WO2019223270A1 - Procédé et appareil d'estimation d'angle et de vitesse angulaire d'un moteur électrique de cardan, ainsi que cardan et véhicule aérien - Google Patents

Procédé et appareil d'estimation d'angle et de vitesse angulaire d'un moteur électrique de cardan, ainsi que cardan et véhicule aérien Download PDF

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Publication number
WO2019223270A1
WO2019223270A1 PCT/CN2018/116716 CN2018116716W WO2019223270A1 WO 2019223270 A1 WO2019223270 A1 WO 2019223270A1 CN 2018116716 W CN2018116716 W CN 2018116716W WO 2019223270 A1 WO2019223270 A1 WO 2019223270A1
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motor
angular velocity
angle
measurement value
transformation matrix
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PCT/CN2018/116716
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English (en)
Chinese (zh)
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徐运扬
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深圳市道通智能航空技术有限公司
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Publication of WO2019223270A1 publication Critical patent/WO2019223270A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
    • G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement

Definitions

  • Embodiments of the present invention relate to the technical field of aircraft, and in particular, to a method for estimating the angle and angular velocity of a gimbal motor, a device for estimating the angle and angular velocity of a gimbal motor, a gimbal, a camera module having the gimbal, and an aircraft having the camera component .
  • UAVs such as Unmanned Aerial Vehicles (UAVs)
  • UAV Unmanned Aerial Vehicles
  • UAV is a new concept equipment under rapid development. It has the advantages of small size, light weight, flexible maneuverability, fast response, unmanned driving, and low operating requirements.
  • UAVs are equipped with various types of shooting devices, such as cameras and video cameras, through the gimbal, which can realize real-time image transmission and high-risk area detection. It is a powerful complement to satellite remote sensing and traditional aerial remote sensing. In recent years, drones have been widely used in disaster investigation and rescue, aerial monitoring, transmission line inspection, aerial photography, aerial survey, and military fields.
  • the gimbal is the core device for realizing the stabilization of the shooting picture in the aerial photography of the drone. It uses the active rotation of the motor to cancel the disturbance of the shooting device in real time, prevent the shaking of the shooting device, and ensure the stability of the shooting picture.
  • the pan / tilt heads on the market are equipped with angle sensors, such as potentiometers, magnetic encoders, etc., whose main function is to obtain the collected measurement information in real time, so that the controller of the pan / tilt head can obtain the angle of the motor through the measurement information, which increases the stability of the pan / tilt
  • the control provides the necessary motor angular information.
  • the inventors found that there are at least the following problems in the related technology: 1. There is a significant cost disadvantage in using an angle sensor. Because the UAV's gimbal is usually a multi-axis gimbal, for multiple motors in a multi-axis gimbal, multiple angle sensors need to be configured to obtain the corresponding motor's angle and angular velocity, which increases the cost of the collected measurement information. 2.
  • the type of data provided by the angle sensor is single. Based on the data provided by the angle sensor, the accurate angular velocity of the motor cannot be obtained.
  • the angle sensor can only provide the angular data of the motor. It cannot directly provide the accurate angular velocity data of the motor, and the accurate angular velocity of the motor. The data is of great significance to improve the stability control effect of the gimbal. Based on the data provided by the angle sensor, the accurate angular velocity of the motor cannot be obtained, which will affect the stability of the shooting picture and affect the user's visual experience.
  • Embodiments of the present invention provide a method and device for estimating the angle and angular velocity of a gimbal motor, a gimbal and an aircraft, which can reduce the cost of obtaining the angle and angular velocity of the gimbal motor and effectively improve the accuracy of estimating the angle and angular velocity of the gimbal motor .
  • the PTZ includes a base, a motor connected to the base, and a photographing device connected to the motor.
  • the photographing device is provided with a first inertial measurement unit.
  • the base is provided with a second inertial measurement unit, and the method includes:
  • An angular velocity of the motor is determined according to the angle of the motor, the first angular velocity measurement value, and the second angular velocity measurement value.
  • determining the angular velocity of the motor according to the angle of the motor, the first angular velocity measurement value, and the second angular velocity measurement value includes:
  • first rotation transformation matrix is a rotation matrix of a base coordinate system to a camera coordinate system
  • second rotation transformation matrix Rotation matrix from base coordinate system to motor coordinate system
  • the calculation formula of the angular velocity of the motor is:
  • R zxy ( ⁇ , ⁇ , ⁇ ) is expressed as the first rotation transformation matrix
  • D is the second rotation transformation matrix
  • D -1 is the inverse matrix of the second rotation transformation matrix
  • ⁇ is expressed as the angular velocity of the motor.
  • a calculation formula of the first rotation transformation matrix is:
  • R zxy ( ⁇ , ⁇ , ⁇ ) is expressed as the first rotation transformation matrix; ( ⁇ , ⁇ , ⁇ ) is expressed as the angle of the motor, ⁇ is expressed as the rotation angle of the tumble shaft of the motor, ⁇ Expressed as the rotation angle of the pitch axis of the motor, ⁇ is expressed as the rotation angle of the yaw axis of the motor.
  • the calculation formula of the second rotation transformation matrix is:
  • D is the second rotation transformation matrix
  • ( ⁇ , ⁇ , ⁇ ) is the angle of the motor
  • ⁇ is the rotation angle of the roll axis of the motor
  • ⁇ is the pitch axis of the motor
  • the rotation angle, ⁇ is expressed as the rotation angle of the yaw axis of the motor.
  • determining the angle of the motor according to the first angular velocity measurement value and the second angular velocity measurement value includes:
  • An angle of the motor is obtained according to the third attitude quaternion.
  • the first attitude quaternion is obtained according to the first angular velocity measurement value, wherein the first attitude quaternion is used to represent the attitude of the photographing device relative to the inertial system. Corner, including:
  • a first attitude quaternion is calculated through a quaternion differential equation.
  • the second attitude quaternion is obtained according to the second angular velocity measurement value, wherein the second attitude quaternion is used to represent the relative position of the base with respect to the inertial system.
  • Attitude angle including:
  • a second attitude quaternion is calculated through a quaternion differential equation.
  • the calculation formula for the third attitude quaternion is:
  • q ic is represented as the first attitude quaternion
  • q ib is represented as the second attitude quaternion
  • q bc is represented as the third attitude quaternion
  • the obtaining the angle of the motor according to the third attitude quaternion includes:
  • An angle of the motor is obtained according to the third rotation transformation matrix.
  • an expression of the third rotation transformation matrix is:
  • ( ⁇ , ⁇ , ⁇ ) is the angle of the motor
  • ⁇ is the rotation angle of the tumble axis of the motor
  • ⁇ is the rotation angle of the pitch axis of the motor
  • ⁇ is the Rotation angle of the yaw axis.
  • the present invention also provides a device for estimating the angle and angular velocity of a pan / tilt motor.
  • the pan / tilt head includes a base, a motor connected to the base, and a photographing device connected to the motor.
  • the photographing device is provided with a first inertial measurement unit
  • the base is provided with a second inertial measurement unit, and the device includes:
  • a measurement value acquisition module configured to acquire a first angular velocity measurement value collected by the first inertial measurement unit and a second angular velocity measurement value collected by the second inertial measurement unit;
  • An angle determining module configured to determine an angle of the motor according to the first angular velocity measurement value and the second angular velocity measurement value;
  • An angular velocity determining module is configured to determine an angular velocity of the motor according to an angle of the motor, the first angular velocity measurement value, and the second angular velocity measurement value.
  • the angular velocity determination module includes:
  • a rotation transformation matrix determining module is configured to determine a first rotation transformation matrix and a second rotation transformation matrix according to an angle of the motor, wherein the first rotation transformation matrix is a rotation matrix from a base coordinate system to a camera coordinate system.
  • the second rotation transformation matrix is a rotation matrix of a base coordinate system to a motor coordinate system;
  • the angular velocity calculation module is configured to calculate the angular velocity of the motor according to the first rotation transformation matrix, the second rotation transformation matrix, the first angular velocity measurement value, and the second angular velocity measurement value.
  • the calculation formula of the angular velocity of the motor is:
  • R zxy ( ⁇ , ⁇ , ⁇ ) is expressed as the first rotation transformation matrix
  • D is the second rotation transformation matrix
  • D -1 is the inverse matrix of the second rotation transformation matrix
  • ⁇ is expressed as the angular velocity of the motor.
  • a calculation formula of the first rotation transformation matrix is:
  • R zxy ( ⁇ , ⁇ , ⁇ ) is expressed as the first rotation transformation matrix; ( ⁇ , ⁇ , ⁇ ) is expressed as the angle of the motor, ⁇ is expressed as the rotation angle of the tumble shaft of the motor, ⁇ Is expressed as the rotation angle of the motor's pitch axis, and ⁇ is expressed as the rotation angle of the motor's yaw axis.
  • the calculation formula of the second rotation transformation matrix is:
  • D is the second rotation transformation matrix
  • ( ⁇ , ⁇ , ⁇ ) is the angle of the motor
  • ⁇ is the rotation angle of the roll axis of the motor
  • ⁇ is the pitch axis of the motor
  • the rotation angle, ⁇ is expressed as the rotation angle of the yaw axis of the motor.
  • the angle determination module is specifically configured to:
  • An angle of the motor is obtained according to the third attitude quaternion.
  • the angle determining module is configured to take the first angular velocity measurement value as an input, and obtain a first attitude quaternion through a quaternion differential equation.
  • the angle determination module is further configured to use the second angular velocity measurement value as an input to calculate a second attitude quaternion through a quaternion differential equation.
  • the calculation formula for the third attitude quaternion is:
  • q ic is represented as the first attitude quaternion
  • q ib is represented as the second attitude quaternion
  • q bc is represented as the third attitude quaternion
  • the angle determination module is specifically configured to:
  • An angle of the motor is obtained according to the third rotation transformation matrix.
  • the present invention also provides a pan / tilt head.
  • the pan / tilt head includes a base, a motor connected to the base, and a photographing device connected to the motor.
  • the photographing device is provided with a first An inertial measurement unit
  • the base is provided with a second inertial measurement unit
  • the gimbal further includes: at least one processor; and
  • a memory connected in communication with the at least one processor
  • the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor, so that the at least one processor can execute the method as described above.
  • the present invention also provides an aircraft, including:
  • a machine arm connected to the fuselage
  • a power unit provided on said arm
  • the gimbal is mounted on the fuselage.
  • the angle of the motor is determined based on the first angular velocity measurement value collected by the first inertial measurement unit provided on the photographing device and the second angular velocity measurement value collected by the second inertial measurement unit provided on the gimbal base, and based on the motor Angle, the first angular velocity measurement and the second angular velocity measurement to determine the angular velocity of the motor.
  • a low-cost inertial measurement unit is used instead of a high-cost angle sensor to collect measurement data, especially for multi-axis gimbals.
  • the cost is effectively reduced; on the other hand, since the angle of the obtained motor is an estimated value, there is a certain relationship between the angle of the motor and the actual angle of the motor no matter how it is estimated.
  • the error is based on the estimated motor angle, the first angular velocity measurement value and the second angular velocity measurement value to determine the angular velocity of the motor. Compared with the direct estimation based on the estimated motor angle to obtain the angular velocity of the motor, the cumulative error results in a higher error. Calculate the accuracy to get the angular velocity of the motor with higher accuracy.
  • FIG. 1 is a schematic flowchart of a method for estimating the angle and angular velocity of a gimbal motor according to an embodiment of the present invention
  • FIG. 2 is a schematic diagram of a position setting of a first inertial measurement unit and a second inertial measurement unit according to an embodiment of the present invention
  • FIG. 3 is a specific flowchart for determining an angle of a motor according to an embodiment of the present invention.
  • FIG. 4 is a specific flowchart for determining an angular velocity of a motor according to an embodiment of the present invention
  • FIG. 5 is a schematic diagram of a gimbal motor angle and angular velocity estimation device according to an embodiment of the present invention.
  • FIG. 6 is a connection block diagram of a pan / tilt according to an embodiment of the present invention.
  • FIG. 7 is a schematic diagram of a connection relationship between a processor and a memory in FIG. 6;
  • FIG. 8 is a schematic diagram of a camera module according to an embodiment of the present invention.
  • FIG. 9 is a schematic diagram of an aircraft provided by an embodiment of the present invention.
  • the method for estimating the angle and angular velocity of the pan / tilt motor can be applied to various photographing equipment using the pan / tilt as an auxiliary device for photographing, such as a handheld photographing equipment, an aircraft, an unmanned ship, or an unmanned vehicle.
  • an aircraft such as an unmanned aerial vehicle (UAV)
  • UAV unmanned aerial vehicle
  • the UAV's gimbal can be equipped with a shooting device and installed on the UAV's fuselage for aerial photography.
  • the hand-held shooting device is provided with a pan / tilt and a shooting device, and the hand-held shooting device can also be equipped with a shooting device and mounted on a handle to enable the hand-held shooting device to perform photographing, video recording, and the like.
  • the UAV includes a fuselage, a boom connected to the fuselage, a power unit provided on the boom, and a head connected to the fuselage.
  • the gimbal is mounted on the fuselage.
  • An unmanned aerial vehicle may include one or more arms that extend radially from the fuselage.
  • the connection between the arm and the fuselage may be an integral connection or a fixed connection.
  • the gimbal includes: a base connected to the body, a motor connected to the base, a camera device connected to the motor, a controller provided on the base, and an ESC provided in the arm.
  • the controller is connected to the ESC, the ESC is electrically connected to the motor, and the electricity is called to control the motor.
  • the controller is configured to execute the method for estimating the angle and angular velocity of the pan / tilt motor to obtain the motor angle and angular velocity, generate a control instruction according to the motor angle and angular velocity, and send the control instruction to the ESC, and the ESC controls the motor through the control instruction .
  • the controller is configured to perform the above-mentioned gimbal motor angle and angular velocity estimation to obtain the motor angle and angular velocity, and send the motor angle and angular velocity to the ESC.
  • the ESC generates a control instruction according to the motor angle and angular velocity, and controls the motor through the control instruction .
  • the ESC is not a necessary part of the PTZ.
  • the controller is directly connected to the motor, and the motor is controlled by the control instruction.
  • the shooting device includes, but is not limited to, a camera, a video camera, a camera, a scanner, a camera phone, and the like.
  • the pan / tilt is used to fix the photographing device, or adjust the posture of the photographing device (for example, change the height, inclination, and / or direction of the photographing device), and keep the photographing device in a set posture.
  • the pan / tilt is mainly used to keep the shooting device in a set posture stably, prevent the shooting screen of the shooting device from shaking, and ensure the stability of the shooting screen.
  • the photographing device is provided with a first inertial measurement unit, so as to collect attitude information of the photographing device, such as acquiring the angular velocity of the photographing device through the first inertial measurement unit.
  • the motor is respectively connected to the base and the photographing device.
  • the gimbal can be a multi-axis gimbal, with which there are multiple motors, that is, one motor is provided for each axis.
  • the motor can drive the rotation of the shooting device, so as to meet the adjustment of the horizontal rotation and tilting angle of the shooting shaft.
  • the rotation of the motor By manually controlling the rotation of the motor remotely or using a program to make the motor rotate automatically, it can achieve all-round scanning monitoring.
  • the disturbance of the shooting device is cancelled in real time by the rotation of the motor, which prevents the shooting device from shaking and ensures the stability of the shooting picture.
  • the controller is configured to perform the above-mentioned gimbal motor angle and angular velocity estimation to obtain the motor angle and angular velocity, and may generate a control instruction based on the motor angle and angular velocity, and send the control instruction to the ESC, so that the ESC controls the motor through the control instruction.
  • the controller is a device with certain logic processing capabilities, such as a control chip, a single-chip microcomputer, and a Microcontroller Unit (MCU).
  • MCU Microcontroller Unit
  • the ESC the full name of the electronic governor, is connected to the controller and the motor, respectively, and adjusts the motor of the UAV according to the control instructions to ensure the stability of the shooting screen of the shooting device.
  • the principle of the ESC control motor is roughly: the motor is an open-loop control component that converts electrical pulse signals into angular displacement or linear displacement. Under non-overload conditions, the speed and stop position of the motor only depend on the frequency and number of pulse signals, and are not affected by the load change.
  • the driver receives a pulse signal, it drives the motor in the set direction Rotating at a fixed angle, its rotation runs at a fixed angle. Therefore, the ESC can control the angular displacement by controlling the number of pulses to achieve accurate positioning; at the same time, the speed and acceleration of the motor can be controlled by controlling the pulse frequency to achieve the purpose of speed regulation.
  • an angle sensor is usually used to obtain the angle of the motor.
  • the angle sensor collects measurement information and sends the measurement information to the PTZ controller.
  • the PTZ controller calculates the motor based on the measurement information collected by the angle sensor.
  • the commonly used angle sensors include potentiometers and magnetic encoders, but since each motor needs an angle sensor, for the control of multiple motors in a multi-axis head, multiple angle sensors need to be configured. On the one hand, it will increase the acquisition The cost of measurement information increases the cost of motor control; on the other hand, the more angle sensors, the more complicated the control scheme.
  • the type of data provided by the angle sensor is single: only the motor's angle data can be provided, and the accurate motor angular velocity data cannot be directly provided, and the accurate motor angular velocity data is of great significance to further improve the stability control effect of the gimbal. Because when the angular velocity feedback is introduced, an angle-angular velocity cascade control system can be formed, which has stronger anti-interference ability than the traditional angle-only controller.
  • the main objective of the embodiments of the present invention is to provide a method and device for estimating the angle and angular velocity of a gimbal motor, a device, a gimbal, a camera component, and an aircraft, which can reduce the cost of obtaining the angle and angular velocity of the gimbal motor, Effectively improve the accuracy of calculating the angle and angular velocity of the gimbal motor, and provide a more accurate angle and angular velocity of the gimbal motor for the stability control of the gimbal. Due to the accurate acquisition and introduction of the angle and angular velocity of the gimbal motor, it can constitute an angle-angular velocity cascade control system. Compared with the traditional angle-based control system, it greatly improves the anti-interference ability and stabilization effect of the gimbal. The aerial image of the camera is always clear and stable.
  • the idea of the present invention is: first, a first inertial measurement unit (Inertial measurement unit, IMU) is set on the photographing device, and a second inertial measurement unit is set on the base of the gimbal; then, the first inertial measurement unit Collect the first angular velocity measurement value, and send the first angular velocity measurement value to the controller of the PTZ. The second inertial measurement unit collects the second angular velocity measurement value, and send the second angular velocity measurement value to the controller of the PTZ.
  • IMU Inertial measurement unit
  • the controller of the gimbal determines the angle of the motor according to the obtained first angular velocity measurement value and the second angular velocity measurement value, and according to the motor angle, the first angular velocity measurement value, and the second angular velocity The measured value determines the angular velocity of the motor.
  • the angle of the motor is determined based on the first angular velocity measurement value collected by the first inertial measurement unit provided on the photographing device and the second angular velocity measurement value collected by the second inertial measurement unit provided on the gimbal base, and based on the motor Angle, the first angular velocity measurement and the second angular velocity measurement to determine the angular velocity of the motor.
  • a low-cost inertial measurement unit is used instead of a high-cost angle sensor to collect measurement data, especially for multi-axis gimbals.
  • the cost is effectively reduced; on the other hand, determining the angle of the motor through the first angular velocity measurement value and the second angular velocity measurement value can improve the accuracy of calculating the motor angle, and it can also Angle, the first angular velocity measurement value and the second angular velocity measurement value to obtain the angular velocity of the motor with higher accuracy. Due to the estimation and introduction of the angle and angular velocity of the motor with higher accuracy, an angle-angular velocity cascade control system can be formed. Compared with the traditional angle-based control system, it greatly improves the anti-interference ability and stability of the gimbal. Effect to ensure that the aerial image of the camera is always clear and stable, and improve the user's visual experience.
  • FIG. 1 is a schematic flowchart of a method for estimating the angle and angular velocity of a gimbal motor according to an embodiment of the present invention.
  • the angle and angular velocity estimation method of the pan / tilt motor can be executed by various controllers with a certain logic processing capability, such as a pan / tilt controller.
  • the PTZ controller can be applied to an aircraft, for example, to an unmanned aerial vehicle.
  • the controller that executes the method of estimating the angle and angular velocity of the gimbal motor will be described with the gimbal controller as an example, and the drone as an example.
  • the drone includes a camera component, and the camera component includes a gimbal and a shooting device mounted on the gimbal.
  • the gimbal includes a base, a motor, a gimbal controller and an ESC.
  • the gimbal controller is connected to the ESC.
  • the regulator is electrically connected to the motor, and the electricity is called to control the motor.
  • the imaging device and the base are connected by a motor.
  • the imaging device is provided with a first inertial measurement unit, and the base is provided with a second inertial measurement unit.
  • the gimbal can be a multi-axis gimbal, such as a two-axis gimbal and a three-axis gimbal. The following three-axis gimbal is used as an example for illustration.
  • the method for estimating the angle and angular velocity of the gimbal motor includes:
  • Obtaining the first angular velocity measurement value and the second angular velocity measurement value by the PTZ controller specifically includes: first acquiring the first angular velocity measurement value by a first inertial measurement unit provided on the photographing device, and sending the first angular velocity measurement value to The gimbal controller, so that the gimbal controller obtains the first angular velocity measurement value; similarly, the second inertial measurement unit provided on the base of the gimbal acquires a second angular velocity measurement value, and The two angular velocity measurement value is sent to the PTZ controller, so that the PTZ controller obtains the second angular velocity measurement value.
  • the photographing device may be a camera, a video camera, a camera, a scanner, a camera phone, or the like.
  • FIG. 2 includes three coordinate systems: a camera coordinate system, a motor coordinate system, and a base coordinate system.
  • the top of the head is the base of the gimbal, and the bottom is the camera. They are connected by a three-axis motor in the ZXY Euler angle sequence, that is, the yaw axis Yaw from top to bottom.
  • Z axis Z axis
  • Roll axis X axis
  • Pitch axis Y axis
  • the Inertial Measurement Unit is a device that measures the three-axis attitude angle (or angular rate) and acceleration of an object.
  • IMU has six-axis IMU and nine-axis IMU.
  • one IMU contains three single-axis accelerometers and three single-axis gyroscopes.
  • the accelerometer detects the acceleration signals of the object in the carrier coordinate system independently of the three axes
  • the gyroscope detects the relative Navigating the angular velocity signal of the coordinate system, measuring the angular velocity and acceleration of the object in three-dimensional space, and using this solution to calculate the attitude of the object.
  • one IMU contains three single-axis accelerometers, three single-axis gyroscopes, and three single-axis geomagnetometers.
  • the nine-axis IMU's accelerometer is similar to the gyroscope, and the nine-axis IMU
  • the geomagnetic meter is used to detect the component of the geomagnetic field on the horizontal plane in the inertial system, the direction of this component always points to the north pole.
  • the six-axis IMU or nine-axis IMU can detect its own attitude information in the inertial system.
  • the first inertial measurement unit provided on the photographing device collects a first angular velocity measurement value, and the first angular velocity measurement value is available vector Indicates, that is, the first angular velocity measurement value Represented as the coordinate vector of the angular velocity of the camera relative to the inertial system in the coordinate system of the camera;
  • the second inertial measurement unit set on the base of the gimbal acquires a second angular velocity measurement value, and the second angular velocity measurement value is available as a vector Means the second angular velocity measurement Expressed as the coordinate vector of the angular velocity of the base relative to the inertial system in the base coordinate system.
  • the inertial system also known as the inertial coordinate system, inertial reference system, geodetic coordinate system or world coordinate system, because the drone can be placed at any position, a reference coordinate is selected in the environment to describe the The position of each part and use it to describe the position of any object in the environment.
  • the quaternion is used to describe the attitude of the UAV and its various components.
  • the root cause of the universal joint lock phenomenon is that the rotation matrix is sequentially performed. It is assumed that the rotation is about the x-axis, then the y-axis, and finally the z-axis. This causes the object to actually rotate around its own coordinate system.
  • the x-axis rotation is not the x-axis rotation of the inertial frame.
  • the performance is that under an Euler angle (x1, y1, z1), changing the value of x1, the object will rotate around the x-axis of the object's own coordinate system, instead of the x-axis of the world's inertial system. Finally, when the x-axis of the object is rotated to coincide with the z-axis of the inertial system, the x1 and z1 rotation results of the Euler angle are the same, and one dimension is lost. This is the universal joint lock phenomenon.
  • determining the angle of the motor according to the first angular velocity measurement value and the second angular velocity measurement value includes: obtaining a first attitude quaternion according to the first angular velocity measurement value, and The second angular velocity measurement value obtains a second attitude quaternion, wherein the first attitude quaternion is used to represent the attitude angle of the photographing device relative to the inertial system, and the second attitude quaternion is used to represent The attitude angle of the base relative to the inertial system; a third attitude quaternion is obtained according to the first attitude quaternion and the second attitude quaternion, and the third attitude quaternion is used for Represents the rotation attitude angle of the motor; and obtains the angle of the motor according to the third attitude quaternion.
  • FIG. 3 is a specific flowchart for determining the angle of the motor. The following specifically describes the determination of the angle of the motor according to the first angular velocity measurement value and the second angular velocity measurement value with reference to FIG. 3.
  • the measured value according to the first angular velocity Obtain the first attitude quaternion q ic
  • the second angular velocity measurement value Obtaining a second attitude quaternion q ib , including: taking the first angular velocity measurement value As an input, a first attitude quaternion q ic is calculated through a quaternion differential equation; and the second angular velocity measurement value is obtained As an input, the second attitude quaternion q ib is calculated through the quaternion differential equation.
  • ⁇ t is a sampling time interval of the first inertial measurement unit provided on the photographing device.
  • ⁇ t is a sampling time interval of the second inertial measurement unit provided on the base.
  • the third attitude quaternion represents the rotation attitude angle of the motor, and the result of the rotation makes the attitude of the base of the gimbal to the attitude of the photographing device differ by one rotation transformation. Therefore, the first attitude quaternion And the second attitude quaternion satisfy the following quaternion multiplication relationship:
  • a calculation formula for obtaining a third attitude quaternion according to the first attitude quaternion and the second attitude quaternion is:
  • q ic is represented as the first attitude quaternion
  • q ib is represented as the second attitude quaternion
  • q bc is represented as the third attitude quaternion
  • the angle ( ⁇ , ⁇ , ⁇ ) of the motor is obtained according to the third attitude quaternion q bc .
  • a third rotation transformation matrix R is obtained according to the third attitude quaternion q bc , and the third rotation transformation matrix R is used to represent a rotation transformation of the attitude of the base to the attitude of the photographing device Obtaining an angle ( ⁇ , ⁇ , ⁇ ) of the motor according to the third rotation transformation matrix R.
  • the angle of the motor is expressed by Euler angle, that is, the angle of the motor is described by the Euler angle ( ⁇ , ⁇ , ⁇ ) of the motor.
  • ( ⁇ , ⁇ , ⁇ ) is the angle of the motor, specifically the Euler angle of the motor
  • ⁇ is the rotation angle of the tumble axis of the motor
  • ⁇ is the rotation angle of the pitch axis of the motor
  • ⁇ is the rotation angle of the yaw axis of the motor.
  • the range of the angle is: ⁇ [- ⁇ / 2, ⁇ / 2], ⁇ [- ⁇ , ⁇ ], ⁇ [- ⁇ , ⁇ ].
  • the gimbal controller determines the angular velocity of the motor according to the angle of the motor, the first angular velocity measurement value, and the second angular velocity measurement value, and specifically includes: determining a first rotation transformation matrix and a first rotation velocity according to the angle of the motor.
  • Two rotation transformation matrices the first rotation transformation matrix is a rotation matrix of a base coordinate system to a camera coordinate system, and the second rotation transformation matrix is a rotation matrix of a base coordinate system to a motor coordinate system; according to the first A rotation transformation matrix, the second rotation transformation matrix, the first angular velocity measurement value and the second angular velocity measurement value are calculated to obtain the angular velocity of the motor.
  • FIG. 4 is a specific flowchart for determining the angular velocity of the motor. The following specifically describes the determination of the angular velocity of the motor according to the angle of the motor, the first angular velocity measurement value, and the second angular velocity measurement value with reference to FIG. 4.
  • a first rotation transformation matrix R zxy ( ⁇ , ⁇ , ⁇ ) and a second rotation transformation matrix D are determined.
  • i c , j c , and k c be unit vectors on the X, Y, and Z axes of the camera coordinate system
  • i b , j b , and k b be on the X, Y, and Z axes of the base coordinate system, respectively.
  • R z ( ⁇ ), R x ( ⁇ ), R y ( ⁇ ) respectively around the Z, X, Y axis rotation unit rotation matrix, based on the basic principle of inertial navigation which R z ( ⁇ ), R
  • the values of x ( ⁇ ) and R y ( ⁇ ) are as follows:
  • R zxy ( ⁇ , ⁇ , ⁇ ) is expressed as a first rotation transformation matrix; ( ⁇ , ⁇ , ⁇ ) is expressed as an angle of the motor.
  • D is represented as a second rotation transformation matrix; ( ⁇ , ⁇ , ⁇ ) is represented as an angle of the motor.
  • the angular velocity ⁇ of the motor is calculated.
  • the calculation formula of the angular velocity of the motor is:
  • R zxy ( ⁇ , ⁇ , ⁇ ) is expressed as a first rotation transformation matrix
  • D is a second rotation transformation matrix
  • D -1 is an inverse matrix of the second rotation transformation matrix
  • ⁇ is expressed as the angular velocity of the motor.
  • the angle of the motor is determined by the first angular velocity measurement value collected by the first inertial measurement unit provided on the photographing device and the second angular velocity measurement value collected by the second inertial measurement unit provided on the gimbal base.
  • the angular velocity of the motor is determined based on the motor's angle, the first angular velocity measurement and the second angular velocity measurement.
  • a low-cost inertial measurement unit is used instead of a high-cost angle sensor to collect measurement data, especially for multi-axis clouds
  • the cost is effectively reduced; on the other hand, because the angle of the obtained motor is an estimated value, the angle of the motor is estimated to be between the actual angle of the motor no matter how it is estimated. There is a certain error.
  • the angular velocity of the motor is determined based on the estimated motor angle, the first angular velocity measurement value, and the second angular velocity measurement value. Compared with the direct estimation based on the estimated motor angle, the angular velocity of the motor results in a cumulative error. The higher the calculation accuracy, the more accurate the angular velocity of the motor.
  • FIG. 5 is a schematic diagram of a device for estimating the angle and angular velocity of a gimbal motor according to an embodiment of the present invention.
  • the angle and angular velocity estimation device 50 of the pan / tilt motor can be configured in various controllers with a certain logic processing capability, such as a pan / tilt controller.
  • the PTZ controller can be applied to an aircraft, for example, to an unmanned aerial vehicle. The following description is based on an example where the gimbal motor angle and angular velocity estimation device 50 is configured in a gimbal controller, and the aircraft is a drone as an example. Among them, the drone includes a camera component, and the camera component includes a gimbal and a shooting device mounted on the gimbal.
  • the gimbal includes a base, a motor, a gimbal controller and an ESC.
  • the gimbal controller is connected to the ESC.
  • the regulator is electrically connected to the motor, and the electricity is called to control the motor.
  • the imaging device and the base are connected by a motor.
  • the imaging device is provided with a first inertial measurement unit, and the base is provided with a second inertial measurement unit.
  • the gimbal can be a multi-axis gimbal, such as a two-axis gimbal and a three-axis gimbal. The following three-axis gimbal is used as an example for illustration.
  • the gimbal motor angle and angular velocity estimation device 50 includes:
  • a measurement value acquisition module 501 is configured to acquire a first angular velocity measurement value collected by the first inertial measurement unit, and acquire a second angular velocity measurement value collected by the second inertial measurement unit.
  • An angle determination module 502 is configured to determine an angle of the motor according to the first angular velocity measurement value and the second angular velocity measurement value.
  • the quaternion is used to describe the attitude of the UAV and its various components.
  • the angle determining module 502 is specifically configured to: obtain a first attitude quaternion according to the first angular velocity measurement value, and obtain a second attitude quaternion according to the second angular velocity measurement value, where the first The attitude quaternion is used to represent the attitude angle of the photographing device relative to the inertial system, and the second attitude quaternion is used to represent the attitude angle of the base with respect to the inertial system; A quaternion and the second attitude quaternion to obtain a third attitude quaternion, and the third attitude quaternion is used to represent a rotation attitude angle of the motor; according to the third attitude quaternion, to obtain The angle of the motor.
  • the angle determination module 502 converts the first angular velocity measurement value Converted to the first attitude quaternion q ic and measured the second angular velocity Convert to the second pose quaternion q ib .
  • the angle determination module 502 is based on the first angular velocity measurement value.
  • Obtain the first attitude quaternion q ic and according to the second angular velocity measurement value
  • Obtaining a second attitude quaternion q ib including: taking the first angular velocity measurement value As an input, a first attitude quaternion q ic is calculated through a quaternion differential equation; and the second angular velocity measurement value is obtained As an input, the second attitude quaternion q ib is calculated through the quaternion differential equation.
  • ⁇ t is a sampling time interval of the first inertial measurement unit provided on the photographing device.
  • ⁇ t is a sampling time interval of the second inertial measurement unit provided on the base.
  • the angle determining module 502 obtains the third attitude quaternion according to the calculation formula for calculating the third attitude quaternion according to the first attitude quaternion and the second attitude quaternion.
  • the third attitude quaternion represents the rotation attitude angle of the motor, and the result of the rotation makes the attitude of the base of the gimbal to the attitude of the photographing device differ by one rotation transformation. Therefore, the first attitude quaternion And the second attitude quaternion satisfy the following quaternion multiplication relationship:
  • the calculation formula for the angle determination module 502 to obtain the third attitude quaternion based on the first attitude quaternion and the second attitude quaternion is:
  • q ic is represented as the first attitude quaternion
  • q ib is represented as the second attitude quaternion
  • q bc is represented as the third attitude quaternion
  • the angle determination module 502 obtains the angle ( ⁇ , ⁇ , ⁇ ) of the motor according to the third attitude quaternion q bc .
  • the angle determination module 502 obtains a third rotation transformation matrix R according to the third attitude quaternion q bc , and the third rotation transformation matrix R is used to represent the attitude of the base to the shooting device. Rotation transformation of the attitude; according to the third rotation transformation matrix R, an angle ( ⁇ , ⁇ , ⁇ ) of the motor is obtained.
  • the angle of the motor is expressed by Euler angle, that is, the angle of the motor is described by Euler angle ( ⁇ , ⁇ , ⁇ ) of the motor.
  • ( ⁇ , ⁇ , ⁇ ) is the angle of the motor, specifically the Euler angle of the motor
  • ⁇ is the rotation angle of the tumble axis of the motor
  • ⁇ is the rotation angle of the pitch axis of the motor
  • ⁇ is the rotation angle of the yaw axis of the motor.
  • the range of the angle is: ⁇ [- ⁇ / 2, ⁇ / 2], ⁇ [- ⁇ , ⁇ ], ⁇ [- ⁇ , ⁇ ].
  • the angular velocity determining module 503 is configured to determine the angular velocity of the motor according to the angle of the motor, the first angular velocity measurement value, and the second angular velocity measurement value.
  • the angular velocity determination module 503 includes: a rotation transformation matrix determination module 5031, configured to determine a first rotation transformation matrix and a second rotation transformation matrix according to the angle of the motor, where the first rotation transformation matrix is a base coordinate system to the photographing device A rotation matrix of a coordinate system, the second rotation transformation matrix is a rotation matrix of a base coordinate system to a motor coordinate system; an angular velocity calculation module 5032 is configured to, according to the first rotation transformation matrix, the second rotation transformation matrix, The first angular velocity measurement value and the second angular velocity measurement value are calculated to obtain an angular velocity of the motor.
  • the rotation transformation matrix determination module 5031 determines a first rotation transformation matrix R zxy ( ⁇ , ⁇ , ⁇ ) and a second rotation transformation matrix D according to the angle ( ⁇ , ⁇ , ⁇ ) of the motor. Specifically, let i c , j c , and k c be unit vectors on the X, Y, and Z axes of the camera coordinate system, and i b , j b , and k b be on the X, Y, and Z axes of the base coordinate system, respectively.
  • R z ( ⁇ ), R x ( ⁇ ), R y ( ⁇ ) respectively around the Z, X, Y axis rotation unit rotation matrix, based on the basic principle of inertial navigation which R z ( ⁇ ), R
  • the values of x ( ⁇ ) and R y ( ⁇ ) are as follows:
  • the calculation formula for the rotation transformation matrix determining module 5031 to determine the first rotation transformation matrix according to the angle of the motor is:
  • R zxy ( ⁇ , ⁇ , ⁇ ) is expressed as a first rotation transformation matrix; ( ⁇ , ⁇ , ⁇ ) is expressed as an angle of the motor.
  • the rotation transformation matrix determination module 5031 obtains a calculation formula for determining the second rotation transformation matrix D according to the angle of the motor as:
  • D is represented as a second rotation transformation matrix; ( ⁇ , ⁇ , ⁇ ) is represented as an angle of the motor.
  • the angular velocity calculation module 5032 is based on the first rotation transformation matrix R zxy ( ⁇ , ⁇ , ⁇ ), the second rotation transformation matrix D, and the first angular velocity measurement value. And said second angular velocity measurement The angular velocity ⁇ of the motor is calculated. Specifically, the angular velocity calculation module 5032 calculates the calculation formula of the angular velocity of the motor as:
  • R zxy ( ⁇ , ⁇ , ⁇ ) is expressed as a first rotation transformation matrix
  • D is a second rotation transformation matrix
  • D -1 is an inverse matrix of the second rotation transformation matrix
  • ⁇ is expressed as the angular velocity of the motor.
  • the gimbal motor angle and angular velocity estimation device 50 can execute the gimbal motor angle and angular velocity estimation method provided in Embodiment 1 of the present invention, and is provided with corresponding function modules of the execution method and Beneficial effect.
  • the gimbal motor angle and angular velocity estimation device 50 can execute the gimbal motor angle and angular velocity estimation method provided in Embodiment 1 of the present invention, and is provided with corresponding function modules of the execution method and Beneficial effect.
  • FIG. 6 is a PTZ provided by an embodiment of the present invention.
  • the pan / tilt 60 is used to carry a photographing device.
  • the pan / tilt 60 includes a base 601 and a motor 602.
  • the photographing device is connected to the base 601 through the motor 602.
  • the photographing device is provided with a first An inertial measurement unit.
  • the base 601 is provided with a second inertial measurement unit.
  • the PTZ 60 further includes: at least one processor 603 and a memory 604 communicatively connected with the at least one processor 603. Among them, at least one processor 603 is connected to the motor 602. One processor 603 is taken as an example in FIG. 7.
  • the processor 603 and the memory 604 may be connected through a bus or other methods.
  • the connection through the bus is taken as an example.
  • the memory 604 is a non-volatile computer-readable storage medium, and can be used to store non-volatile software programs, non-volatile computer executable programs, and modules, such as the angle and angular velocity estimation of the PTZ motor in the embodiment of the present invention.
  • Program instructions / modules corresponding to the method for example, the measurement value acquisition module 501, the angle determination module 502, and the angular velocity determination module 503 shown in FIG. 5).
  • the processor 603 executes various functional applications and data processing of the PTZ by running non-volatile software programs, instructions, and units stored in the memory 604, that is, the angle and angular velocity estimation of the PTZ motor that implements the method embodiment method.
  • the memory 604 may include a storage program area and a storage data area, where the storage program area may store an operating system and applications required for at least one function; the storage data area may store data created according to the use of the PTZ, and the like.
  • the memory 604 may include a high-speed random access memory, and may further include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other non-volatile solid-state storage device.
  • the memory 604 may optionally include a memory remotely set relative to the processor 603, and these remote memories may be connected to the PTZ through a network. Examples of the network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.
  • the one or more units are stored in the memory 604, and when executed by the one or more processors 603, execute the method of estimating the angle and angular velocity of the gimbal motor in the method embodiment, for example, executing the above
  • the described method steps 101 to 103 in FIG. 1 implement the functions of the 501-503 modules in FIG. 5.
  • the pan / tilt head 60 can execute the method for estimating the angle and angular velocity of the pan / tilt motor provided in Embodiment 1 of the present invention, and has corresponding function modules and beneficial effects of the execution method.
  • the pan / tilt head 60 can execute the method for estimating the angle and angular velocity of the pan / tilt motor provided in Embodiment 1 of the present invention, and has corresponding function modules and beneficial effects of the execution method.
  • An embodiment of the present invention provides a computer program product.
  • the computer program product includes a computer program stored on a non-volatile computer-readable storage medium.
  • the computer program includes program instructions.
  • the program instructions are executed by a computer, At that time, the computer is caused to execute the method of estimating the angle and angular velocity of the gimbal motor as described above. For example, the method steps 101 to 103 in FIG. 1 described above are performed to implement the functions of the modules 501-503 in FIG. 5.
  • An embodiment of the present invention provides a non-volatile computer-readable storage medium, where the computer-readable storage medium stores computer-executable instructions, and the computer-executable instructions are used to cause a computer to execute the PTZ motor as described above.
  • Angle and angular velocity estimation methods For example, the method steps 101 to 103 in FIG. 1 described above are performed to implement the functions of the modules 501-503 in FIG. 5.
  • FIG. 8 is a camera module according to an embodiment of the present invention.
  • the camera module 80 includes a photographing device 801 and the PTZ 60 described above, and the photographing device 801 is mounted on the PTZ 60.
  • the photographing device 801 is provided with a first inertial measurement unit.
  • the pan / tilt 60 is used for fixing the photographing device 801, or adjusting the posture of the photographing device 801 at random (for example, changing the height, inclination, and / or direction of the photographing device) and stably maintaining the photographing device 801 in a set posture.
  • the pan / tilt 60 is mainly used for stably maintaining the photographing device 801 in a set posture, preventing the photographing device 801 from flickering, and ensuring the stability of the photographing image.
  • FIG. 9 is an aircraft provided by an embodiment of the present invention.
  • the aircraft 90 includes: a fuselage 901 and the camera component 80 described above.
  • the camera module 80 is mounted on the body 901 to perform aerial photography, video recording, and the like.
  • the device embodiments described above are only schematic, and the modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical Modules can be located in one place or distributed to multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the objective of the solution of this embodiment.
  • the embodiments can be implemented by means of software plus a general hardware platform, and of course, also by hardware.
  • the program can be stored in a computer-readable storage medium, and the program is being executed. In this case, the process of the embodiment of each method may be included.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Length Measuring Devices With Unspecified Measuring Means (AREA)
  • Accessories Of Cameras (AREA)
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Abstract

L'invention concerne un procédé et un appareil d'estimation de l'angle et de la vitesse angulaire d'un moteur électrique d'un cardan, ainsi qu'un cardan et un véhicule aérien, lesquels se rapportent au domaine technique des véhicules aériens. Le cardan comprend une base, un moteur électrique relié à la base et un appareil photographique connecté au moteur électrique. L'appareil photographique est pourvu d'une première unité de mesure inertielle. La base est pourvue d'une seconde unité de mesure inertielle. Le procédé consiste à : acquérir une première valeur de mesure de vitesse angulaire collectée par la première unité de mesure inertielle et une seconde valeur de mesure de vitesse angulaire collectée par la seconde unité de mesure inertielle (101) ; conformément à la première valeur de mesure de vitesse angulaire et à la seconde valeur de mesure de vitesse angulaire, déterminer l'angle du moteur électrique (102) ; et, conformément à l'angle du moteur électrique, à la première valeur de mesure de vitesse angulaire et à la seconde valeur de mesure de vitesse angulaire, déterminer la vitesse angulaire du moteur électrique (103). Le présent procédé d'estimation de l'angle et de la vitesse angulaire d'un moteur électrique d'un cardan permet de réduire le coût d'obtention de l'angle et de la vitesse angulaire d'un moteur électrique d'un cardan, et d'améliorer efficacement la précision d'estimation de l'angle et de la vitesse angulaire du moteur électrique du cardan.
PCT/CN2018/116716 2018-05-23 2018-11-21 Procédé et appareil d'estimation d'angle et de vitesse angulaire d'un moteur électrique de cardan, ainsi que cardan et véhicule aérien WO2019223270A1 (fr)

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