/tilt head 10 is reconnected to the lens 30, since the inertia of the lens 30 is unknown, the control unit 40 controls the motor assembly 50 to perform multiple negative feedback adjustments, and adjusts the control parameters of the pan/tilt head 10 to accommodate the operation of the lens 30 of different inertia. In the present embodiment, the control component 40 controls the attitude acquisition component 60 to acquire the angular velocity of the lens coupling assembly 110 along the pitch axis, the roll axis bracket 202, and the translation axis bracket 203, and obtain corresponding values according to the angular velocity operation. The control parameters are sent to the motor assembly 50 in the form of work orders. The motor assembly 50 executes the work command to adjust the attitude of the pan/tilt head 10, and the adjusted attitude of the pan/tilt head 10 is fed back to the control component 40 through the attitude acquisition component 60 until the real-time posture acquired by the attitude acquisition component 60 is a desired posture. The pan/tilt head 10 enters the normal working mode, and can stably control the posture of the lens 30 (pTZ load).

In another embodiment, the fourth work instruction is at least one set of preset work instructions previously saved by the control component 40. The control component 40 presets control parameters corresponding to the lens 30 for different models of the lens 30, and sends the control parameters to the motor assembly 50 in the form of work instructions after corresponding operations. Different preset work orders are available for different models of lenses.

Specifically, after the pan/tilt head 10 enters the replacement lens completion mode, the control component 40 receives the signal command of the lens 30. According to the received signal command of the lens 30, the control component 40 quickly switches to the control parameter corresponding to the lens 30, and the control parameter is correspondingly calculated and sent to the motor assembly 50 in the form of a fourth work command. The motor assembly 50 executes a fourth work command corresponding to the lens 30. In this embodiment, by preset a fourth work instruction applicable to the lens 30 of different models, the pan/tilt head 10 can be quickly adjusted to the control parameters applicable to the lens 30, and the pan/tilt head 10 quickly enters the normal working mode.

In one embodiment, the signal command of the lens 30 connected to the platform 10 can be input by the user.

In another embodiment, the contact portion 1101 disposed on the lens connection assembly 110 of the pan/tilt head 10 can be in electrical communication with an electrical connection unit on the lens 30 to identify the lens 30 and identify the The signal command of lens 30 is automatically sent to control component 40. Preferably, in the embodiment, the contact portion 1101 is a metal contact.

A pan/tilt control method for an interchangeable lens according to an embodiment of the present disclosure will be described in detail below. FIG. 5 is a schematic flowchart of a pan/tilt control method for an interchangeable lens according to an embodiment of the present disclosure. Specifically, the method includes:

S101: The control component 40 receives the replacement lens command, and the pan/tilt head 10 enters the replacement lens mode.

In the embodiment of the present disclosure, the replacement lens command can be input by the user, and the control component 40 controls the pan/tilt head 10 to enter the replacement lens mode. It can be understood that the replacement lens command can be sent by a physical button such as a mechanical button or a touch button that is previously set on the platform 10 . Further, it can also be sent by a remote control terminal to issue a control command or the like.

In another embodiment, a lens connection assembly 110 is disposed between the platform 10 and the lens 30. A sensor is disposed on the lens connecting component 110. Preferably, the sensor is a contact 1101 disposed on the lens attachment assembly 110. Correspondingly, the lens 30 is provided with an electrical connection unit electrically connected to the platform 10 . The contact portion 1101 is electrically connected to the lens 30. Separation/connection detection between the pan/tilt head 10 and the lens 30 is achieved by receiving an electrical signal between the contact portion 1101 and the lens 30. When the pan/tilt head 10 is separated from the lens 30, the contact portion 1101 provided on the lens connection assembly 110 is separated from the electrical connection unit on the lens 30, and the electrical signal connected between the platform 10 and the lens 30 is disconnected. The contact portion 1101 is automatically sent to the control component 40 after detecting the disconnected electrical signal. Control component 40 issues the replacement lens command. Preferably, the contact portion 1101 is a metal contact.

After the control component 40 receives the corresponding lens replacement command, the pan/tilt head 10 enters the interchange lens mode.

S102: After receiving the replacement lens command, the control component 40 of the pan/tilt head 10 generates a first work instruction, and sends the first work instruction to the motor component 50. The first work instruction is a weak work instruction or a non-two work instruction that is smaller than a normal work instruction. At this time, the control unit 40 of the platform 10 does not perform normal negative feedback control. For example, control component 40 performs weak negative feedback control that is less than normal negative feedback control or does not perform negative feedback control.

S103: After receiving the first work instruction, the motor component 50 executes the received first work instruction. For example, at least one of the pitch motor 501, the roll motor 502, or the translation motor 503 performs a corresponding weak work command or no work command that is smaller than the normal work command.

Referring to FIG. 6, the embodiment of the present disclosure further includes:

S201: The control component 40 receives the replacement lens command, and the pan/tilt head 10 enters the replacement lens mode.

S202: The control component 40 generates a first work instruction. At this time, the control unit 40 of the platform 10 performs weak negative feedback control that is smaller than the normal negative feedback control.

S203: The control component 40 controls the attitude acquisition component 60 to acquire the real-time posture information of the pan/tilt head 10.

For the three-axis pan/tilt head, real-time measurement of the attitude information of at least one of the pan/tilt pitch axis bracket, the roll axle bracket 202, and the translation axis bracket 203 is achieved by the attitude acquisition component 60. The attitude acquisition component 60 includes a gyroscope and/or an accelerometer. For example, the angular velocity of at least one axis of the pan-tilt pitch axis bracket, the roll axle bracket 202, and the translation axis bracket 203 is measured in real time by a gyroscope, and the pan-tilt pitch axis bracket, the roll axle bracket 202, and the translation axis bracket are measured in real time using an accelerometer. 203 acceleration of at least one axis.

S204: After acquiring the real-time posture information of the pan/tilt head 10, the control component 40 generates a second work instruction according to the real-time posture information, and sends the second work instruction to the motor component 50.

In one embodiment, the second work command is a preset work command such that control component 40 controls motor assembly 50 to operate to a designated work position.

In another embodiment, the second work order is a weak work order that is less than the normal work order. For example, the weak work command can be implemented by reducing the proportional gain in the PID control system.

S205: The motor assembly 50 executes a second work instruction to rotate at least one of the pitch motor 501, the roll motor 502, or the translation motor 503, thereby implementing posture adjustment of the pan/tilt.

In one embodiment, the predetermined second work command is that the control assembly 40 controls the pitch motor 501 to rotate a certain angle. Preferably, the pitch motor 501 is controlled to rotate to -90 degrees. At this time, the lens 30 faces downward, and the corresponding photosensitive device in the lens 30 is parallel to the horizontal direction, which is beneficial for preventing dust and the like from entering when the lens is replaced, and further functions as a protection.

In another embodiment, the second work command is to control a weak work command that is less than a normal operating output value for at least one of the pitch motor 501, the roll motor 502, or the translation motor 503. At this time, the rotation command value of the at least one axis of the pitch axis bracket, the roll axis bracket 202, and the translation shaft bracket 203 of the work order control pan 10 of the control unit 40 is smaller than the deviation value of the measured real-time posture with respect to the desired posture.

When the pan/tilt head 10 enters the lens replacement mode, the lens 30 (pTZ load) changes. The corresponding motor assembly 50 performs a weak work command that is less than the normal operating output value, so that the adjustment of the pan-tilt three-axis attitude adapts to the change of the lens 30, thereby avoiding the situation that the pan/tilt is uncontrolled when the gimbal load inertia suddenly decreases.

Referring to FIG. 7, the embodiment of the present disclosure further includes:

S301: The control component 40 receives the replacement lens command, and the pan/tilt head 10 enters the replacement lens mode.

S302: The control component 40 generates a first work instruction. At this time, the pan/tilt 10 control component 40 performs weak negative feedback control that is smaller than the normal negative feedback control.

S303: The control component 40 acquires the real-time joint angle information of the motor of the platform 10 through the joint angle acquisition component 70.

For the three-axis pan/tilt head, the motor assembly 50 is provided with a joint angle acquisition assembly 70, and the joint angle acquisition unit 70 can measure the joints of at least one motor of the pitch motor 501, the roll motor 502, and the translation motor 503 of the pan/tilt head 10 in real time. Corner information. The joint angle acquisition assembly 70 includes one or more of a potentiometer, a Hall sensor, and a magnetic encoder. For example, the rotation angle information of the three motors of the gimbal can be measured in real time by one or more of a potentiometer, a Hall sensor, and a magnetic encoder.

S304: After the control component 40 acquires real-time joint angle information of at least one motor of the pitch motor 501, the roll motor 502, and the translation motor 503 of the pan-tilt 10, the real-time joint angle information is transmitted to the control component 40. The control component 40 generates a third work command based on the real-time joint angle information of the motor of the platform 10 and transmits it to the motor assembly 50. In one embodiment, the third work order is a weak work command that controls the motor assembly 50 to perform less than normal operation. The weak work command can be implemented by reducing the proportional gain in the PID control system.

S305: The motor assembly 50 executes a third work instruction such that at least one of the pitch motor 501, the roll motor 502, or the translation motor 503 has a rotation value that is less than a deviation value of the real-time joint angle with respect to a desired joint angle.

When the pan/tilt head 10 enters the lens replacement mode, the lens 30 (pTZ load) changes. The corresponding motor assembly 50 performs a weak work command that is less than the normal operating output value, so that the adjustment of the joint angle of the pan/tilt motor is adapted to the change of the lens 30, thereby avoiding the situation that the pan/tilt is uncontrolled when the load on the gimbal suddenly decreases.

Referring to FIG. 8 again, the embodiment of the present disclosure further includes:

S401: The control component 40 receives the replacement lens completion command, and the pan/tilt head 10 enters the replacement lens completion mode.

In the embodiment of the present disclosure, when the platform 10 and the lens 30 are reconnected, the contact portion 1101 disposed on the lens connection assembly 110 is connected to the electrical connection unit on the lens 30, and the connection between the platform 10 and the lens 30 is Electrical signal connection. After the contact portion 1101 detects the connected electrical signal, it is automatically sent to the control component 40. The control assembly 40 issues the replacement lens completion command. The pan/tilt head 10 enters the replacement lens completion mode.

S402: The control component 40 acquires real-time posture information of the pan/tilt head 10 through the gesture acquiring component 60.

S403: The control component 40 obtains a deviation value of the real-time posture from the desired posture according to the real-time posture information, and generates a fourth work instruction to be sent to the motor assembly 50. The fourth work instruction is a normal work instruction for adjusting the real-time posture to the desired posture.

S404: The motor assembly 50 rotates the corresponding angle according to the received fourth working instruction, and completes the adjustment of the joint angle of at least one motor of the pitch motor 501, the roll motor 502, and the translation motor 503 to the corresponding pitch axis bracket and the horizontal The roller bracket 202 and the translation shaft bracket 203 are adjusted in at least one axial attitude. The pan/tilt head 10 enters a normal working mode. At this time, the pan/tilt head 10 performs normal negative feedback adjustment.

In this embodiment, the control component 40 controls the attitude acquisition component 60 to acquire the angular velocity of at least one of the pitch axis bracket, the roll axle bracket 202, and the translation axis bracket 203, and obtain corresponding control parameters according to the angular velocity calculation, and then The control parameters are sent to the motor assembly 50 in the form of work orders. The motor assembly 50 executes the work command to adjust the attitude of the pan/tilt head 10, and the adjusted attitude of the pan/tilt head 10 is fed back to the control component 40 through the attitude acquisition component 60 until the real-time posture acquired by the attitude acquisition component 60 is a desired posture. The pan/tilt head 10 enters the normal working mode, and can stably control the posture of the lens 30 (pTZ load).

In another embodiment, the fourth work instruction is at least one set of preset work instructions previously saved by the control component. The control component 40 presets control parameters corresponding to the lens 30 for different models of the lens 30, and sends the control parameters to the motor assembly 50 in the form of work instructions after corresponding operations. Different preset work orders are available for different models of lenses.

The embodiment of the present disclosure can receive the replacement lens instruction in the case of uninterrupted power, so that the gimbal can quickly enter the replacement lens mode; after the replacement lens is completed, the replacement lens completion instruction is received, so that the gimbal can quickly enter the normal working mode. Wherein, in the pan/tilt replacement lens mode, the control component does not perform normal negative feedback control, for example, performing weak negative feedback control less than normal negative feedback control or not performing negative feedback control. At this time, even if the load of the PTZ changes, the PTZ control component controls the motor component to generate a weak work command or a non-work command, so that the output value of the work command received by the motor component is smaller than the output value of the normal work or the output value is zero. This avoids the situation where the gimbal is not controlled when the gimbal load inertia suddenly decreases. After the PTZ replacement lens is completed, the PTZ can quickly enter the normal working mode according to the lens signal command connected to the PTZ. The embodiments of the present disclosure can ensure that the pan/tilt is in normal operation when the replacement and replacement are completed, the operation is simple, the user time is saved, the labor cost is reduced, and the user's automation and intelligent requirements are met.

The above description is only the embodiments of the present disclosure, and thus does not limit the scope of the patents of the disclosure, and the equivalent structure or equivalent process transformations made by the disclosure and the contents of the drawings, or directly or indirectly applied to other related technologies. The scope of the invention is included in the scope of patent protection of the present disclosure.

Claims

A pan/tilt control method for an interchangeable lens, characterized in that the method comprises the following steps:

The control component receives the replacement lens command, and the pan/tilt enters the replacement lens mode;

The control component generates a first work instruction and sends the first work instruction to the motor component;

The motor assembly executes the first work command and performs a corresponding action.
The pan/tilt control method according to claim 1, wherein the first work command is a weak work command that is smaller than a normal work command of the motor component or the motor component does not work.
The PTZ control method according to claim 1, further comprising the step of: after the control component generates the first work instruction, acquiring real-time posture information of the PTZ, and according to the real-time posture information The motor assembly sends a second work command, wherein the second work command controls the control component to control at least one of the pitch motor, the roll motor or the translation motor to rotate, thereby implementing attitude adjustment of the pan/tilt.
The pan/tilt control method according to claim 3, wherein the second work command is that the control unit controls the pitch motor to rotate by a certain angle.
The pan/tilt control method according to claim 4, wherein the second work command is that the control unit controls the pitch motor to rotate to -90 degrees.
The pan/tilt control method according to claim 3, wherein the second work instruction is a weak work instruction smaller than a normal work instruction.
The pan/tilt control method according to claim 6, wherein the weak work command is that at least one of the pitch motor, the roll motor, or the pan motor rotates at an angle smaller than the acquired real-time posture relative to the desired posture. The deviation value.
The pan/tilt control method according to claim 1, further comprising the step of: after the control component generates the first work instruction, acquiring at least one of a pitch motor, a roll motor or a pan motor of the pan/tilt The real-time joint angle information is sent to the motor assembly according to the real-time joint angle information, and the third work command is that the control component controls at least one of the pitch motor, the roll motor or the translation motor to rotate.
The pan/tilt control method according to claim 8, wherein the third work instruction is a weak work instruction smaller than a normal work instruction.
The pan/tilt control method according to claim 9, wherein the weak work command is that at least one of the pitch motor, the roll motor or the translation motor rotates at an angle smaller than the acquired real-time joint angle relative to the expectation The deviation of the joint angle.
The pan/tilt control method according to any one of claims 1 to 10, further comprising the steps of:

The control component receives an interchange lens completion command, and the pan/tilt enters a replacement lens completion mode;

The control component acquires real-time posture information of the pan/tilt;

The control component sends a fourth work instruction to the motor component according to the real-time posture information of the pan/tilt;

The motor assembly executes the fourth work instruction, and the pan/tilt enters a normal working mode.
The pan/tilt control method according to claim 11, further comprising the steps of:

After the pan/tilt enters the replacement lens completion mode, the control component receives a lens signal command connected to the pan/tilt; the fourth work command is at least one set of preset work commands previously saved by the control component. The at least one set of preset work orders is applicable to different types of lenses.
The pan/tilt control method according to claim 12, wherein one or more of the replacement lens command, the interchange lens completion command, and the lens signal command are input by a user.
The pan/tilt control method according to claim 12, wherein a sensor is disposed between the pan/tilt and the lens, and one or more of the lens replacement command, the lens replacement command, and the lens signal command are passed. The sensor is automatically sent after detection.
The pan/tilt control method according to claim 14, wherein the sensor is a contact portion provided on a lens connecting component between the pan/tilt and the lens, and the lens replacement command and lens replacement are completed. One or more of the command and the lens signal command can be automatically transmitted after the contact is detected.
The pan/tilt control method according to claim 15, wherein the contact portion is a metal contact.
A pan/tilt head with an interchangeable lens, the pan/tilt head comprising:

a frame assembly for mounting a lens, the frame assembly including at least one of a pitch axis bracket, a roll axle bracket, and a translation shaft bracket;

a control component, configured to receive a control instruction, and output one or more work instructions according to the control instruction;

a motor assembly, including at least one of a pitch motor, a roll motor, or a translation motor, for driving the pitch axis bracket, the roll axle bracket, and the translation shaft bracket motion, respectively;

The control component receives the replacement lens command, the pan/tilt enters the replacement lens mode, generates a first work instruction, and sends the first work instruction to the motor component, and the motor component performs the first work Command and make the corresponding action.
The pan/tilt head according to claim 17, wherein the first work command is a weak work command that is smaller than a normal work command of the motor component or the motor component does not work.
The pan/tilt head according to claim 17, wherein the pan/tilt head further comprises an attitude acquisition component, wherein the attitude acquisition component is configured to acquire at least one axis of the pitch axis bracket, the roll axle bracket and the translation shaft bracket After the control component receives the first work instruction, the gesture acquisition component acquires real-time posture information of the pan/tilt, and sends a second work instruction to the motor component according to the real-time posture information, where the The second working command controls the control component to control at least one of the pitch motor, the roll motor or the translation motor to rotate, thereby implementing posture adjustment of the pan/tilt.
The pan/tilt head of claim 19, wherein the gesture acquisition component comprises a gyroscope and/or an accelerometer.
The pan/tilt head according to claim 20, wherein said second work command is that said control unit controls said pitch motor to rotate by a certain angle.
The pan/tilt head according to claim 21, wherein said second work command is said control component to control said pitch motor to rotate to -90 degrees.
The pan/tilt head according to claim 20, wherein the second work order is a weak work order that is smaller than a normal work order.
The pan/tilt head according to claim 23, wherein the weak work command is that at least one of the pitch motor, the roll motor or the translation motor has a rotation angle smaller than a deviation of the acquired real-time posture from a desired posture. value.
The pan/tilt head according to claim 17, wherein the pan/tilt head further comprises a joint angle acquiring component for acquiring at least one of the pitch motor, the roll motor, and the pan motor Angle information; after the control component receives the first work instruction, the control component first acquires real-time joint angle information of the pan/tilt, and sends a third work instruction to the motor component according to the real-time joint angle information, the third The work command controls the at least one of the pitch motor, the roll motor, or the translation motor to rotate.
The pan/tilt head of claim 25, wherein the joint angle acquisition assembly comprises one or more of a potentiometer, a Hall sensor, and a magnetic encoder.
The pan/tilt head of claim 26, wherein the third work order is a weak work order that is less than a normal work order.
The pan/tilt head according to claim 27, wherein the weak work command is that at least one of the pitch motor, the roll motor or the translation motor rotates at an angle smaller than the acquired real-time joint angle with respect to a desired joint angle The deviation value.
The pan/tilt head according to any one of claims 17 to 28, wherein the pan/tilt head receives an interchange lens completion command, the pan/tilt enters a replacement lens completion mode, and the control component acquires the real time of the pan/tilt head Position information, and sending a fourth work instruction to the motor component according to the real-time attitude information of the pan/tilt, the motor component executes the fourth work instruction, and the pan/tilt enters a normal working mode.
The pan/tilt head according to claim 29, wherein after the pan/tilt enters the replacement lens completion mode, the control component receives a lens signal command connected to the pan/tilt; the fourth work command is the The control component pre-stores at least one set of preset work instructions, the at least one set of preset work instructions being applicable to different models of lenses connected to the pan/tilt.
The pan/tilt head according to claim 30, wherein the pan/tilt is provided with a physical button for triggering one or more of a lens replacement command, a lens replacement command, and a lens signal command.
The pan/tilt head according to claim 30, wherein a lens connecting component is disposed between the pan/tilt and the lens, and the lens connecting component is provided with a contact portion, the lens replacement command, the lens replacement command, and One or more of the lens signal commands can be automatically transmitted after detection by the contact portion.
A platform according to claim 32, wherein said contact portion is a metal contact.