WO2020042134A1 - Procédé de commande pour cardan, cardan et plate-forme mobile - Google Patents

Procédé de commande pour cardan, cardan et plate-forme mobile Download PDF

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Publication number
WO2020042134A1
WO2020042134A1 PCT/CN2018/103441 CN2018103441W WO2020042134A1 WO 2020042134 A1 WO2020042134 A1 WO 2020042134A1 CN 2018103441 W CN2018103441 W CN 2018103441W WO 2020042134 A1 WO2020042134 A1 WO 2020042134A1
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WO
WIPO (PCT)
Prior art keywords
gimbal
gravity
center
axis
controlling
Prior art date
Application number
PCT/CN2018/103441
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English (en)
Chinese (zh)
Inventor
刘帅
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201880038809.XA priority Critical patent/CN110785725A/zh
Priority to PCT/CN2018/103441 priority patent/WO2020042134A1/fr
Publication of WO2020042134A1 publication Critical patent/WO2020042134A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/10—Control of position or direction without using feedback
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U20/00—Constructional aspects of UAVs
    • B64U20/80—Arrangement of on-board electronics, e.g. avionics systems or wiring
    • B64U20/87—Mounting of imaging devices, e.g. mounting of gimbals
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
    • B64U2101/00—UAVs specially adapted for particular uses or applications
    • B64U2101/30—UAVs specially adapted for particular uses or applications for imaging, photography or videography

Definitions

  • the invention relates to the technical field of PTZ control, in particular to a control method of the PTZ, a PTZ and a mobile platform.
  • PTZ is generally used to stabilize the load.
  • the load can be a camera, mobile phone, sensor, etc. Users can carry various loads on the gimbal as needed. However, due to the uncertainty of the load, it is difficult to balance the center of gravity of the gimbal. When the gimbal is powered off or hibernated, because the gimbal's motor stops working, the gimbal will directly hit the limit (the mechanical limit of the rotating structure of the gimbal) due to its own gravity. There is a risk of damage over time. .
  • Embodiments of the present invention provide a control method for a PTZ, a PTZ and a mobile platform.
  • the method for controlling a pan / tilt includes: detecting a position of a center of gravity of the pan / tilt; if the position of the center of gravity is located on a first side or a second side of a vertical plane in which a rotation axis of the pan / tilt is located,
  • the position of the center of gravity is to plan motion parameters of the gimbal, and the first side and the second side are opposite sides; and to control the side of the gimbal to the position of the center of gravity position according to the motion parameter.
  • the gimbal includes a processor, the processor is configured to: detect a position of a center of gravity of the gimbal; if the position of the center of gravity is located on a first side or a first side of a vertical plane in which a rotation axis of the gimbal is located; On both sides, the movement parameters of the gimbal are planned according to the position of the center of gravity, and the first side and the second side are opposite sides; and the gimbal is controlled to the center of gravity according to the motion parameters. Position the side to the static equilibrium position.
  • the mobile platform according to the embodiment of the present invention includes a mobile platform body and the pan / tilt head of the foregoing embodiment, and the pan / tilt head is disposed on the mobile platform body.
  • the control method of the gimbal, the gimbal and the mobile platform according to the embodiments of the present invention can plan the motion parameters of the gimbal according to the position of the center of gravity of the gimbal to control the gimbal to move gently to the side where the center of gravity position is located to a static equilibrium position. This prevents the head from crashing due to gravity directly hitting the limit.
  • FIG. 1 is a schematic flowchart of a control method for a pan / tilt according to some embodiments of the present invention
  • FIG. 2 is a schematic structural diagram of a pan / tilt head according to some embodiments of the present invention.
  • 3 to 6 are schematic diagrams of application scenarios of a control method for a pan / tilt according to some embodiments of the present invention.
  • FIG. 7 to 14 are schematic flowcharts of a control method of a pan / tilt head according to some embodiments of the present invention.
  • connection should be understood in a broad sense, unless it is explicitly stated and limited otherwise.
  • connection may be a fixed connection, a detachable connection, or an integral unit.
  • Connection can be mechanical connection, electrical connection or can communicate with each other; it can be directly connected or indirectly connected through an intermediate medium, it can be the internal connection of two elements or the interaction between two elements.
  • specific meanings of the above terms in the embodiments of the present invention can be understood according to specific situations.
  • a control method of the pan / tilt head 10 includes:
  • the gimbal 10 includes a processor 11.
  • the control method of the pan / tilt head 10 according to the embodiment of the present invention can be implemented by the pan / tilt head 10 according to the embodiment of the present invention.
  • the processor 11 may be used to execute the methods in 012, 014, and 016.
  • the processor 11 can be used to: detect the position of the center of gravity of the gimbal 10; if the position of the center of gravity is located on the first side or the second side of the vertical plane where the rotation axis of the gimbal 10 is located, plan the cloud according to the position of the center of gravity
  • the movement parameters of the platform 10, the first side and the second side are opposite sides; and according to the movement parameters, the head 10 is controlled to move to the side where the center of gravity is located to the static equilibrium position.
  • the head 10 may be a three-axis head, a two-axis head, a single-axis head, or the like.
  • the embodiment of the present invention is described by taking the pan-tilt head 10 as a three-axis pan-tilt head as an example.
  • the pan-tilt head 10 may be configured to rotate about the pitch axis 12, the roll axis 13, and the yaw axis 14. It can be understood that when the gimbal 10 is a two-axis gimbal, the gimbal 10 can be configured to rotate about any two of the pitch axis 12, the roll axis 13, and the yaw axis 14.
  • the pan / tilt head 10 can be configured to rotate around any one of the pitch axis 12, the roll axis 13, and the yaw axis 14. It should be noted that the above-mentioned pitch axis 12, roll axis 13 and yaw axis 14 are relative to the geodetic coordinate system.
  • the pitch axis 12 becomes a roll axis 13
  • the roll axis 13 becomes a yaw axis 14
  • the yaw axis 14 becomes a roll axis 13, and the like.
  • the pan-tilt head 10 is described as a three-axis head.
  • the shaft structure 17 in the head 10 may include a first shaft structure, a second shaft structure, and a third shaft structure.
  • the first shaft structure is used to carry the load 16, the first shaft structure is connected to the second shaft structure, and the second shaft structure is connected to the third shaft structure.
  • the position of the center of gravity of the gimbal may include the following: the position of the center of gravity of the first shaft structure and the load 16 relative to the rotation axis of the first shaft structure, the load 16, the first shaft structure, the first The position of the center of gravity of the two-axis structure relative to the rotation axis of the second-axis structure, the position of the center of gravity of the load 16, the first shaft structure, the second-axis structure, and the third-axis structure relative to the rotation shaft of the third-axis structure.
  • the corresponding structure in the gimbal 10 when the position of the center of gravity is on the vertical plane where the corresponding axis is located, it can be considered that the corresponding structure in the gimbal 10 is in a balanced state, and the corresponding structure will not occur due to gravity when the driving device 18 of the gimbal 10 is unloaded. Tilt to hit the mechanical limit. Conversely, it is considered that the position of the center of gravity of the corresponding structure in the gimbal 10 is located on one of the opposite sides of the vertical plane where the corresponding axis is located. There may be a risk of hitting the mechanical limit.
  • the head 10 can be controlled so that the head 10 moves to the position of the center of gravity. Move to the static equilibrium position on one side.
  • the gimbal 10 includes a gimbal body 15 and one or more loads 16 detachably disposed on the gimbal body 15.
  • the load 16 may be a device for obtaining external information and information, such as a camera, a mobile phone, a camera, a tablet, a sensor, and a wifi module, or may be an object such as a model arbitrarily carried by a user.
  • the user can freely mount the load 16 on the gimbal body 15 as needed. After the user installs the load 16 on the gimbal body 15 or removes the load 16 from the gimbal body 15, the position of the center of gravity of the gimbal 10 may change, such as tilting the center of gravity forward, backward, left, and right.
  • the control method of the gimbal 10 and the gimbal 10 according to the embodiment of the present invention can plan the motion parameters of the gimbal 10 according to the position of the center of gravity of the gimbal 10 to control the gimbal 10 to smoothly move to the side where the center of gravity position is located to static equilibrium Position, thereby avoiding the situation that the gimbal 10 crashes directly due to the effect of gravity.
  • the x-axis direction is consistent with the roll axis 13 direction
  • the y-axis direction is consistent with the pitch axis 12 direction
  • the z-axis direction is consistent with the yaw axis 14 direction.
  • the plane shown in FIG. 3 is a vertical plane in which the pitch axis 12 is located. Specifically, the vertical plane is relative to the horizontal plane.
  • the vertical plane in which the pitch axis 12 is located is a plane formed by passing over the pitch axis 12 and the yaw axis 14.
  • the static balance position of the gimbal 10 is that under the condition that the driving device 18 of the gimbal 10 is unloaded, the corresponding axis structure can reach the receiving force in the natural state.
  • the position where the force balances and stops rotating may include a mechanical limit position corresponding to the pitch axis 12 in the gimbal 10, such as a first side limit position (ie, A1 position), a second side limit position (ie, A2 position)
  • a mechanical limit position corresponding to the pitch axis 12 in the gimbal 10 such as a first side limit position (ie, A1 position), a second side limit position (ie, A2 position)
  • the corresponding structure corresponding to the pitch axis 12 in the head 10 moves to a position where the force is balanced due to gravity in a natural state, such as the position A0 in the direction of gravity.
  • the joint angle of the rotatable area of the gimbal 10 is less than 360 degrees, for example, the rotatable area in FIG. 4 is 45 degrees (A2 position) to 135 degrees (A1 position) (including 90 degrees to 135 degrees) , And 90 degrees to 45 degrees), that is, the joint angle of the rotatable area is 90 degrees.
  • the position of the center of gravity of the gimbal 10 is located at M1 (the positive angle with the x axis is 120 degrees), it means that the position of the center of gravity of the gimbal 10 is located at On the first side of the vertical plane where the pitch axis 12 is located, the gimbal 10 moves to the first side to the A1 position; if the position of the center of gravity of the gimbal 10 is at M2 (the positive angle with the x-axis is 60 degrees), it means that the cloud The position of the center of gravity of the platform 10 is located on the second side of the vertical plane where the pitch axis 12 is located, then the head 10 moves to the second side to the A2 position; if the position of the center of gravity of the platform 10 is at M3 (the positive angle with the x-axis is still 60 degrees), indicating that the center of gravity of the gimbal 10 is located on the first side of the vertical plane where the tilt axis 12 is located, then the gimbal 10 moves to the first side
  • the position where the corresponding structure of the head 10 is balanced due to the effect of gravity in the natural state may not be in the direction of gravity but may reach the static equilibrium in addition to the case of the position A0 described above.
  • the gimbal 10 may also move to the first side to a static equilibrium position between a straight line at the A0 position and a straight line at the M3 position.
  • the joint angle of the rotatable area of the head 10 is equal to 360 degrees, for example, the rotatable area in FIG. 5 is -90 degrees (A2 position) to 270 degrees (A1 position) (including 90 degrees to 270) Degrees, and 90 degrees to -90 degrees), if the position of the center of gravity of the gimbal 10 is at M1 (the positive angle with the x axis is 120 degrees), it means that the position of the center of gravity of the gimbal 10 is located in the vertical plane where the pitch axis 12 is located.
  • the gimbal 10 can move to the first side to the A0 / A1 / A2 position; if the position of the center of gravity of the gimbal 10 is at M2 (the positive angle with the x axis is 60 degrees), the center of gravity of the gimbal 10 If the position is located on the second side of the vertical plane where the pitch axis 12 is located, the gimbal 10 can move to the second side to the A0 / A1 / A2 position; if the position of the center of gravity of the gimbal 10 is at M3 (positive angle with the x axis) (It is still 60 degrees), indicating that the center of gravity of the gimbal 10 is located on the first side of the vertical plane where the pitch axis 12 is located, then the gimbal 10 moves to the first side to the A0 / A1 / A2 position; if the center of gravity of the gimbal 10 The position is at M4 (the positive angle with the x-axis
  • the joint angle of the pivotable area of the head 10 is greater than 360 degrees, for example, the pivotable area in FIG. 6 is -315 degrees (A2 position) to 495 degrees (A1 position) (including 90 degrees to 495) Degrees, and 90 degrees to -315 degrees), that is, the joint angle of the rotatable area is 810 degrees. If the position of the center of gravity of the gimbal 10 is located at M1 (the positive angle with the x-axis is 120 degrees), the center of gravity of the gimbal 10 The position is located on the first side of the vertical plane where the tilt axis 12 is located.
  • the head 10 can move 150 degrees to the first side to the A0 position. If the gimbal 10 is rotated from 90 degrees to 480 degrees before reaching the current position, the gimbal 10 can move 15 degrees to the first side to the A1 position; if the center of gravity position of the gimbal 10 is located at M2 (positive clamping with the x axis) The angle is 60 degrees), indicating that the position of the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the tilt axis 12 is located.
  • the gimbal 10 can move to the second side by 150 degrees to the A0 position. If the gimbal 10 is rotated from 90 degrees to -300 degrees to reach the current position, the gimbal 10 can be moved to the first position. The two sides move 15 degrees to the A2 position; if the position of the center of gravity of the gimbal 10 is located at M3 (the positive angle with the x-axis is still 60 degrees), it means that the position of the center of gravity of the gimbal 10 is located at the first of the vertical plane where the pitch axis 12 is located.
  • the gimbal 10 can be moved to the first side by 30 degrees to the A0 position. If the gimbal 10 is rotated from 90 degrees to- After reaching the current position at 300 degrees, the gimbal 10 can move 30 degrees to the A0 position to the first side; if the position of the center of gravity of the gimbal 10 is at M4 (the positive angle with the x axis is still 120 degrees), it means that the gimbal 10 The center of gravity position is located on the second side of the vertical plane where the pitch axis 12 is located.
  • the head 10 moves to the second side by 30 degrees to A0 Position, if the head 10 is rotated from 90 degrees to 480 degrees before reaching the current position, the head 10 moves to the second side by 30 degrees to the A0 position.
  • the pan / tilt head 10 is also controlled accordingly to make it reach the static equilibrium position smoothly, which can prevent the weight of the load 16 from being excessive.
  • the driving device 18 is unloaded, the corresponding structure in the head 10 collides with the corresponding mechanical limit due to the inertia effect of gravity.
  • the step (ie, 012) of detecting the position of the center of gravity of the gimbal 10 includes:
  • the processor 11 may be used to perform the method in 0121. That is, the processor 11 may be configured to detect the position of the center of gravity of the PTZ 10 when receiving a preset instruction.
  • the preset instruction may include a power-down instruction or a sleep instruction for the PTZ 10; or, the preset instruction includes a power-down instruction or a sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the PTZ 10.
  • the preset instruction may also be other instructions input by the user.
  • the user when the user has powered on the PTZ 10, the user changes the load 16 on the PTZ 10, which may cause the position of the center of gravity of the PTZ 10 to change.
  • Inputting a corresponding instruction indicates that the position of the center of gravity of the pan / tilt head 10 needs to be re-detected to better implement attitude control of the pan / tilt head 10.
  • the shaft structure 17 of the gimbal 10 may include a pitch frame 171, a roll frame 172, and a yaw frame 173. That is, the aforementioned first axis structure is the pitch frame 171, the second axis structure is the roll frame 172, and the second axis structure is the yaw frame 173.
  • the driving device 18 of the shaft structure 17 may be a motor. In other embodiments, the driving device 18 may be a gear, a screw, or the like.
  • the driving device 18 may include a pitch motor 181, a roll motor 182, and a yaw motor 183.
  • the pitch motor 181 is used to drive the pitch frame 171 to rotate to control the pitch frame 171 and the load 16 to move around the pitch axis 12
  • the roll motor 182 is used to drive the roll frame 172 to rotate to control the roll frame 172, the pitch frame 171, and the load 16 around The roll axis 13 moves
  • the yaw motor 183 is used to drive the yaw frame 173, the roll frame 172, the pitch frame 171, and the load 16 to move around the yaw axis 14.
  • the shaft structure 17 is generally provided with a mechanical limit. When the shaft structure 17 hits the mechanical limit, it cannot move in the original direction.
  • only the tilting frame 171 may be provided with a mechanical limit; or only the roll frame 172 may be provided with a mechanical limit; or both the pitch frame 171 and the roll frame 172 may be provided with a mechanical limit.
  • the yaw frame 173 may also be provided with a mechanical limit as required. Since the yaw frame 173 is not likely to hit the mechanical limit due to gravity relative to the geodetic coordinate system, in the embodiment of the present invention, the mechanical limit is provided by the pitch frame 171 and / or the roll frame 172. As an example, the control situation of the pan / tilt head 10 will be described.
  • the power-down instruction or the sleep instruction for the PTZ 10 can be used to instruct the PTZ 10 to enter the power-off state or the hibernation state, that is, to instruct the pitch motor 181, the yaw motor 183, and the roll motor 182 to stop working.
  • the gimbal 10 will directly hit the mechanical limit of the pitch axis 12 and / or the mechanical of the roll axis 13 under the effect of its own gravity. Limit.
  • the processor 11 detects the position of the center of gravity of the PTZ 10 when receiving a power-down instruction or a sleep instruction for the PTZ 10, thereby planning the motion parameters of the PTZ 10 according to the position of the center of gravity of the PTZ 10 to control the movement of the PTZ 10 to
  • the static balance position prevents the pan / tilt head 10 from crashing due to the direct impact of gravity.
  • a power-off instruction or a sleep instruction for the driving device 18 of the corresponding shaft structure 17 in the gimbal 10 may be used to instruct the driving device 18 of the corresponding shaft structure 17 to enter a power-off state or a sleep state.
  • a power-down instruction or a sleep instruction for the driving device 18 of the tilt frame 171 in the gimbal 10 is used to instruct the driving device 18 of the tilt frame 171, that is, the pitch motor 181 enters a power-off state or a sleep state;
  • the power-off instruction or the sleep instruction of the driving device 18 of the roll frame 172 is used to instruct the driving device 18 of the roll frame 172, that is, the roll motor 182 enters a power-off state or a sleep state; for the pitch frame 171 and roll in the gimbal 10
  • the power-off instruction or the sleep instruction of the driving device 18 of the frame 172 is used to instruct the driving devices 18 of the pitch frame 171 and the roll frame 172, that is, the pitch motor 181 and the roll motor
  • the power-off or sleep command for the drive device 18 of the corresponding axis structure 17 in the gimbal 10 may not be directed to the cloud.
  • a power-off instruction or a sleep instruction of the driving device 18 of the yaw frame 173 in the stage 10 is taken into consideration.
  • the processor 11 detects the position of the center of gravity of the PTZ 10 when receiving a power-off instruction or a sleep command for the drive device 18 of the corresponding axis structure 17 in the PTZ 10, thereby planning the position of the PTZ 10 according to the position of the center of gravity of the PTZ 10
  • the movement parameters are used to control the movement of the PTZ 10 to the static equilibrium position, so as to avoid the situation that the PTZ 10 directly hits the limit due to gravity and crashes.
  • the method further includes:
  • the processor 11 may be used to perform the methods in 018 and 020. That is to say, the processor 11 may be configured to: execute a power-down instruction or a sleep instruction for the PTZ 10; or execute a power-down instruction or a sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the PTZ 10.
  • the power-off instruction or the sleep instruction for the PTZ 10 is executed, that is, the PTZ 10 stops working as a whole;
  • the power-down instruction or the sleep instruction for the drive device 18 of the corresponding axis structure in the PTZ 10 is executed, that is, the PTZ 10
  • the corresponding axis structure stops working. In this way, after avoiding the PTZ 10 hitting the limit, it is possible to actively respond to the power-down or sleep command for the PTZ 10 or the power-down or sleep command for the drive device 18 of the corresponding shaft structure 17 in the PTZ 10 to Reduce power consumption of the PTZ 10.
  • the processor 11 when the processor 11 receives a power-down instruction or a sleep instruction for the PTZ 10 (or a power-down instruction or a sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the PTZ 10), it first detects Position of the center of gravity of the gimbal 10, then plan the motion parameters of the gimbal 10 according to the position of the center of gravity, and then control the gimbal 10 to move to the side of the center of gravity position to a static equilibrium position according to the motion parameters, and finally power off the gimbal 10 Instruction or sleep instruction (or execute a power-down instruction or sleep instruction for the drive device 18 of the corresponding shaft structure 17 in the gimbal 10).
  • the processor 11 detects the position of the center of gravity of the gimbal 10 when receiving other instructions input by the user (refer to the previous description), and then plans the motion parameters of the gimbal 10 according to the position of the center of gravity, and then controls according to the motion parameters.
  • the gimbal 10 moves to the side where the center of gravity is located to the static equilibrium position, and finally executes the power-off or hibernation command for the gimbal 10 (or the power-off command for the drive device 18 of the corresponding shaft structure 17 in the gimbal 10 Or sleep instructions).
  • the step (ie, 012) of detecting the position of the center of gravity of the gimbal 10 includes:
  • the processor 11 may be used to perform the methods in 0122 and 0123. That is to say, the processor 11 may be configured to: when the error between the actual attitude and the expected attitude of the gimbal 10 is within a predetermined range, obtain the output of the driving device 18 for driving the gimbal 10 within a predetermined period of time Torque; and detecting the position of the center of gravity of the gimbal 10 based on the output torque.
  • the gimbal 10 when the gimbal 10 is powered on, the gimbal 10 may have an expected posture, which is a posture that the gimbal 10 is expected to arrive.
  • the attitude of the gimbal 10 may include a pitch attitude corresponding to the pitch axis 12, a roll attitude corresponding to the roll axis 13, and a yaw attitude corresponding to the yaw axis 14.
  • the error between the actual attitude of the gimbal 10 and the expected attitude may be The error between the actual attitude and the expected attitude of the corresponding axis in the gimbal 10.
  • the processor 11 determines whether the angle difference between the actual attitude corresponding to the pitch axis 12 and the horizontal direction is within a predetermined range. If yes, the processor 11 obtains the output torque of the pitch motor 181 within a predetermined period of time. Among them, the error between the actual attitude of the PTZ 10 and the expected attitude is within a predetermined range, which means that when the PTZ 10 is not powered off or sleeping, it will still tend to approach the expected attitude, that is, the actual attitude of the PTZ 10 and expected The attitude error is basically small, and the PTZ 10 is currently in a steady state.
  • the detection of the position of the center of gravity of the PTZ 10 is more statistically significant; and if the error between the actual attitude of the PTZ 10 and the expected attitude is within a predetermined range In addition, it means that the user may disturb the PTZ 10, so that the error between the actual attitude of the PTZ 10 and the expected attitude is too large. At this time, the detection of the position of the center of gravity of the PTZ 10 may be inaccurate. Therefore, when the error between the actual attitude and the expected attitude of the gimbal 10 is within a predetermined range, the position of the center of gravity of the gimbal 10 can be detected by counting the output torque.
  • the processor 11 determines whether the angle difference between the actual posture of the roll axis 13 and the horizontal direction is within a predetermined range. If yes, the processor 11 obtains the output torque of the roll motor 182 within a predetermined period of time. Since the embodiment of the present invention takes the pitch frame 171 and / or the roll frame 172 as an example of a mechanical limit, the processor 11 does not need to judge that the error between the actual attitude and the expected attitude of the yaw axis 14 is within a predetermined range.
  • the processor 11 may further detect the position of the center of gravity of the gimbal 10 according to the output torque. For example, the position of the center of gravity of the pitch frame 171 and the load 16 relative to the pitch axis 12 is determined based on the output torque of the pitch motor 181 within a predetermined period of time; or the roll frame 172 is determined based on the output torque of the roll motor 182 within a predetermined period of time The position of the center of gravity of the pitch frame 171 and the load 16 with respect to the roll axis 13.
  • the step (ie, 0123) of detecting the position of the center of gravity of the gimbal 10 according to the output torque includes:
  • 01231 Calculate the average and variance of the output torque within a predetermined time period
  • 01232 When the average value is greater than a preset value and the variance is less than a predetermined value, determine that the position of the center of gravity of the head 10 is located on the first side of the vertical plane in which the rotation axis of the head 10 is located;
  • 01233 When the average value is less than a preset value and the variance is less than a predetermined value, it is determined that the position of the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the rotation axis of the gimbal 10 is located.
  • the processor 11 may be used to perform the methods in 01231, 01232, and 01233. That is to say, the processor 11 may be used to: calculate the average value and variance of the output torque within a predetermined time period; when the average value is greater than a preset value and the variance is less than a predetermined value, determine that the position of the center of gravity of the gimbal 10 is located at the gimbal 10 The first side of the vertical plane on which the rotation axis of the camera is located; and when the average value is less than a preset value and the variance is less than a predetermined value, it is determined that the position of the center of gravity of the gimbal 10 is located on the second plane of the vertical plane on which the rotation axis of the gimbal 10 is located side.
  • the processor 11 After the processor 11 obtains the output torque of the pitch motor 181 within a predetermined period of time, it calculates the average value and variance of the output torque of the pitch motor 181 within a predetermined period of time. When the value and the variance are less than the predetermined value, the processor 11 determines that the position of the center of gravity of the pitch frame 171 and the load 16 (that is, the position of the center of gravity of the pitch frame 171 and the load 16) is located on the first side of the vertical plane in which the pitch axis 12 is located, that is, the pitch The center of gravity of the frame 171 and the load 16 is tilted to the left in FIG. 2 (or to the left of the z-axis in FIG.
  • the processor 11 determines the center of gravity of the tilting frame 171 and the load 16 The position is located on the second side of the vertical plane where the pitch axis 12 is located, that is, the center of gravity of the pitch frame 171 and the load 16 is tilted to the right in FIG. 2 (or to the right of the z-axis in FIG. 3).
  • the processor 11 After the processor 11 obtains the output torque of the roll motor 182 within a predetermined period of time, it calculates the average and variance of the output torque of the roll motor 182 within a predetermined period of time. When the value and the variance are smaller than the predetermined value, the processor 11 determines that the position of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 (that is, the position of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16) is located at the roll axis 13. The first side of the vertical plane, that is, the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 is tilted forward in FIG.
  • the processor 11 determines the roll
  • the positions of the center of gravity of the frame 172, the pitch frame 171, and the load 16 are located on the second side of the vertical plane on which the roll axis 13 is located, that is, the centers of gravity of the roll frame 172, the pitch frame 171, and the load 16 are tilted backward in FIG.
  • the relationship between the magnitude of the average value of the output torque and the position of the center of gravity of the gimbal 10 can be set in addition to the above relationship.
  • the cloud can be determined when the average value is greater than a preset value and the variance is less than a predetermined value.
  • the position of the center of gravity of the platform 10 is located on the second side of the vertical plane where the rotation axis of the head 10 is located, and when the average value is less than a preset value and the variance is less than a predetermined value, it is determined that the position of the center of gravity of the platform 10 is located in the rotation of the head 10
  • the first side of the vertical plane in which the shaft is located Specifically, it can be set according to needs.
  • the magnitude of the average value of the output torque and the position of the center of gravity of the gimbal 10 are a mapping relationship.
  • the position of the center of gravity of the gimbal 10 can be determined according to the average value of the output torque. The description will not be repeated later.
  • the variance may reflect the fluctuation of the output torque of the driving device 18 within a predetermined period of time.
  • the value of the variance is larger, the fluctuation of the output torque in a predetermined period of time is larger, and the credibility of the average value of the output torque in the predetermined period of time is lower; when the value of the variance is smaller, the output torque is predetermined in the predetermined period of time.
  • the smaller the fluctuation the higher the credibility of the average value of the output torque in the predetermined time period. Therefore, in the embodiment of the present invention, when the variance of the processor 11 is less than a predetermined value, the position of the center of gravity of the PTZ 10 is determined according to the average value, which is more accurate and reliable. In addition, since the processor 11 simultaneously calculates the average value and the variance of the output torque within a predetermined time period, the position of the center of gravity of the pan / tilt head 10 can be determined relatively quickly.
  • the step (ie, 0123) of detecting the position of the center of gravity of the gimbal 10 according to the output torque includes:
  • 01234 Calculate the variance of the output torque within a predetermined time period
  • 01236 when the average value is greater than a preset value, determine that the position of the center of gravity of the gimbal 10 is located on the first side of the vertical plane in which the rotation axis of the gimbal 10 is located;
  • the processor 11 may be used to execute the methods of 01234, 01235, 01236, and 01237. That is to say, the processor 11 may be used to: calculate the variance of the output torque within a predetermined time period; when the variance is less than a predetermined value, calculate the average value of the output torque within a predetermined time period; when the average value is greater than a preset value, determine The position of the center of gravity of the head 10 is located on the first side of the vertical plane in which the rotation axis of the head 10 is located; and when the average value is less than a preset value, it is determined that the position of the center of gravity of the head 10 is located in the vertical position where the rotation axis of the head 10 is located. The second side of the straight plane.
  • the processor 11 obtains the output torque of the pitch motor 181 in a predetermined period of time, first calculates the variance of the output torque of the pitch motor 181 in the predetermined period of time, and when the variance is less than the predetermined value, then The average value of the output torque of the pitch motor 181 during the predetermined time period is further calculated.
  • the processor 11 determines that the positions of the centers of gravity of the pitch frame 171 and the load 16 are located in the first plane of the vertical plane where the pitch axis 12 is located. One side, that is, the center of gravity of the pitch frame 171 and the load 16 is tilted to the left in FIG.
  • the processor 11 determines that the positions of the center of gravity of the pitch frame 171 and the load 16 are located in the vertical plane where the pitch axis 12 is located.
  • the second side that is, the center of gravity of the pitch frame 171 and the load 16 is tilted right in FIG. 2.
  • the processor 11 After the processor 11 obtains the output torque of the rolling motor 182 in a predetermined period of time, it first calculates the variance of the output torque of the rolling motor 182 in the predetermined period of time. When the variance is less than a predetermined value, Furthermore, the average value of the output torque of the roll motor 182 during the predetermined time period is further calculated. When the average value is greater than a preset value, the processor 11 determines that the positions of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 are located on the roll axis. The first side of the vertical plane where 13 is located, that is, the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 is tilted forward in FIG.
  • the processor 11 determines the roll frame 172,
  • the positions of the center of gravity of the pitch frame 171 and the load 16 are located on the second side of the vertical plane where the roll axis 13 is located, that is, the centers of gravity of the roll frame 172, the pitch frame 171, and the load 16 are tilted backward in FIG. 2.
  • the variance may reflect the fluctuation of the output torque of the driving device 18 within a predetermined period of time.
  • the value of the variance is larger, the fluctuation of the output torque in a predetermined period of time is larger, and the credibility of the average value of the output torque in the predetermined period of time is lower; when the value of the variance is smaller, the output torque is predetermined in the predetermined period of time.
  • the smaller the fluctuation the higher the credibility of the average value of the output torque in the predetermined time period. Therefore, in the embodiment of the present invention, when the variance of the processor 11 is less than a predetermined value, the position of the center of gravity of the PTZ 10 is determined according to the average value, which is more accurate and reliable.
  • the processor 11 because the processor 11 only counts the average value of the output torque in a predetermined time period when the variance is less than a predetermined value, it can avoid counting the average value of the output torque in a predetermined time period when the variance is greater than or equal to the predetermined value, which is unnecessary. The amount of data processed.
  • the step (ie, 0123) of detecting the position of the center of gravity of the gimbal 10 according to the output torque includes:
  • 01238 Calculate the average value of output torque within a predetermined period of time
  • 01240 When the average value is less than the preset value, it is determined that the position of the center of gravity of the gimbal 10 is located on the second side of the vertical plane where the rotation axis of the gimbal 10 is located.
  • the processor 11 may be used to perform the methods in 01238, 01239, and 01240. That is to say, the processor 11 can be used to: calculate the average value of the output torque within a predetermined period of time; when the average value is greater than a preset value, determine that the position of the center of gravity of the gimbal 10 is located in the vertical position of the rotation axis of the gimbal 10 The first side of the plane; and when the average value is less than the preset value, it is determined that the position of the center of gravity of the head 10 is located on the second side of the vertical plane in which the rotation axis of the head 10 is located.
  • the processor 11 obtains the output torque of the pitch motor 181 in a predetermined period of time, it calculates an average value of the output torque of the pitch motor 181 in a predetermined period of time, and when the average value is greater than a preset value
  • the processor 11 determines that the positions of the centers of gravity of the pitch frame 171 and the load 16 are located on the first side of the vertical plane in which the pitch axis 12 is located, that is, the centers of gravity of the pitch frame 171 and the load 16 are tilted to the left in FIG.
  • the processor 11 determines that the positions of the centers of gravity of the pitch frame 171 and the load 16 are located on the second side of the vertical plane where the pitch axis 12 is located, that is, the centers of gravity of the pitch frame 171 and the load 16 are tilted to the right in FIG. 2.
  • the processor 11 After the processor 11 obtains the output torque of the roll motor 182 within a predetermined period of time, it calculates the average value of the output torque of the roll motor 182 within a predetermined period of time, and when the average value is greater than a preset value At this time, the processor 11 determines that the positions of the centers of gravity of the roll frame 172, the pitch frame 171, and the load 16 are located on the first side of the vertical plane in which the roll axis 13 is located, that is, the centers of gravity of the roll frame 172, the pitch frame 171, and the load 16 are at When the average value is less than the preset value, the processor 11 determines that the positions of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 are located on the second side of the vertical plane where the roll axis 13 is located, that is, the horizontal The center of gravity of the roll frame 172, the pitch frame 171, and the load 16 is tilted backward in FIG.
  • the preset value may be zero. It can be understood that, in general, when the position of the center of gravity of the gimbal 10 is located in a vertical plane on which the rotation axis of the gimbal 10 is located, that is, when no forward tilt, backward tilt, left tilt, or backward tilt occurs, the output torque of the driving device 18 is zero. Or close to zero. Therefore, in the embodiment of the present invention, the processor 11 may take an average value according to the output torque of the driving device 18 within a predetermined period of time.
  • the average value is zero, it indicates that the position of the center of gravity of the corresponding structure in the gimbal 10 is located at the gimbal 10 If the average value of the vertical axis on which the rotation axis is located is greater than or less than zero, it indicates that the position of the center of gravity of the corresponding structure in the head 10 is located on the first side or the second side of the vertical plane on which the rotation axis of the head 10 is located.
  • the position of the center of gravity of the head 10 includes the position of the center of gravity of the first structure 17 a in the head 10 relative to the pitch axis 12.
  • the steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:
  • 0141 Plan the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10;
  • the step (i.e., 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter including:
  • 0161 Controlling the first structure 17a to move to the side of the center of gravity position of the first structure 17a to the static equilibrium position according to the motion parameters of the first structure 17a around the pitch axis 12.
  • the position of the center of gravity of the head 10 includes the position of the center of gravity of the first structure 17 a in the head 10 relative to the pitch axis 12.
  • the processor 11 may be used to execute the methods in 0141 and 0161. That is to say, the processor 11 may be used to: plan the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10; The motion parameter of the pitch axis 12 controls the first structure 17a to move to the side where the center of gravity position of the first structure 17a is located to the static equilibrium position.
  • the first structure 17 a may include the above-mentioned pitch frame 171 and the load 16.
  • the processor 11 plans the motion parameters of the pitch frame 171 and the load 16 around the pitch axis 12 to control the pitch frame according to the position of the center of gravity.
  • the processor 11 plans the pitch frame according to the position of the center of gravity
  • the motion parameters of 171 and load 16 around the pitch axis 12 are used to control the pitch frame 171 and load 16 to move to the second side to the static equilibrium position.
  • the position of the center of gravity of the head 10 includes the position of the center of gravity of the second structure 17 b in the head 10 relative to the roll axis 13.
  • the steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:
  • 0142 Plan the movement parameters of the second structure 17b around the roll axis 13 according to the position of the center of gravity of the second structure 17b relative to the roll axis 13 in the head 10;
  • the step (i.e., 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter including:
  • 0162 Controlling the second structure 17b to move to the side of the center of gravity position of the second structure 17b to the static equilibrium position according to the motion parameters of the second structure 17b around the roll axis 13.
  • the position of the center of gravity of the head 10 includes the position of the center of gravity of the second structure 17 b in the head 10 relative to the roll axis 13.
  • the processor 11 may be used to execute the methods in 0142 and 0162. That is to say, the processor 11 may be used to: plan the movement parameters of the second structure 17b around the roll axis 13 according to the position of the center of gravity of the second structure 17b relative to the roll axis 13 in the head 10; and according to the second structure The movement parameter of 17b around the roll axis 13 controls the second structure 17b to move to the side where the center of gravity position of the second structure 17b is located to the static equilibrium position.
  • the second structure 17 b may include the roll frame 172, the pitch frame 171, and the load 16 described above.
  • the processor 11 plans the roll frame 172, the pitch frame 171, and the load 16 according to the position of the center of gravity.
  • the movement parameters around the roll axis 13 are used to control the roll frame 172, the pitch frame 171, and the load 16 to move toward the first side to a static equilibrium position; when the position of the center of gravity of the roll frame 172, the pitch frame 171, and the load 16 is located in the roll
  • the processor 11 plans the movement parameters of the roll frame 172, the pitch frame 171, and the load 16 around the roll axis 13 to control the roll frame 172 and the pitch frame 171 according to the position of the center of gravity.
  • the load 16 moves to the second side to the static equilibrium position.
  • the position of the center of gravity of the head 10 includes the position of the center of gravity of the first structure 17 a in the head 10 relative to the pitch axis 12 and the position of the second structure 17 b in the head 10.
  • the steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:
  • 0143 Plan the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10, and relative to the roll axis 13 according to the second structure 17b in the gimbal 10 Planning the motion parameters of the second structure 17b around the roll axis 13 based on the position of the center of gravity;
  • the step (i.e., 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter including:
  • the first structure 17a is controlled to move to the static equilibrium position to the side where the center of gravity of the first structure 17a is located according to the movement parameters of the first structure 17a around the pitch axis 12.
  • the motion parameter controls the second structure 17b to move to the side where the center of gravity position of the second structure 17b is located to the static equilibrium position.
  • the position of the center of gravity of the head 10 includes the position of the center of gravity of the first structure 17 a in the head 10 relative to the pitch axis 12 and the position of the center of gravity of the second structure 17 b in the head 10 relative to the roll axis 13 .
  • the processor 11 may be used to execute the methods in 0143 and 0163.
  • the processor 11 may be configured to plan the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10, and The position of the center of gravity of the second structure 17b relative to the roll axis 13 plans the movement parameters of the second structure 17b around the roll axis 13; and controls the first structure 17a to the first structure 17a according to the movement parameters of the first structure 17a around the pitch axis 12.
  • the side where the center of gravity is located moves to the static equilibrium position, and the second structure 17b is controlled to move to the side where the center of gravity of the second structure 17b is located to static equilibrium according to the movement parameters of the second structure 17b around the roll axis 13 position.
  • the processor 11 plans the movement parameters of the first structure 17a around the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10, as opposed to according to the second structure 17b in the gimbal 10
  • the process of planning the movement parameters of the second structure 17b around the roll axis 13 based on the position of the center of gravity of the roll axis 13 is independent and does not affect each other.
  • the processor 11 controls the first structure 17a to move to the static balance position on the side of the center of gravity position of the first structure 17a according to the motion parameter of the first structure 17a around the pitch axis 12, and around the roll axis 13 according to the second structure 17b
  • the process of controlling the movement of the second structure 17b to the side of the center of gravity position of the second structure 17b to the static equilibrium position is also independent of each other and does not affect each other.
  • the processor 11 may plan the movement parameters of the first structure 17a about the pitch axis 12 according to the position of the center of gravity of the first structure 17a relative to the pitch axis 12 in the gimbal 10, and control the first structure 17a according to the movement parameters of the first structure 17a about the pitch axis 12.
  • a structure 17a is moved to the side where the center of gravity of the first structure 17a is located to the static equilibrium position, and the second structure 17b is planned to be horizontally orientated according to the position of the center of gravity of the second structure 17b relative to the roll axis 13 in the head 10
  • the movement parameters of the roller 13 are controlled according to the movement parameters of the second structure 17b around the roll axis 13 to move the second structure 17b to the side where the center of gravity of the second structure 17b is located to the static equilibrium position.
  • the processor 11 first relative to the pitch axis according to the first structure 17a in the gimbal 10
  • the position of the center of gravity of 12 is planned for the movement parameters of the first structure 17a around the pitch axis 12, and the first structure 17a is controlled to move to the side where the position of the center of gravity of the first structure 17a is located according to the movement parameters of the first structure 17a around the pitch axis 12.
  • the movement parameters of 17b around the roll axis 13 are controlled according to the movement parameters of the second structure 17b around the roll axis 13 to control the second structure 17b to move to the side of the center of gravity position of the second structure 17b to the static equilibrium position, and then according to the cloud No.
  • the position of the center of gravity of the structure 17a relative to the pitch axis 12 is to plan the movement parameters of the first structure 17a around the pitch axis 12, and the position of the center of gravity of the first structure 17a to the first structure 17a is controlled according to the movement parameters of the first structure 17a around the pitch axis 12. Move to the static equilibrium position on one side.
  • the working modes of the gimbal 10 include an attitude closed-loop mode and a joint angle closed-loop mode.
  • Control methods also include:
  • the current working mode of the control gimbal 10 is a joint angle closed loop mode
  • the steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:
  • 0144 Determine the target joint angle of the gimbal 10 to the static equilibrium position in the joint angle closed-loop mode
  • 0145 Plan the motion parameters of the gimbal 10 according to the current joint angle and the target joint angle of the gimbal 10;
  • the step (i.e., 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter including:
  • the working modes of the pan / tilt head 10 include an attitude closed-loop mode and a joint angle closed-loop mode.
  • the processor 11 may be used to execute the methods in 022, 024, 0144, 0145, and 0164. That is to say, the processor 11 can be used to: obtain the current working mode of the gimbal 10; control the current working mode of the gimbal 10 to be a joint angle closed-loop mode; in the joint angle closed-loop mode, determine that the gimbal 10 reaches static equilibrium Position the target joint angle; plan the motion parameters of the gimbal 10 according to the current joint angle and the target joint angle of the gimbal 10; and control the gimbal 10 to move to the target joint angle to the side where the center of gravity is located according to the motion parameters.
  • the process of the processor 11 controlling the current working mode of the PTZ 10 to be the joint angle closed-loop mode is: the processor 11 controls the PTZ 10 to switch from the attitude closed-loop mode to Joint angle closed-loop mode; when the current working mode of the gimbal 10 is the joint angle closed-loop mode, the process of the processor 11 controlling the current working mode of the gimbal 10 to be a joint angle closed-loop mode is: the processor 11 controls the gimbal 10 to maintain the joint angle Closed loop mode.
  • the processor 11 determines the target joint angle at which the gimbal 10 needs to reach the static equilibrium position. For example, when the positions of the center of gravity of the pitch frame 171 and the load 16 are on the first side of the vertical plane in which the pitch axis 12 is located At this time, the processor 11 plans the movement parameters of the pitch frame 171 and the load 16 around the pitch axis 12 according to the position of the center of gravity to control the pitch frame 171 and the load 16 to move to the first side to a static equilibrium position, which is the first Pitch joint angle; when the positions of the center of gravity of the pitch frame 171 and the load 16 are on the second side of the vertical plane where the pitch axis 12 is located, the processor 11 plans the motion parameters of the pitch frame 171 and the load 16 around the pitch axis 12 according to the position of the center of gravity To control the pitch frame 171 and the load 16 to move to the second side to a static equilibrium position, the static balance position is the second pitch joint angle; when the roll frame a
  • the pitch frame 171 and the load 16 move to the first side to a static equilibrium position, where the static balance position is the first roll joint angle; when the roll frame 172, the pitch frame 171, and the center of gravity of the load 16 are located in the roll
  • the processor 11 plans the movement parameters of the roll frame 172, the pitch frame 171, and the load 16 around the roll axis 13 according to the position of the center of gravity to control the roll frame 172, the pitch frame 171, and the load 16 to the first Both sides move to the static equilibrium position, which is the second roll joint angle.
  • the processor 11 determines the target joint angle of the gimbal 10 according to the position of the center of gravity of the gimbal 10, and then plans the motion parameters of the gimbal 10 according to the current joint angle and the target joint angle of the gimbal 10 to control the gimbal 10 to move to the target joint angle.
  • the working modes of the gimbal 10 include an attitude closed-loop mode and a joint angle closed-loop mode.
  • Control methods also include:
  • the steps of planning the motion parameters of the gimbal 10 according to the position of the center of gravity include:
  • 0147 Plan the motion parameters of the PTZ 10 according to the current attitude and target attitude of the PTZ 10;
  • the step (i.e., 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter including:
  • the working modes of the pan / tilt head 10 include an attitude closed-loop mode and a joint angle closed-loop mode.
  • the processor 11 may be used to execute the methods in 022, 028, 0146, 0147, and 0165. That is to say, the processor 11 can be used to: obtain the current working mode of the PTZ 10; control the current working mode of the PTZ 10 as an attitude closed-loop mode; in the attitude closed-loop mode, determine whether the PTZ 10 has reached the static equilibrium position Target attitude; planning the motion parameters of the gimbal 10 according to the current attitude of the gimbal 10 and the target attitude; and controlling the gimbal 10 to move to the target attitude based on the motion parameters to the side where the center of gravity is located.
  • the process of the processor 11 controlling the current working mode of the PTZ 10 to be the attitude closed-loop mode is: the processor 11 controls the PTZ 10 to maintain the attitude closed-loop mode;
  • the process of the processor 11 controlling the PTZ 10's current working mode to the attitude closed-loop mode is: the processor 11 controls the PTZ 10 to switch from the joint angle closed-loop mode to the attitude closed-loop mode.
  • the processor 11 determines the target attitude that the gimbal 10 needs to reach the static equilibrium position. For example, when the positions of the centers of gravity of the pitch frame 171 and the load 16 are located on the first side of the vertical plane in which the pitch axis 12 is located, the processor 11 plans the motion parameters of the pitch frame 171 and the load 16 around the pitch axis 12 to control according to the positions of the centers of gravity. The pitching frame 171 and the load 16 move to the first side to a static equilibrium position, where the static equilibrium position is the first pitching attitude. At this time, the roll attitude and yaw attitude of the gimbal 10 may not be limited.
  • the processor 11 plans the movement parameters of the pitch frame 171 and the load 16 around the pitch axis 12 to control the pitch frame 171 and the load according to the position of the center of gravity. 16 moves to the second side to the static equilibrium position, and the static equilibrium position is the second pitch attitude.
  • the roll attitude and yaw attitude of the gimbal 10 may not be limited; when the roll frame 172, the pitch frame When the position of the center of gravity of 171 and the load 16 is on the first side of the vertical plane where the roll axis 13 is located, the processor 11 plans the movement of the roll frame 172, the pitch frame 171, and the load 16 about the roll axis 13 according to the position of the center of gravity. Control the roll frame 172, the pitch frame 171, and the load 16 to the first side to the static equilibrium position, and the static equilibrium position is the first roll attitude.
  • the pitch attitude and yaw attitude of the gimbal 10 It may not be limited; when the center of gravity position of the roll frame 172, the pitch frame 171, and the load 16 is located on the second side of the roll axis 13, the processor 11 plans the roll frame 172, the pitch frame 171, and the load 16 according to the position of the center of gravity
  • the movement parameters around the roll axis 13 are used to control the roll frame 172, the pitch frame 171, and the load 16 to move to the second side to the static equilibrium position, which is the second roll attitude.
  • the pan / tilt head 10 The pitch attitude and yaw attitude may not be limited.
  • the motion parameters of the gimbal 10 are planned according to the current attitude and target attitude of the gimbal 10 to control the gimbal 10 to move to the target attitude.
  • the pitch motor 181, the roll motor 182, and the yaw motor 183 work together to stabilize the load 16 in a predetermined attitude.
  • the pitch motor 181 operates so that the pitch axis 12 reaches a predetermined pitch joint angle
  • the roll motor 182 operates so that the roll axis 13 reaches a predetermined roll joint angle
  • the yaw motor 183 operates so that the yaw axis 14 reaches Predetermined yaw joint angle.
  • the step of planning the motion parameters of the gimbal 10 according to the position of the center of gravity includes:
  • 0148 Plan the acceleration of the gimbal 10 according to the position of the center of gravity
  • the step (i.e., 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter including:
  • the gimbal 10 is controlled to move to the side of the center of gravity position to the static equilibrium position according to the motion acceleration.
  • the processor 11 may be used to perform the methods in 0148 and 0166. That is to say, the processor 11 can be used for: planning the movement acceleration of the gimbal 10 according to the position of the center of gravity; and controlling the movement of the gimbal 10 to the side of the center of gravity position to the static equilibrium position according to the movement acceleration.
  • the static equilibrium position is the first pitch joint angle, such as 80 degrees
  • the current pitch of the gimbal 10 The joint angle is 20 degrees
  • the processor 11 can plan the gimbal 10 to first accelerate the movement from the current pitch joint angle with an acceleration of 2.4 degrees / second2 from the initial velocity of 0 degrees / second for 5 seconds, and then with an acceleration of -2.4 degrees / second 2 Slowly decelerate for 5 seconds, and finally reach the position of the first pitch joint angle gently.
  • the step of planning the motion parameters of the gimbal 10 according to the position of the center of gravity includes:
  • 0149 Plan the moving speed of the gimbal 10 according to the position of the center of gravity
  • the step (i.e., 016) of controlling the PTZ 10 to move to the static equilibrium position according to the motion parameter including:
  • the processor 11 may be used to perform the methods in 0149 and 0167. That is to say, the processor 11 may be used for: planning the movement speed of the gimbal 10 according to the position of the center of gravity; and controlling the movement of the gimbal 10 to the side where the center of gravity position is located to the static equilibrium position according to the movement speed.
  • the static balance position is the first roll joint angle, such as 80 degrees
  • the current roll joint angle of the PTZ 10 is 20 degrees
  • the processor 11 can plan that the PTZ 10 first accelerates from the current roll joint angle from the initial speed of 0 degrees / sec to 10 degrees / sec in 5 seconds. Then, it moves at a constant speed of 10 degrees / second at an intermediate speed for 1 second, and finally decelerates from 0 degrees / second at an intermediate speed of 10 degrees / second to 0 degrees / second, and finally reaches the position of the first roll joint angle smoothly.
  • the step of controlling the head 10 to move to the side of the center of gravity position to the static equilibrium position according to the movement speed (ie, 0167) includes:
  • the processor 11 may be used to perform the methods in 01671, 01672, and 01673. That is to say, the processor 11 can be used to control the PTZ 10 to decelerate to the position of the center of gravity according to the speed of movement to the static equilibrium position; or to control the side of the PTZ 10 to the position of the center of gravity according to the speed of movement
  • the acceleration-deceleration speed is planned to move to the static equilibrium position; or the side of the gimbal 10 to the position of the center of gravity position is controlled according to the movement speed to plan the movement to the static equilibrium position according to the acceleration-uniform-deceleration speed.
  • the static equilibrium position is the second pitch joint angle, such as -80 degrees, and the current position of the gimbal 10
  • the pitch joint angle is -20 degrees.
  • the processor 11 can plan the movement speed of the gimbal 10 as follows: The first method is to first decelerate from the current pitch joint angle from the initial speed of 24 degrees / second to 0 degrees / second in 5 seconds, and finally reach the second gently. The position of the pitch joint angle; the second way is to accelerate from the current pitch joint angle from the initial velocity of 0 degrees / second to 12 degrees / second within 5 seconds, and then decelerate from 12 degrees / second within 5 seconds.
  • the third way first from the current pitch joint angle, from the initial velocity of 0 degrees / second to accelerate uniformly to 10 degrees / second in 5 seconds, Then, it moves at a constant speed of 10 degrees / second at an intermediate speed for 1 second, and finally decelerates from a middle speed of 10 degrees / second to 0 degrees / second in 5 seconds, and finally reaches the position of the second pitch joint angle gently.
  • An embodiment of the present invention further provides a mobile platform.
  • the mobile platform may include a mobile platform body and a pan / tilt according to any one of the foregoing embodiments.
  • the gimbal is set on the mobile platform body.
  • the movable platform may specifically be a movable device such as a mobile cart or a drone.
  • the pan / tilt on the mobile cart can be a two-axis pan / tilt.
  • the pan / tilt can be configured to rotate around the pitch axis and yaw axis.
  • the pan / tilt can be mounted with a shot. Device so that the mobile cart can be used in scenarios such as competitions. Of course, other loads can be freely configured by the user on the PTZ.
  • the mobile platform according to the embodiment of the present invention can plan the motion parameters of the gimbal according to the position of the center of gravity of the gimbal to control the gimbal to move gently to the side where the center of gravity is located to a static equilibrium position, thereby avoiding the gimbal directly due to gravity A crash caused by hitting a limit will help reduce the frequency of replacement of the gimbal and improve the use experience of the mobile car.
  • Any process or method description in a flowchart or otherwise described herein can be understood as a module, fragment, or portion of code that includes one or more executable instructions for implementing a particular logical function or step of a process
  • the scope of the preferred embodiments of the present invention includes additional implementations in which functions may be performed out of the order shown or discussed, including performing functions in a substantially simultaneous manner or in the reverse order according to the functions involved, which should It is understood by those skilled in the art to which the embodiments of the present invention pertain.
  • Logic and / or steps represented in a flowchart or otherwise described herein, for example, a sequenced list of executable instructions that may be considered to implement a logical function, may be embodied in any computer-readable medium, For use by instruction execution systems, devices, or devices (such as computer-based systems, systems that include processing modules, or other systems that can take instructions from and execute instructions) Or equipment.
  • a "computer-readable medium” may be any device that can contain, store, communicate, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device.
  • computer-readable media include the following: electrical connections (control methods) with one or more wirings, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disk read-only memory (CDROM).
  • the computer-readable medium may even be paper or other suitable medium on which the program can be printed, because, for example, by optically scanning the paper or other medium, followed by editing, interpretation, or other suitable Processing to obtain the program electronically and then store it in computer memory.
  • each part of the embodiments of the present invention may be implemented by hardware, software, firmware, or a combination thereof.
  • multiple steps or methods may be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if implemented in hardware, as in another embodiment, it may be implemented using any one or a combination of the following techniques known in the art: Discrete logic circuits, application-specific integrated circuits with suitable combinational logic gate circuits, programmable gate arrays (PGA), field programmable gate arrays (FPGA), etc.
  • a person of ordinary skill in the art can understand that all or part of the steps carried by the methods in the foregoing embodiments can be implemented by a program instructing related hardware.
  • the program can be stored in a computer-readable storage medium.
  • the program is When executed, one or a combination of the steps of the method embodiment is included.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist separately physically, or two or more units may be integrated into one module.
  • the above integrated modules may be implemented in the form of hardware or software functional modules. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.
  • the aforementioned storage medium may be a read-only memory, a magnetic disk, or an optical disk.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Microelectronics & Electronic Packaging (AREA)
  • Mechanical Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

La présente invention concerne un procédé de commande pour un cardan (10), un cardan (10) et une plateforme mobile. Le procédé de commande comprend les étapes consistant à : (012) détecter la position du centre de gravité du cardan (10) ; (014) planifier, si le centre de gravité est situé au niveau du premier côté ou du second côté d'un plan vertical où l'arbre de rotation du cardan (10) est situé, le paramètre de mouvement du cardan (10) en fonction de la position du centre de gravité, le premier côté et le second côté étant des côtés opposés ; et (016) commander, en fonction du paramètre de mouvement, le cardan (10) à se déplacer vers un côté où le centre de gravité est situé à une position d'équilibre statique. Au moyen du procédé de commande pour le cardan (10), le cardan (10) et la plateforme mobile, la présente invention peut planifier le paramètre de mouvement du cardan en fonction de la position du centre de gravité du cardan (10) et commander le cardan (10) de façon à ce qu'il se déplace régulièrement vers un côté où se situe le centre de gravité à la position d'équilibre statique, ce qui permet d'éviter l'endommagement du cardan provoqué par le fait que le cardan (10) atterrisse directement dans une position limite par la force de gravité.
PCT/CN2018/103441 2018-08-31 2018-08-31 Procédé de commande pour cardan, cardan et plate-forme mobile WO2020042134A1 (fr)

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CN201880038809.XA CN110785725A (zh) 2018-08-31 2018-08-31 云台的控制方法、云台和移动平台
PCT/CN2018/103441 WO2020042134A1 (fr) 2018-08-31 2018-08-31 Procédé de commande pour cardan, cardan et plate-forme mobile

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CN111638730B (zh) * 2020-05-25 2023-07-25 浙江大华技术股份有限公司 一种双云台控制方法、装置、电子设备及存储介质
CN113383210A (zh) * 2020-10-15 2021-09-10 深圳市大疆创新科技有限公司 云台的检测方法、装置、云台、可移动平台和存储介质
WO2022141459A1 (fr) * 2020-12-31 2022-07-07 深圳市大疆创新科技有限公司 Cardan et procédé de mise de niveau et procédé de commande associés, et moteur électrique de mise de niveau et ensemble cardan
WO2022261959A1 (fr) * 2021-06-18 2022-12-22 深圳市大疆创新科技有限公司 Procédé de mise de niveau et cardan
CN117716159A (zh) * 2021-09-07 2024-03-15 深圳市大疆创新科技有限公司 云台调平方法、云台控制装置、云台及存储介质

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