WO2020042135A1 - Procédé de commande pour appareil d'augmentation de stabilité verticale, appareil d'augmentation de stabilité verticale et dispositif de capture d'image - Google Patents

Procédé de commande pour appareil d'augmentation de stabilité verticale, appareil d'augmentation de stabilité verticale et dispositif de capture d'image Download PDF

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Publication number
WO2020042135A1
WO2020042135A1 PCT/CN2018/103442 CN2018103442W WO2020042135A1 WO 2020042135 A1 WO2020042135 A1 WO 2020042135A1 CN 2018103442 W CN2018103442 W CN 2018103442W WO 2020042135 A1 WO2020042135 A1 WO 2020042135A1
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WIPO (PCT)
Prior art keywords
preset
posture
stabilization mechanism
stabilization
actual
Prior art date
Application number
PCT/CN2018/103442
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English (en)
Chinese (zh)
Inventor
许文
陈子寒
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深圳市大疆创新科技有限公司
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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 CN201880012683.9A priority Critical patent/CN110337622A/zh
Priority to PCT/CN2018/103442 priority patent/WO2020042135A1/fr
Publication of WO2020042135A1 publication Critical patent/WO2020042135A1/fr

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/25—Pc structure of the system
    • G05B2219/25257—Microcontroller
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/20—Pc systems
    • G05B2219/26—Pc applications
    • G05B2219/2651—Camera, photo

Definitions

  • the present disclosure relates to the field of photography, and in particular, to a method for controlling a vertical stabilization device, a vertical stabilization device, and an image acquisition device.
  • the vertical stabilization device In the existing image acquisition equipment, in order to achieve the purpose of stable shooting, many imaging devices are used with the vertical stabilization device. However, when the image acquisition device is rapidly raised or lowered, the vertical stabilization device is easy to interact with the image acquisition device. Some of these components collide and affect the shooting effect of the imaging mechanism, and even damage the mechanism.
  • Embodiments of the present invention provide a method for controlling a vertical stabilization device, a vertical stabilization device, and an image acquisition device.
  • the vertical stabilization device includes a base, a stabilization mechanism, and a multi-axis head.
  • the stabilization mechanism is rotatably connected to the base and is used for Carrying the multi-axis head, the control method includes: obtaining a preset attitude of the stabilization mechanism; obtaining an actual attitude of the stabilization mechanism; and controlling an office based on the preset attitude and the actual attitude
  • the stabilization mechanism is rotated, so that the stabilization mechanism is rotated to the preset posture.
  • a vertical stabilization device includes a base, a stabilization mechanism, a multi-axis head, an encoder, and a microcontroller connected to the encoder.
  • the stabilization mechanism is rotatably connected to the base.
  • the multi-axis gimbal is carried on the stabilization mechanism.
  • the encoder is used to obtain the actual attitude of the stabilization mechanism.
  • the microcontroller is configured to obtain a preset posture of the stabilization mechanism and control the rotation of the stabilization mechanism according to the preset posture and the actual posture, so that the stabilization mechanism rotates to the preset posture .
  • An image acquisition device includes the vertical stabilization device and the imaging device described in the above embodiment, and the imaging device is disposed on the multi-axis head.
  • the microcontroller controls the stabilization mechanism to rotate to the preset position.
  • the attitude is set so as to avoid that the gap between the actual attitude and the preset attitude of the stabilization mechanism is too large to collide with the base, thereby protecting the stabilization mechanism and the base.
  • FIG. 1 is a schematic structural diagram of an image acquisition device according to an embodiment of the present invention.
  • FIGS. 2 and 3 are schematic flowcharts of a method for controlling a vertical stabilization device according to an embodiment of the present invention.
  • FIG. 4 is a schematic structural diagram of a vertical stabilization device provided by an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of a method for controlling a vertical stabilization device according to an embodiment of the present invention.
  • FIG. 6 is a schematic block diagram of a vertical stabilization device provided by an embodiment of the present invention.
  • FIG. 7 to 10 are schematic flowcharts of a method for controlling a vertical stabilization device according to an embodiment of the present invention.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "plurality” is two or more, unless specifically defined otherwise.
  • the terms “installation”, “connected”, and “connected” should be understood in a broad sense unless otherwise specified and limited. For example, they may be fixed connections or removable. Connected or integrated; it can be mechanical, electrical, or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relationship.
  • installation should be understood in a broad sense unless otherwise specified and limited. For example, they may be fixed connections or removable. Connected or integrated; it can be mechanical, electrical, or can communicate with each other; it can be directly connected, or it can be indirectly connected through an intermediate medium, it can be the internal communication of two elements or the interaction of two elements relationship.
  • the specific meanings of the above terms in the present invention can be understood according to specific situations.
  • the "first" or “down” of the second feature may include the first and second features in direct contact, and may also include the first and second features. Not directly, but through another characteristic contact between them.
  • the first feature is “above”, “above”, and “above” the second feature, including that the first feature is directly above and obliquely above the second feature, or merely indicates that the first feature is higher in level than the second feature.
  • the first feature is “below”, “below”, and “below” of the second feature, including the fact that the first feature is directly below and obliquely below the second feature, or merely indicates that the first feature is less horizontal than the second feature.
  • a vertical stabilization device 100 includes a base 10, a stabilization mechanism 20 and a multi-axis head 30, an encoder 40, and a microcontroller 50.
  • the stabilization mechanism 20 is rotatably connected to the base 10 and is used to carry the multi-axis head 30.
  • the stabilization mechanism 20 includes a driving component 21 and a connection component 22.
  • the driving assembly 21 is mounted on the base 10.
  • the driving assembly 21 includes a driving motor 21.
  • the connection assembly 22 includes a first link 221, a second link 222, and a bearing portion 223.
  • the opposite ends of the first link 221 are rotatably mounted on the base 10 and the bearing portion 223, respectively.
  • One end of the first link 221 mounted on the base 10 is connected to the driving assembly 21, and the driving assembly 21 can drive the first A connecting rod 221 rotates.
  • the opposite ends of the second link 222 are rotatably mounted on the base 10 and the bearing portion 223, respectively.
  • the second link 222 is opposite to and parallel to the first link 221, and the length of the second link 222 is The lengths of the first links 221 are equal.
  • the two links formed by the two ends of the first link 221 and the second link 222 corresponding to the lock are also parallel to each other, and the lengths of the two links are also equal.
  • the two links, the first link 221 and The second link 222 forms a parallelogram, that is, a part of the base 10 that simultaneously connects the first link 221 and the second link 222, the first link 221, the second link 222, and the bearing portion 223
  • the part of the structure that simultaneously connects the first link 221 and the second link 222 forms a parallelogram.
  • the driving assembly 21 may be connected to the second link 222. When the driving assembly 21 drives the first link 221 to rotate, the line connecting the first link 221 and the second link 222 at one end of the bearing portion 223 is always parallel to the first link 221 and the second link 222 at the base. Connect at one end of 10.
  • the multi-axis pan / tilt head 30 is mounted on the stabilization and stabilization mechanism 20. Specifically, the multi-axis pan / tilt head 30 is mounted on the bearing portion 223.
  • the multi-axis head 30 can be a three-axis head. The three-axis head can rotate about a yaw axis, a roll axis, and a pitch axis.
  • the encoder 40 is mounted on the base 10 and connected to the stabilization mechanism 20.
  • the encoder 40 can be used to detect (obtain) parameters such as the rotation angle, angular velocity, and angular acceleration of the stabilization mechanism 20 relative to the base 10.
  • the encoder 40 may be used to detect parameters such as a rotation angle, an angular velocity, and an angular acceleration of the first link 221 relative to the base 10.
  • a microcontroller 50 is provided on the base 10.
  • the microcontroller 50 is connected to the encoder 40 and the stabilization mechanism 20.
  • the encoder 40 is connected to the drive unit 21.
  • the microcontroller 50 can be used to drive the component 21 to work. In other embodiments, the microcontroller 50 may also be disposed on the bearing portion 223.
  • an image acquisition device 200 includes a vertical stabilization device 100 and an imaging device 60.
  • the imaging device 60 is disposed on a multi-axis head 30.
  • the image acquisition device 200 works during the shooting and the stabilization mechanism 20 is in the stabilization mode.
  • the stabilization mechanism 20 can pass the multi-axis head 30 drives the imaging device 60 to perform a reverse movement in the vertical direction to cancel (at least partially cancel) the vibration of the imaging device 60 in the vertical direction.
  • the image acquisition device 200 further includes a mobile platform (not shown), and the base 10 is mounted on the mobile platform.
  • Mobile platforms include any of gimbals, drones, unmanned vehicles, and unmanned ships.
  • the control method of the vertical stabilization device 100 according to the embodiment of the present invention includes:
  • the rotation of the stabilization mechanism 20 is controlled according to the preset posture and the actual posture, so that the stabilization mechanism 20 is rotated to the preset posture.
  • Step 01 may be executed before step 02; alternatively, step 01 may be executed after step 02; or step 01 and step 02 may be executed simultaneously.
  • Step 02 may be performed by the encoder 40
  • steps 01 and 03 may be performed by the microcontroller 50.
  • the encoder 40 in the vertical stabilization device 100 can be used to obtain the actual posture of the stabilization device 20.
  • the microcontroller 50 may be used to obtain a preset posture of the stabilization mechanism 20 and control the rotation of the stabilization mechanism 20 according to the preset posture and the actual posture, so that the stabilization mechanism 20 is rotated to the preset posture.
  • the preset posture of the stabilization mechanism 20 may include relative position information of the stabilization mechanism 20 relative to a reference position on the base 10, and the reference position of the base 10 may be the rotation of the stabilization mechanism 20 on the base 10 and the stabilization mechanism 20.
  • the actual posture of the stabilization mechanism 20 may include the relative position information of the stabilization mechanism 20 relative to the reference position on the base 10 obtained by the encoder 40, and the relative position information includes the reference of the stabilization mechanism 20 relative to the base 10 The rotation angle of the position, which is defined as the actual rotation angle.
  • the microcontroller 50 can obtain the actual posture of the stabilization mechanism 20 through the encoder 40. Specifically, the encoder 40 obtains the actual posture of the stabilization mechanism 20 and transmits the actual posture to the microcontroller 50.
  • the preset posture may be a preset posture in the microcontroller 50. For example, when the preset posture is a rotation angle of the stabilization mechanism 20 relative to the base 10, the preset posture of the stabilization mechanism 20 may be a microcontroller 50 angle information saved in advance.
  • the microcontroller 50 can also be obtained through user input. For example, the user can input a preset posture through a remote controller that is communicatively connected with the microcontroller 50, and the microcontroller 50 acquires the preset posture input by the user through the remote controller.
  • the encoder 40 is used to obtain the actual posture of the stabilization mechanism 20 in real time (or periodically) and transmit the actual posture to the microcontroller 50.
  • the microcontroller 50 is configured to acquire a preset posture and The actual posture and determine whether there is a deviation (different) between the actual posture and the preset posture.
  • the microcontroller 50 controls the link assembly 22 to rotate through the driving device 21 so that the stabilization mechanism 20 The actual attitude is turned to the preset attitude.
  • the stabilizing mechanism 20 works in the stabilizing mode, if the vertical stabilizing device 100 rapidly rises or falls in the vertical direction, and the vertical stabilizing device 100 increases before the rapid rise or fall occurs,
  • the position (or angle) of the stabilization mechanism 20 relative to the base 10 is a preset attitude, and the stabilization mechanism 20 rotates relative to the base 10 in order to offset the shake of the imaging device 60 in the vertical direction, and makes the actual stabilization mechanism 20 The attitude deviates from the preset attitude.
  • the control method of the present invention starts to execute and controls the stabilization mechanism 20 to rotate to the preset attitude.
  • the microcontroller 50 controls the stabilization mechanism 20 to rotate to The preset posture prevents the gap between the actual posture and the preset posture of the stabilization mechanism 20 from colliding with the base 10 so as to protect the stabilization mechanism 20 and the base 10.
  • the step (step 01) of obtaining a preset posture of the stabilization mechanism 20 includes:
  • Steps 011 and 012 may be performed by the microcontroller 50.
  • the microcontroller 50 is further configured to obtain a use mode of the vertical stabilization device 100 and determine a preset posture according to the use mode.
  • the vertical stabilization device 100 is preset with multiple usage modes. When the user uses the vertical stabilization device 100, he can select a usage mode for use.
  • One use mode of the vertical stabilization device 100 corresponds to a preset posture of a stabilization mechanism 20.
  • the preset use modes of the vertical stabilization device 100 include a stationary mode (as shown in FIG. 1), a vehicle mode, and an inverted mode (as shown in FIG. 4).
  • the preset posture of the stabilization mechanism 20 is that the rotation angle of the stabilization mechanism 20 relative to the reference position of the base 10 is 0 °, that is, the stabilization mechanism 20 is located at a position opposite to the reference position of the base 10;
  • the preset posture of the stabilization device 20 is that the rotation angle of the stabilization device 20 relative to the reference position of the base 10 is 60 °;
  • the preset posture of the stabilization mechanism 20 is that the rotation angle of the stabilization mechanism 20 relative to the reference position of the base 10 is 120 °.
  • the manufacturer of the vertical stabilization device 100 may set a preset posture of the stabilization mechanism 20 corresponding to the use mode according to the movement rule of the stabilization mechanism 20 in a specific use mode. For example, if The stabilizing mechanism 20 can rotate from 0 ° to 120 ° with respect to the reference rotation of the base 10, and the stabilizing mechanism is in a normal working state (the vertical stabilization device 100 does not have vibration, rapid rise, and rapid decline).
  • the reference angle of 20 relative to the base 10 is 30 °.
  • the relative rotation range of the stabilization mechanism 20 relative to the base 10 is 30 ° -120 °.
  • the manufacturer can set the preset attitude to 0 °.
  • the vertical stabilization device 100 is further provided with a mode selection module 101.
  • the user can set the usage mode of the vertical stabilization device 100 through the mode selection module 101.
  • the mode selection module 101 may be an input button, and the mode selection module 101 is disposed on the base 10; or, the mode selection module 101 may also be a remote controller (not shown) connected to the vertical stabilization device 100.
  • the microcontroller 50 is connected to the mode selection module 101 and can obtain the use mode of the vertical stabilization device 100 from the mode selection module 101.
  • the microcontroller 50 can determine the prediction of the stabilization mechanism 20 according to the correspondence between the use mode and the preset attitude. Set attitude. For example, when the microcontroller 50 acquires that the vertical stabilization device 100 is in a stationary mode, the microcontroller 50 may determine that the preset posture of the stabilization mechanism 20 is 0 °.
  • the vertical stabilization device 100 and the control method thereof of the present embodiment acquire the preset posture of the stabilization device 20 through the use mode of the vertical stabilization device 100, so that the user does not need to set the preset posture of the stabilization device 20, and can also A situation in which the collision between the reducing stabilization mechanism 20 and the extreme position of the stabilization mechanism 20 occurs is reduced.
  • the step (step 01) of obtaining a preset posture of the stabilization mechanism 20 includes:
  • Steps 013 and 014 may be performed by the microcontroller 50.
  • the microcontroller 50 is further configured to obtain a set posture input by the user and determine that the set posture is a preset posture.
  • the vertical stabilization device 100 further includes an input module 102.
  • the input module 102 can receive user input and determine a setting posture according to the user input.
  • the input module 102 may be a touch display screen, and the input module 102 may be disposed on the base 10.
  • the microcontroller 50 is connected to the input module 102.
  • the microcontroller 50 obtains a set posture through the input module 102 and determines a preset posture according to the set posture.
  • the user input may be a value corresponding to the angle of the preset posture.
  • the user may input the number "60"
  • the input module 102 may input the number "60” It is determined that the set posture is 60 °, and the microcontroller 50 obtains the set posture through the input module 102 and determines that the preset posture is 60 °.
  • the user input may also be a preset setting mode.
  • the input module 102 stores an angle corresponding to the setting mode.
  • the input module 102 may determine a predetermined posture according to the setting mode selected by the user. For example, the input module 102 stores The corresponding relationship between the setting mode and the angle includes "setting mode 1" corresponding to "60 °".
  • the user can enter "setting mode 1"
  • enter The module 102 determines that the setting posture is 60 ° according to the correspondence between the setting mode and the angle.
  • the microcontroller 50 obtains the setting posture through the input module 102 and determines that the preset posture is 60 °.
  • the user may also input the setting posture through a remote controller that is communicatively connected with the microcontroller 50. At this time, the microcontroller 50 may obtain the setting posture through the remote controller.
  • the angle range that the stabilization mechanism 20 can rotate with respect to the base 10 is 0 ° -120 °, and the stabilization is performed in a normal working state (the vertical stabilization device 100 does not have vibration, rapid rise, and rapid decline)
  • the reference angle of the mechanism 20 relative to the base 10 is 60 °.
  • the stabilization mechanism 20 works only in the stabilization mode (the vertical stabilization device 100 does not perform steps 01, 02, and 03)
  • the stabilization mechanism 20 is relative to the base
  • the reference rotation angle range of 10 is 0 ° -60 °.
  • the user can input the setting posture through the input module 102 (or the remote control) so that the preset posture of the stabilization mechanism 20 is 90 °, thereby enhancing the stabilization mechanism.
  • the rotation angle of the stabilization mechanism 20 toward the base 10 is smaller than when the stabilization mechanism 20 is only in the stabilization mode
  • the rotation angle of the stabilization mechanism 20 toward the base 10 is 40 °.
  • the rotation of the stabilization mechanism 20 relative to the reference of the base 10 The angle is 50 ° -90 °, so the control method of this embodiment can be reduced Stabilizing mechanism 20 with the base 10 event of a crash.
  • the user can input a set attitude while the vertical stabilization device 100 is operating.
  • the rotation of the stabilization mechanism 20 is controlled by a preset posture (the original preset posture). It is observed that when the stabilization mechanism 20 rotates relative to the base 10, it may hit a limit position (for example, 0 ° position) of the base 10.
  • the user can input a set posture to make the current stabilization posture of the stabilization mechanism 20 Deviate from the limit position from the original preset posture (for example, when the original preset posture is 60 ° and the current preset posture is set to 90 °), at this time, the original preset posture is located at the limit position and the current Between preset attitudes; or, the user may also input a set attitude before the vertical stabilization device 100 works.
  • the microcontroller 50 obtains the setting posture input by the user and determines the preset posture according to the set posture.
  • the microcontroller 50 controls the driving motor 21 to rotate according to the preset posture and the actual posture, so that The stabilization mechanism 20 is rotated to a preset posture.
  • the vertical stabilization device 100 and the control method thereof of this embodiment obtain a preset posture of the stabilization device 20 through a user input method, so that the user can adjust the preset of the stabilization device 20 according to the current use state of the vertical stabilization device 100
  • the posture occurs to reduce the collision between the stabilization mechanism 20 and the base 10.
  • determining the set posture as the preset posture may also be understood as: determining the preset posture according to the set posture, and the preset posture may be one of the actual posture and the set posture of the stabilization mechanism 20 And, the set attitude is the set rotation angle of the drive motor.
  • the preset attitude is the included angle of the stabilization mechanism 20 with respect to the base 10 reference At 90 °.
  • the set attitude is the set rotation angle of the drive motor, that is, the microcontroller 50 controls the drive motor to rotate the angle corresponding to the set attitude to rotate the stabilization mechanism 20 to a preset attitude.
  • the vertical stabilization device 100 and the control method thereof of this embodiment obtain a preset posture through the sum of the actual posture and the set posture of the stabilization mechanism 20, so that the user can more intuitively set the stabilization mechanism 20 at the user's desire Set position.
  • acquiring the preset attitude of the stabilization mechanism 20 includes acquiring a preset rotation angle of the stabilization mechanism 20 relative to the base 10 (the reference on the base 10).
  • Obtaining the actual posture of the stabilization mechanism 20 includes acquiring the actual rotation angle of the stabilization mechanism 20 relative to the base 10 (the reference on the base 10).
  • the microcontroller 50 may be used to obtain a preset rotation angle of the stabilization mechanism 20 relative to the base 10, and the preset rotation angle may be an angle corresponding to the use mode of the vertical stabilization device 100; or, the preset rotation angle The angle determined by the setting posture input by the user may also be used.
  • the encoder 40 is used to obtain an actual rotation angle of the stabilization mechanism 20 relative to the base 10.
  • the step of controlling the rotation of the stabilization mechanism 20 according to a preset posture and an actual posture includes:
  • the stabilization mechanism 20 is controlled to rotate to a preset attitude.
  • Steps 031 and 032 may be performed by the microcontroller 50, that is, the microcontroller 50 is further configured to determine an angular deviation between the preset rotation angle and the actual rotation angle, and control the stabilization mechanism 20 when the angular deviation is not 0. Turn to the preset posture.
  • the microcontroller 50 calculates an angular deviation between the preset rotation angle and the actual rotation angle (the angle deviation is a value greater than or equal to 0).
  • the microcontroller 50 controls the stabilization mechanism 20 turns the angular deviation in the direction of the preset attitude (toward the reference direction away from the base 10) so that the stabilization mechanism 20 rotates from the actual attitude to the preset attitude;
  • the microcontroller 50 controls the stabilization mechanism 20 to rotate the angular deviation in the direction of the preset attitude (toward the reference direction close to the base 10) so that the stabilization mechanism 20 rotates from the actual attitude to the preset attitude;
  • the angular deviation is 0, that is,
  • the preset rotation angle is equal to the actual rotation angle, and the actual posture of the stabilization mechanism 20 coincides with the preset posture.
  • the microcontroller 50 does not control the rotation of the stabilization mechanism 20.
  • the vertical stabilization device 100 and its control method of the present embodiment calculate the angular deviation between the preset rotation angle and the actual rotation angle, and control the rotation of the stabilization mechanism 20 according to the angular deviation, thereby enabling the stabilization mechanism 20 to rotate To the preset posture.
  • the step of controlling the rotation of the stabilization mechanism 20 according to a preset posture and an actual posture includes:
  • the stabilization and stabilization mechanism 20 is controlled to rotate to a preset attitude at a second rotation speed; wherein the first rotation speed is greater than the second rotation speed.
  • Step 031, step 033, and step 034 can be performed by the microcontroller 50, that is, the microcontroller 50 is further configured to determine an angular deviation between a preset rotation angle and an actual rotation angle, and when the angular deviation is greater than a preset angular deviation threshold
  • the stabilization and stabilization mechanism 20 is controlled to rotate to a preset attitude at a first rotation speed, and when the angular deviation is less than or equal to a preset angular deviation threshold, the stabilization and stabilization mechanism 20 is controlled to rotate to a preset attitude at a second rotation speed.
  • the preset angle deviation threshold is an angle value pre-stored on the microcontroller 50, and the preset angle deviation threshold may be 5 °, 10 °, 15 °, 20 °, 25 °, 30 °, 35 °, or 40 °.
  • the first speed may be an average speed, or the first speed may be a constant speed; the second speed may be an average speed, or the second speed may be a constant speed.
  • the microcontroller 50 is used to calculate an angular deviation between the preset rotation angle and the actual rotation angle (the angular deviation is a value greater than or equal to 0).
  • the microcontroller 50 controls the stabilization mechanism 20 in a direction of a preset attitude (toward a reference direction away from the base 10) at a first rotation speed Rotate the stabilization mechanism 20 from the actual attitude to the preset attitude. For example, if the preset angular deviation threshold is 5 °, the preset rotation angle is 90 °, and the actual rotation angle is 60 °, the microcontroller 50 controls The stabilization mechanism 20 is rotated to a preset posture at a rotation speed of 10 rad / s in a reference direction away from the base 10.
  • the microcontroller 50 controls the stabilization mechanism 20 in the direction of the preset attitude (toward the reference direction close to the base 10) at the first rotation speed Rotate the stabilization mechanism 20 from the actual attitude to the preset attitude. For example, if the preset angular deviation threshold is 5 °, the preset rotation angle is 30 °, and the actual rotation angle is 60 °, the microcontroller 50 controls The stabilization mechanism 20 is rotated toward a reference direction close to the base 10 to a preset attitude at a rotation speed of 10 rad / s.
  • the microcontroller 50 controls the stabilization mechanism 20 toward the preset posture (toward the reference direction away from the base 10) by The second rotation speed rotates the stabilization mechanism 20 from the actual posture to the preset posture. For example, if the preset angle deviation threshold is 5 °, the preset rotation angle is 65 °, and the actual rotation angle is 60 °, the microcontroller 50 The stabilization mechanism 20 is controlled to rotate away from the base 10 to a preset attitude at a rotation speed of 5 rad / s.
  • the microcontroller 50 controls the stabilization mechanism 20 toward the preset posture (toward the reference direction near the base 10) by the first The second rotation speed rotates the stabilization mechanism 20 from the actual posture to the preset posture. For example, if the preset angle deviation threshold is 5 °, the preset rotation angle is 55 °, and the actual rotation angle is 60 °, the microcontroller 50 The stabilization mechanism 20 is controlled to rotate toward a reference direction close to the base 10 to a preset attitude at a rotation speed of 5 rad / s.
  • the vertical stabilization device 100 and the control method of this embodiment control the stabilization stabilization mechanism 20 to rotate to a preset posture at a first rotation speed, and
  • the stabilization and stabilization mechanism 20 is controlled to rotate to the preset posture at the second rotation speed, so that the time for the stabilization and stabilization mechanism 20 to rotate from the actual posture to the preset posture is shorter.
  • the step of controlling the rotation of the stabilization mechanism 20 according to a preset posture and an actual posture includes:
  • the stabilization stabilization mechanism 20 when the angular deviation is greater than a preset angular deviation threshold, the stabilization stabilization mechanism 20 is controlled to rotate at a first rotation speed to an angle deviation from the preset attitude to a preset angular deviation threshold, and control the stabilization stabilization mechanism 20 at a second rotation speed from The angular deviation from the preset attitude is turned to the preset attitude at a preset angular deviation threshold;
  • the stabilization and stabilization mechanism 20 when the angular deviation is less than or equal to a preset angular deviation threshold, the stabilization and stabilization mechanism 20 is controlled to rotate to a preset attitude at a second rotation speed; wherein the first rotation speed is greater than the second rotation speed.
  • the preset angle deviation threshold is an angle value pre-stored on the microcontroller 50, and the preset angle deviation threshold may be 5 °, 10 °, 15 °, 20 °, 25 °, 30 °, 35 °, or 40 °.
  • the microcontroller 50 is used to calculate an angular deviation between the preset rotation angle and the actual rotation angle (the angular deviation is a value greater than or equal to 0).
  • the microcontroller 50 controls the stabilization mechanism 20 in a direction of a preset attitude (toward a reference direction away from the base 10) at a first rotation speed Rotate the stabilization mechanism 20 to an angle deviation from the preset attitude to a preset angular deviation threshold, and control the stabilization mechanism 20 in a direction of the preset attitude (toward a reference direction away from the base 10) at a second rotation speed Turn from the angle deviation from the preset attitude to the preset attitude, for example, if the preset angular deviation threshold is 5 °, the preset rotation angle is 90 °, and the actual rotation angle is 60 °, the The controller 50 controls the stabilization mechanism 20 to rotate to a reference direction away from the base 10 at a rotation speed of 10 rad / s to 65 °, and controls the stabilization mechanism 20 to a reference direction away from the base 10 at a rotation speed of 5 rad
  • the microcontroller 50 controls the stabilization mechanism 20 in the direction of the preset attitude (toward the reference direction close to the base 10) at the first rotation speed Rotate the stabilization mechanism 20 to an angle deviation from the preset attitude to a preset angular deviation threshold, and control the stabilization mechanism 20 in a direction of the preset attitude (toward a reference direction near the base 10) at a second rotation speed Turn from the angle deviation from the preset attitude to the preset attitude.
  • the The controller 50 controls the stabilization mechanism 20 to rotate to a reference direction close to the base 10 at a rotation speed of 10 rad / s to 55 °, and controls the stabilization mechanism 20 to a reference direction close to the base 10 at a rotation speed of 5 rad / s from 55 Rotate to the preset attitude (at 90 °).
  • the microcontroller 50 controls the stabilization mechanism 20 toward the preset posture (toward the reference direction away from the base 10) by The second rotation speed rotates the stabilization mechanism 20 from the actual posture to the preset posture. For example, if the preset angle deviation threshold is 5 °, the preset rotation angle is 65 °, and the actual rotation angle is 60 °, the microcontroller 50 The stabilization mechanism 20 is controlled to rotate away from the base 10 to a preset attitude at a rotation speed of 5 rad / s.
  • the microcontroller 50 controls the stabilization mechanism 20 toward the preset posture (toward the reference direction near the base 10) by the first The second rotation speed rotates the stabilization mechanism 20 from the actual posture to the preset posture. For example, if the preset angle deviation threshold is 5 °, the preset rotation angle is 55 °, and the actual rotation angle is 60 °, the microcontroller 50 The stabilization mechanism 20 is controlled to rotate toward a reference direction close to the base 10 to a preset attitude at a rotation speed of 5 rad / s.
  • the vertical stabilization device 100 and the control method of this embodiment control the stabilization stabilization mechanism 20 to rotate at a first rotation speed to The angular deviation is at a preset angular deviation threshold and controls the stabilization mechanism 20 to rotate to a preset attitude from the angular deviation from the preset attitude to the preset attitude at a second rotation speed, thereby avoiding the stabilization mechanism 20 from turning to In the preset attitude, the rotation speed of the stabilization mechanism 20 is changed from the first rotation speed directly to 0, resulting in a larger vibration generated by the stabilization mechanism 20.
  • the method for controlling the vertical stabilization device 100 further includes:
  • Step 04 may also be performed by the encoder 40, and step 05 may also be performed by the microcontroller 50.
  • the encoder 40 is further configured to obtain a current motion state of the stabilization mechanism 20.
  • the microcontroller 50 is further configured to control the stabilization mechanism 20 to rotate according to a preset posture, an actual posture, and a current motion state to rotate the stabilization mechanism 20 to a preset posture.
  • Step 03 includes step 05, that is, controlling the stabilization mechanism 20 to rotate according to the preset posture and the actual posture, so that the stabilization mechanism 20 rotates to the preset posture (step 03) includes: according to the preset posture, the actual posture, and the current motion The state control stabilization mechanism 20 is rotated to rotate the stabilization mechanism 20 to a preset posture.
  • the current motion state includes the rotation speed of the stabilization mechanism 20 relative to the base 10.
  • the encoder 40 can be used to obtain the current rotational speed of the stabilization mechanism 20 relative to the base 10.
  • the step of controlling the stabilization mechanism 20 to rotate according to the preset posture, the actual posture, and the current motion state to rotate the stabilization mechanism 20 to the preset posture includes: according to the preset posture, the actual posture, and the current rotation speed
  • the stabilization mechanism 20 is controlled to rotate so that the stabilization mechanism 20 is rotated to a preset posture.
  • the microcontroller 50 calculates an angular deviation between the preset rotation angle and the actual rotation angle (the angular deviation is a value greater than or equal to 0).
  • the microcontroller 50 First, the stabilization mechanism 20 is controlled to gradually decelerate and rotate away from the preset attitude to reduce the rotation speed of the stabilization mechanism 20 to 0, and then the microcontroller 50 is rotated toward the preset attitude to make the stabilization mechanism 20 change from the current The actual posture is turned to a preset posture.
  • the microcontroller 50 controls the stabilization mechanism 20 to rotate toward the preset posture so that the stabilization mechanism 20 is rotated from the actual posture to the preset posture.
  • the vertical stabilization device 100 and the control method thereof according to this embodiment control the rotation of the stabilization mechanism 20 according to the current motion state, so that the vibration of the stabilization mechanism 20 due to a sudden change in the speed of the stabilization mechanism 20 can be reduced.
  • the current motion state includes the rotational speed and rotational acceleration of the stabilization mechanism 20 relative to the base 10.
  • the encoder 40 may be used to obtain a current rotational speed and a current rotational acceleration of the stabilization mechanism 20 relative to the base 10.
  • the step of controlling the stabilization mechanism 20 to rotate to stabilize the stabilization mechanism 20 to a preset posture according to the preset posture, the actual posture, and the current motion state includes: according to the preset posture, the actual posture, and the current rotational speed
  • the current acceleration acceleration controls the stabilization mechanism 20 to rotate so that the stabilization mechanism 20 rotates to a preset attitude.
  • the microcontroller 50 calculates the angular deviation between the preset rotation angle and the actual rotation angle (the angular deviation is a value greater than or equal to 0).
  • the microcontroller 50 first controls the direction of the rotational acceleration of the stabilization mechanism 20 toward the preset posture.
  • the stabilization mechanism 20 gradually decelerates and rotates away from the preset posture to make the stabilization mechanism 20
  • the rotation speed is reduced to 0.
  • the microcontroller 50 controls the current rotational acceleration to remain unchanged, increase, decrease, and / or change the direction, so that the microcontroller 50 is rotated toward the preset attitude to stabilize the stabilization mechanism. 20 Turn from the actual posture to the preset posture.
  • the microcontroller 50 When the direction of the current rotation speed is away from the preset attitude and the direction of the current rotation acceleration is closer to the preset attitude, the microcontroller 50 first controls the direction of the rotation acceleration of the stabilization mechanism 20 to keep away from the base 10 The reference direction (close to the preset rotation angle direction). At this time, the stabilization mechanism 20 is gradually decelerated and rotated in a direction away from the preset posture to reduce the rotation speed of the stabilization mechanism 20 to 0. Then, the microcontroller 50 controls the current rotation The acceleration remains unchanged, increases, decreases, and / or changes the direction, so that the microcontroller 50 is rotated in a reference direction away from the base 10 to rotate the stabilization mechanism 20 from the actual posture to the preset posture.
  • the microcontroller 50 controls the current rotation acceleration to remain unchanged, increase, decrease, and / or change the direction so that the microcontroller 50 rotates in a direction close to the preset posture to rotate the stabilization mechanism 20 from the actual posture to the preset posture.
  • the microcontroller 50 controls the current rotational acceleration to remain unchanged, increase, decrease, and / or change direction, The micro-controller 50 is rotated toward the preset posture to rotate the stabilization mechanism 20 from the actual posture to the preset posture.
  • the vertical stabilization device 100 and the control method thereof according to the present embodiment control the rotation of the stabilization mechanism 20 according to the current motion state, so that the vibration of the stabilization mechanism 20 due to a sudden change in the speed of the stabilization mechanism 20 can be reduced.
  • the current state of motion includes a rotational acceleration of the stabilization mechanism 20 relative to the base 10.
  • the encoder 40 may be used to obtain a current rotational acceleration of the stabilization mechanism 20 relative to the base 10.
  • the step of controlling the stabilization mechanism 20 to rotate to stabilize the stabilization mechanism 20 to a preset posture according to the preset posture, the actual posture, and the current motion state includes: according to the preset posture, actual posture, and current rotational acceleration
  • the stabilization mechanism 20 is controlled to rotate so that the stabilization mechanism 20 is rotated to a preset posture.
  • the microcontroller 50 When the direction of the current rotational acceleration is close to the preset attitude, the microcontroller 50 first controls the current rotational acceleration to remain unchanged (the direction and magnitude of the acceleration remain unchanged), and then the microcontroller 50 controls the current rotational acceleration to move away from the direction.
  • the direction of the preset posture is such that the microcontroller 50 is rotated toward the preset posture so that the stabilization mechanism 20 is rotated from the actual posture to the preset posture.
  • the microcontroller 50 When the direction of the current rotational acceleration is away from the preset attitude, the microcontroller 50 first controls the direction of the current rotational acceleration toward the preset attitude, and then the microcontroller 50 controls the direction of the current rotational acceleration toward the away from the preset attitude. Direction, so that the microcontroller 50 is turned toward the preset posture, so that the stabilization mechanism 20 is rotated from the actual posture to the preset posture.
  • the vertical stabilization device 100 and the control method thereof according to the present embodiment control the rotation of the stabilization mechanism 20 according to the current motion state, so that the vibration of the stabilization mechanism 20 due to a sudden change in the speed of the stabilization mechanism 20 can be reduced.
  • first and second are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as “first” and “second” may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "a plurality" is at least two, for example, two, three, etc., unless it is specifically and specifically defined otherwise.

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  • Automation & Control Theory (AREA)
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Abstract

L'invention concerne un procédé de commande pour un appareil d'augmentation de stabilité verticale (100), un appareil d'augmentation de stabilité verticale (100) et un dispositif de capture d'image (200). L'appareil d'augmentation de stabilité verticale (100) comprend une base (10), un mécanisme d'augmentation de stabilité (20) et une suspension à Cardan à axes multiples (30). Le mécanisme d'augmentation de stabilité (20) est relié rotatif à la base (10) et utilisé pour supporter la suspension à Cardan à axes multiples (30). Le procédé de commande consiste à : obtenir une pose prédéfinie du mécanisme d'augmentation de stabilité (20) (01) ; obtenir une pose actuelle du mécanisme d'augmentation de stabilité (20) (02) ; et selon la pose prédéfinie et la pose actuelle, commander le mécanisme d'augmentation de stabilité (20) afin qu'il tourne (03), de sorte que le mécanisme d'augmentation de stabilité (20) tourne vers la pose prédéfinie.
PCT/CN2018/103442 2018-08-31 2018-08-31 Procédé de commande pour appareil d'augmentation de stabilité verticale, appareil d'augmentation de stabilité verticale et dispositif de capture d'image WO2020042135A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880012683.9A CN110337622A (zh) 2018-08-31 2018-08-31 竖向增稳装置控制方法、竖向增稳装置及图像获取设备
PCT/CN2018/103442 WO2020042135A1 (fr) 2018-08-31 2018-08-31 Procédé de commande pour appareil d'augmentation de stabilité verticale, appareil d'augmentation de stabilité verticale et dispositif de capture d'image

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