WO2020062298A1 - Cardan et son procédé de commande, et plateforme mobile - Google Patents

Cardan et son procédé de commande, et plateforme mobile Download PDF

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Publication number
WO2020062298A1
WO2020062298A1 PCT/CN2018/109207 CN2018109207W WO2020062298A1 WO 2020062298 A1 WO2020062298 A1 WO 2020062298A1 CN 2018109207 W CN2018109207 W CN 2018109207W WO 2020062298 A1 WO2020062298 A1 WO 2020062298A1
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WO
WIPO (PCT)
Prior art keywords
gimbal
attitude
pan
joint angle
tilt
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Application number
PCT/CN2018/109207
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English (en)
Chinese (zh)
Inventor
刘帅
谢振生
刘力源
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 CN201880040630.8A priority Critical patent/CN110770671A/zh
Priority to PCT/CN2018/109207 priority patent/WO2020062298A1/fr
Publication of WO2020062298A1 publication Critical patent/WO2020062298A1/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
    • G05D3/12—Control of position or direction using feedback
    • G05D3/20—Control of position or direction using feedback using a digital comparing device
    • 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

Definitions

  • the invention relates to the field of PTZ control, in particular to a PTZ, a control method thereof, and a movable platform.
  • the movement of the gimbal is usually controlled by a remote controller.
  • a joystick or a pulsator is provided on the remote controller.
  • the user sends a motion instruction to the gimbal by controlling the joystick or the pulsator.
  • the drive motor drives the corresponding shaft arm to rotate, displace, etc.
  • due to the unstable strength of the user to control the joystick or the pulsator it is usually difficult to control the PTZ movement to the desired attitude in one operation, and it may be necessary to perform repeated operations to adjust, the operation is complicated, and the positioning accuracy is not high enough.
  • the invention provides a gimbal, a control method thereof, and a movable platform.
  • the present invention is implemented by the following technical solutions:
  • a method for controlling a pan / tilt head includes:
  • the working parameters of the pan / tilt include a desired attitude of the pan / tilt
  • the pan-tilt head attitude is determined based on the desired attitude and the real-time posture of the pan-tilt head when the pan-tilt head is manually moved. Conversion speed
  • a pan / tilt head including: an inertial measurement unit IMU and a processor, wherein the processor and the inertial measurement unit IMU are respectively electrically connected, and the processor is configured to:
  • the working parameters of the pan / tilt include a desired attitude of the pan / tilt
  • the pan-tilt head attitude is determined based on the desired attitude and the real-time posture of the pan-tilt head when the pan-tilt head is manually moved. Conversion speed
  • a movable platform including: a gimbal and a processor.
  • the gimbal includes an inertial measurement unit IMU, the processor is electrically connected to the inertial measurement unit IMU, and the processing For:
  • the working parameters of the pan / tilt include a desired attitude of the pan / tilt
  • the pan-tilt head attitude is determined based on the desired attitude and the real-time posture of the pan-tilt head when the pan-tilt head is manually moved. Conversion speed
  • the operation process is simple and intuitive, and the positioning accuracy is high; and, the desired attitude is controlled by the attitude conversion speed determined by the desired attitude and the real-time attitude of the PTZ when manipulating the PTZ.
  • the attitude method can make the gimbal more smoothly follow the movement of the gimbal when manpower moves the gimbal, and the gimbal's attitude conversion speed can be adjusted in real time, which is helpful to avoid the gimbal's movement to the real-time attitude Situation, the user experience is better.
  • FIG. 1 is a schematic diagram of the working principle of a three-axis head
  • FIG. 2 is a method flowchart of a method for controlling a pan / tilt according to an embodiment of the present invention
  • FIG. 3 is a specific method flowchart of a PTZ control method according to an embodiment of the present invention.
  • 4A is a method flowchart of a first implementation manner of a gimbal control method according to an embodiment of the present invention
  • FIG. 4B is another method flowchart of the first implementation of the PTZ control method according to an embodiment of the present invention.
  • 5A is a method flowchart of a second implementation manner of a gimbal control method according to an embodiment of the present invention
  • FIG. 5B is another method flowchart of the second implementation of the PTZ control method according to an embodiment of the present invention.
  • 6A is a method flowchart of a third implementation manner of a gimbal control method according to an embodiment of the present invention.
  • 6B is another method flowchart of a third implementation manner of the PTZ control method according to an embodiment of the present invention.
  • FIG. 7 is another specific method flowchart of a PTZ control method according to an embodiment of the present invention.
  • FIG. 8 is a specific structural block diagram of a gimbal in an embodiment of the present invention.
  • FIG. 9 is a structural block diagram of a movable platform in an embodiment of the present invention.
  • the PTZ in the embodiment of the present invention may be a handheld PTZ or a PTZ carried by a mobile platform.
  • Movable platforms may include, for example, drones, unmanned vehicles, unmanned ships, and the like.
  • the above-mentioned head usually includes a shaft arm and a motor, and the motor is used for driving the shaft arm to rotate.
  • the motor may include at least one of the following: a yaw axis motor, a pitch axis motor, and a roll axis motor, and the shaft arm correspondingly includes at least one of a yaw axis axis arm, a pitch axis axis arm, and a roll axis axis arm.
  • the three-axis gimbal includes three axis arms and motors that drive the rotation of the three axis arms, respectively.
  • the three axis arms are the pitch axis axis arm and the roll axis axis arm.
  • yaw axis shaft arm is the pitch axis axis arm and the roll axis axis arm.
  • the pan / tilt head When controlling the above-mentioned pan / tilt head to change the desired attitude, it can drive loads mounted on the pan / tilt head, such as camera equipment, shooting device, detection device, and the like. For example, the pan / tilt drives the camera or camcorder to move in one or more directions to achieve a wide range of shooting.
  • a user controls a PTZ to change a desired posture through a remote control device, such as a remote control joystick or a pulsator.
  • the operation process is complicated and the positioning accuracy is not high enough. Therefore, in the embodiment of the present invention, a manner in which a user manually moves the pan / tilt head is provided, so that the pan / tilt head can quickly and accurately move to a desired posture.
  • a three-axis head shown in FIG. 1 includes a processor, a three-axis motor, a three-axis arm, an IMU (Inertial Measurement Unit), and an integrator.
  • the above-mentioned three-axis gimbal can form a closed-loop PI (proportional, integral) control system by using a gyroscope constituting an IMU as a feedback element and a three-axis motor as an output element.
  • PI Proportional, integral
  • the measurement attitude (ie, real-time attitude) of the gimbal is obtained through the IMU, and the offset between the measured attitude and the desired attitude is used as the control deviation.
  • the processor controls the input current of the three-axis motor according to the input control deviation.
  • the three-axis motor is driven to work.
  • the output torque of the three-axis motor drives the three-axis shaft arm to rotate.
  • the measurement attitude of the gimbal changes further.
  • the gimbal moves to the desired attitude. That is, the pan / tilt can detect periodically and cyclically, and can make the current measurement attitude be a desired attitude.
  • the desired gesture may be input by a user or set in advance.
  • the current desired attitude is the measured attitude when the pantilon is manually moved by measuring the offset between the measured attitude and the desired attitude. That is, in the embodiment of the present invention, the measurement attitude is used as the current attitude to control the rotation of the PTZ, and the desired attitude of the PTZ (that is, the expected attitude when the manipulator moves the platform in the previous closed loop) is used as the current control. Measurement attitude of gimbal rotation.
  • the attitude conversion speed can be matched with the control deviation, for example, the attitude conversion speed and the control deviation can be positively correlated.
  • FIG. 2 is a method flowchart of a PTZ control method according to an embodiment of the present invention.
  • the method for controlling a pan / tilt in this embodiment includes, but is not limited to, the following steps:
  • Step S201 Obtain the working parameters of the gimbal.
  • the working parameters of the gimbal include a desired attitude of the gimbal.
  • the working parameters of the gimbal in the embodiment of the present invention may further include: a desired torque of the motor, or a joint angle error of the gimbal.
  • the above two parameters of joint angle error and expected torque usually have a positive correlation.
  • the desired torque of the motor is determined by the desired attitude and the real-time attitude (the real-time attitude of the gimbal when the manipulator moves the gimbal). Specifically, the desired torque of the motor is the amount of torque required by the gimbal to move from the real-time attitude to the desired attitude motor.
  • the joint angle error of the gimbal is also determined by the expected attitude and real-time attitude.
  • the joint angle error is the difference between the joint angle corresponding to the desired attitude and the joint angle corresponding to the real-time attitude, where the real-time attitude is obtained by the inertial measurement unit IMU on the gimbal. It can be understood that when the joint angle is determined by the posture, if there are multiple solutions, a unique solution should be determined as the joint angle corresponding to the posture.
  • the head can be a single-axis, two-axis or three-axis head.
  • the gimbal can rotate around the pitch axis, roll axis, and yaw axis, and its attitude can correspond to the pitch axis, roll axis, and yaw axis.
  • the joint angle error corresponding to each axis in the desired attitude and the real-time attitude can be calculated to determine whether the axis arm corresponding to each axis in the gimbal has been manually pushed, and then the axis arm corresponding to each axis is Corresponding control.
  • the desired attitude is the attitude before the manual movement of the PTZ, that is, if the PTZ is in the initial startup state before the manual movement, the expected attitude is the initial attitude of the PTZ.
  • the expected attitude is the expected attitude at the last closed loop, that is, the real-time attitude after the last closed loop. Understandably, the desired attitude can change.
  • Step S202 if it is detected that the working parameters match the preset maneuvering pan / tilt head conditions, determine the attitude conversion speed of the pan / tilt according to the desired posture and the real-time posture of the pan / tilt when the panning is manually performed;
  • the arm of the gimbal has reached the position where the manipulator moves under the action of the manipulator.
  • the attitude conversion speed is the magnitude of the gradient of the PTZ's conversion from the desired attitude to the real-time attitude.
  • the axis of the PTZ will not rotate any more, which achieves the effect that the PTZ can be stopped by the user.
  • the parameter values of the detected working parameters will be significantly different. Therefore, the working parameters can be used as the basis for judging the pan / tilt manually.
  • the working parameters of the pan / tilt are usually larger than those when the pan / tilt is controlled by the remote control.
  • the working parameters of the pan / tilt are usually larger than those through the remote control.
  • the working parameters when controlling the PTZ but the difference between manually touching the PTZ and manual PTZ is that the duration of the parameter value of the former is less than that of the latter.
  • the working parameter in step S201 further includes a desired torque.
  • This embodiment can detect whether the absolute value of the desired torque is greater than or equal to the torque threshold. If the absolute value of the desired torque is greater than or equal to the torque threshold , It can be determined that a manual pan-tilt head is detected; if the absolute value of the desired torque is less than a torque threshold, a current non-human pan-tilt head can be determined.
  • the expected torque is compared with the torque threshold. If the desired torque is greater than or equal to the torque threshold, it may be determined that the absolute value of the detected desired torque is greater than or equal to the torque threshold. In other embodiments, the expected torque is compared with the inverse number of the torque threshold (that is, the negative value of the torque threshold), and if the expected torque is less than or equal to the inverse number of the torque threshold, the absolute value of the detected desired torque may be determined. Greater than or equal to the torque threshold.
  • the joint angle error determines whether to compare the expected torque with the torque threshold or the expected torque and the torque.
  • the opposite numbers of the thresholds are compared.
  • the joint angle error when the joint angle error is positive, the expected torque is compared with the torque threshold; when the joint angle error is negative, the expected torque is compared with the opposite number of the torque threshold. For example, in the case where the joint angle is calculated using posture and the joint angle can be uniquely determined, if the joint angle corresponding to the desired posture is 0 °, the joint angle corresponding to the real-time posture is 5 °, and the joint angle error is -5 °.
  • the angular error is negative and the expected torque can be compared to the opposite of the torque threshold.
  • the joint angle corresponding to the desired posture is 0 °
  • the joint angle corresponding to the real-time posture is -5 °
  • the joint angle error is 5 °
  • the joint angle error is a positive number.
  • the expected torque can be compared with the torque threshold.
  • the direction of the manual pan-tilt head is determined based on the expected attitude and the real-time posture. Assuming that the difference between the attitude angle corresponding to the desired attitude and the attitude angle corresponding to the real-time posture is positive, the manual pan-tilt head When the direction of is the first movement direction, and the difference between the attitude angle corresponding to the desired attitude and the attitude angle corresponding to the real-time attitude is negative, the direction of the manual movement of the gimbal is regarded as the second movement direction.
  • the desired torque can be compared with the torque threshold; or / and when the direction of the manual movement of the pan-tilt head is the second movement direction, the desired torque can be compared.
  • the torque is compared to the inverse of the torque threshold.
  • the comparison result of the expected torque and the torque threshold may not be determined according to the direction of the manipulator to move the gimbal. For example, if you are not sure about the direction of the manual movement of the gimbal, you can compare the expected torque with the torque threshold and the opposite of the torque threshold in order to determine whether the desired torque is greater than the torque threshold or smaller than the opposite of the torque threshold. Or it is located between the torque threshold and the opposite value of the torque threshold, and then it can also detect whether there is any manual movement of the gimbal.
  • the torque value of the gimbal is usually greater than the torque value when the gimbal is controlled by the remote control.
  • the torque threshold value of this embodiment is preset according to the temperature protection strategy of the motor, and the torque threshold value is a lower limit value for judging the torque value when the manipulator moves the pan / tilt head.
  • the torque threshold will not be changed.
  • the preset torque threshold can be directly obtained.
  • the torque threshold is adjusted in real time according to the temperature protection strategy of the motor, that is, in the process of manually manipulating the pan / tilt to control the desired attitude of the pan / tilt, the torque threshold is changed to meet different requirements.
  • the expected torque of the gimbal is usually greater than the torque when the gimbal is controlled by the remote control. Is shorter than the latter. Therefore, in this embodiment, in order to avoid detecting that the human head accidentally touches the pan / tilt head, a time length can be set in advance for judging whether the absolute value of the desired torque continues to be greater than or equal to the torque threshold in a continuous period of time, thereby avoiding human error Touching the pan / tilt head is also determined as a manual pan / tilt head to improve the accuracy of the detection of the manual pan / tilt head.
  • the absolute value of the desired torque is greater than or equal to the torque threshold, if the expected torque is greater than or equal to the torque threshold at the 100th test in the next 1 second, then the manual pan / tilt is considered to be manual.
  • the torque threshold is considered to be an unmanned throb. If the absolute value of the desired torque is greater than or equal to the torque threshold is detected next time, the timing is restarted.
  • the joint angle errors when the joint angle errors are all positive within a preset period of time, it is determined whether the expected torque within the preset period of time is greater than or equal to the torque threshold, and if both are greater than or equal to the torque threshold, it may be determined It is detected that the absolute value of the desired torque within a preset time period is greater than or equal to the torque threshold.
  • the preset time period when the joint angle errors are all negative, it is judged whether the expected torque in the preset time period is less than or equal to the opposite number of the torque threshold. If both are less than or equal to the opposite number of the torque threshold, it is OK It is determined that the absolute value of the expected torque within a preset time period is greater than or equal to the torque threshold.
  • the preset duration can be set according to actual requirements, for example, 0.5 seconds, 1 second, 1.5 seconds, 2 seconds, 2.5 seconds, 3 seconds, and so on.
  • the detection may be determined.
  • the absolute value of the expected torque within the preset time period is greater than or equal to the torque threshold; or / and, when the direction of the manual movement of the pan / tilt is the second movement direction, it is determined whether the expected torque is uniform in the preset time period. Less than or equal to the opposite number of the torque threshold, and if both are less than or equal to the opposite number of the torque threshold, it can be determined that the absolute value of the expected torque within a preset time period is greater than or equal to the torque threshold.
  • the working parameters in step S201 further include joint angle errors.
  • This embodiment can detect whether the absolute value of the joint angle error is greater than or equal to the joint angle threshold. If the absolute value of the joint angle error is greater than Or equal to the joint angle threshold, it can be determined that a manual panning head is detected; if the absolute value of the joint angle error is less than the joint angle threshold, the current non-human panning head can be determined.
  • the joint angle error can be preset according to the actual situation. For example, the joint angle threshold is 1 °.
  • the absolute value of the joint angle error is greater than or equal to 1 °, it is determined that a manual panning head is detected; when the absolute value of the joint angle error is absolute, When the value is less than 1 °, it is determined that the human head accidentally touches the gimbal or other factors cause a small joint angle change of the gimbal.
  • the joint angle error is compared with the joint angle threshold. If the joint angle error is greater than or equal to the joint angle threshold, it can be determined that the absolute value of the detected joint angle error is greater than or equal to the joint angle threshold. In other embodiments, the joint angle error is compared with the opposite number of the joint angle threshold (that is, the negative number of the joint angle threshold). If the joint angle error is less than or equal to the opposite number of the joint angle threshold, it may be determined that the joint angle error is detected. The absolute value of the joint angle error is greater than or equal to the joint angle threshold.
  • the joint angle error determines whether to compare the joint angle error with the joint angle threshold or the joint angle.
  • the error is compared to the opposite number of the joint angle threshold.
  • the joint angle error is a positive number
  • the joint angle error is compared with a joint angle threshold
  • the joint angle error is compared with an opposite number of the joint angle threshold.
  • the joint angle corresponding to the desired posture is 0 °
  • the joint angle corresponding to the real-time posture is 5 °
  • the joint angle error is -5 °.
  • the angular error is negative
  • the joint angle error needs to be compared with the opposite number of the joint angle threshold.
  • the joint angle corresponding to the desired posture is 0 °
  • the joint angle corresponding to the real-time posture is -5 °
  • the joint angle error is 5 °
  • the joint angle error is a positive number.
  • the joint angle error needs to be compared with the joint angle threshold.
  • the direction of the manual pan-tilt head is determined according to the desired attitude and the real-time attitude. Assuming that the difference between the attitude angle corresponding to the desired attitude and the attitude angle corresponding to the real-time attitude is positive, the When the direction is the first panning direction, and the difference between the attitude angle corresponding to the desired posture and the attitude angle corresponding to the real-time posture is negative, the direction of the panning head manually is the second panning direction.
  • the joint angle error is compared with the joint angle threshold; or / and when the direction of the manual panning head is the second panning direction, the joint is The angular error is compared to the inverse of the joint angle threshold.
  • the comparison result of the joint angle error and the joint angle threshold value may not be determined according to the direction of the manual movement of the pan / tilt head.
  • the direction of the manual pan / tilt head is uncertain, but the joint angle error is compared with the joint angle threshold and the opposite number of the joint angle threshold in order to determine whether the joint angle error is greater than the joint angle threshold or smaller than the joint angle.
  • the opposite number of the threshold value, or between the opposite value of the joint angle threshold value and the joint angle threshold value can further detect whether there is a manual movement of the pan / tilt.
  • the joint angle error of the gimbal is usually greater than the joint angle when the gimbal is controlled by the remote control.
  • the difference between a human touched by the gimbal and a manual movement of the gimbal is that the former is greater than the joint angle.
  • the duration of the threshold joint angle is smaller than the latter.
  • a time length can be set in advance to determine whether the absolute value of the joint angle error is continuously greater than or equal to the joint angle threshold in a continuous period of time, thereby avoiding the Manually touching the pan / tilt is also determined as a manual pan / tilt to improve the accuracy of detecting the manual pan / tilt.
  • whether the absolute value of the joint angle error within a preset time period is greater than or equal to the joint angle threshold value can be detected, and if both are greater than or equal to the joint angle threshold value, it can be determined that a manual movement pan / tilt head is detected.
  • the absolute value of the joint angle error is greater than or equal to the duration of the joint angle threshold and reaches a preset duration, it is considered that the panic head is manually moved. It can be assumed that the detection period of the joint angle error is 0.001 second / time, and the preset duration is 1 s.
  • the absolute value of the joint angle error detected 1000 times is greater than or equal to the joint angle threshold, and in the next 1 second and 1001 detections, if the joint angle error is greater than or equal to the joint angle threshold, it is considered that the manipulator moves automatically; If the joint angle error is smaller than the joint angle threshold, it is considered that the unmanned pan-tilt head. If the absolute value of the joint angle error is greater than or equal to the joint angle threshold, the timing will be restarted.
  • the joint angle errors when the joint angle errors are all positive within a preset time period, it is determined whether the joint angle errors within the preset time period are all greater than or equal to the joint angle threshold. If both are greater than or equal to the joint angle threshold, It can be determined that the absolute value of the joint angle error within a preset time period is greater than or equal to the joint angle threshold.
  • the joint angle errors are all negative within a preset time period, determine whether the joint angle errors within the preset time period are all less than or equal to the opposite number of the joint angle threshold, and if they are all less than or equal to the opposite number of the joint angle threshold , It can be determined that the absolute value of the joint angle error within a preset period of time is greater than or equal to the joint angle threshold.
  • the preset duration can be set according to actual requirements, for example, 0.5 seconds, 1 second, 1.5 seconds, 2 seconds, 2.5 seconds, 3 seconds, and so on.
  • the direction of the manual panning head is the first panning direction
  • the working parameter in step S201 may also include both the expected torque and the joint angle error.
  • This embodiment can detect whether the absolute value of the desired torque is greater than or equal to the torque threshold, and detect the joint angle error. Whether the absolute value of is greater than or equal to the joint angle threshold, and if the absolute value of the desired torque is greater than or equal to the torque threshold, and the absolute value of the joint angle error is greater than or equal to the joint angle threshold, it is determined that a manual throbbing head is detected.
  • the detection period of the expected torque and joint angle error is 0.001 second / time, and the preset duration is 1 s. If within 1 s, the absolute value of the expected torque is greater than or equal to the torque threshold value 1000 times, and the absolute value of the joint angle error is greater than or equal to the joint angle threshold value 1000 times. If the torque threshold is greater than or equal to the threshold value and the joint angle error is greater than or equal to the joint angle threshold value, the head is considered to be manual; but if the expected torque is less than the torque threshold, or if the joint angle error is less than the threshold value, the head is considered to be unmanned. When the absolute value of the expected torque is greater than or equal to the torque threshold is detected next time, and the absolute value of the joint angle error is greater than or equal to the joint angle threshold, the timing is restarted.
  • step S202 based on the desired attitude and the real-time attitude of the gimbal when the manipulator moves the gimbal, the time of the attitude conversion speed of the gimbal is determined.
  • the joint angle error of the gimbal is determined according to the desired attitude and the real-time attitude of the gimbal when the manipulator is moved by the gimbal; the speed of the attitude conversion of the gimbal is determined according to the joint angle error and a preset coefficient.
  • the preset coefficient is determined by the number of time detection cycles and the gain coefficient. The size of the number of time detection cycles can be set according to a preset duration.
  • the gain factor can be large, for example, the gain factor can be 10.
  • the attitude conversion speed of the gimbal determined in step 202 is the joint angular velocity, and the change in the desired attitude of the gimbal is actually controlled by the Euler angular velocity.
  • the joint angular velocity determined in step 202 may be directly used as the Euler angular velocity of the gimbal.
  • the process of determining the attitude conversion speed of the gimbal according to the joint angle error and a preset time coefficient specifically includes:
  • Step S701 Determine the first angular velocity of the gimbal in the gimbal joint angle coordinate system according to the joint angle error and the preset coefficient;
  • the first angular velocity W i -joint angle error / predetermined coefficient.
  • W i -joint angle error / time detection cycles * Gain factor.
  • Step S702 According to the conversion relationship between the joint angle coordinate system of the gimbal and the coordinate system of the gimbal body, convert the first angular velocity to the second angular velocity of the gimbal on the gimbal body coordinate system;
  • W b R j-> b * W i ;
  • R j-> b (Jacobian matrix) to convert the joint angle relationship between the head body and the head coordinate system coordinates, R j-> b determined by the configuration of the head, the head of the different configuration , R j-> b is different.
  • the yaw axis motor is used to drive the yaw axis axis arm to rotate to drive the roll axis motor and the roll axis axis arm, the pitch axis motor and the pitch axis axis arm and the camera to rotate, and the roll axis motor is used to drive the roll
  • the pivot axis arm rotates to drive the pitch axis motor and the pitch axis axis arm and the camera to rotate.
  • the pitch axis motor is used to drive the pitch axis axis arm to rotate to drive the camera.
  • the rotation axes of the three joint angles are:
  • V inny, V midx, V outz respectively pitch joint angle, joint angular roll, yaw axis rotation axis of the joint angle.
  • V inny, V midx, V outz head body are converted to the coordinate system:
  • R y ', R x' , R z ' respectively, corresponding to R y, R x, R z transpose;
  • R y, R x, R z are joint angle coordinate system around Y axis (i.e., pitch axis), Rotation matrix from X axis (ie roll axis), Z axis (ie yaw axis) to the reference coordinate system.
  • R y , R x , R z can be as follows:
  • the reference coordinate system is a coordinate system with a joint angle of 0, and A is a conversion angle of the joint angle coordinate system to the reference coordinate system.
  • inn_joint_rad is the joint angle of the inner frame
  • mid_jo int_rad is the joint angle of the middle frame.
  • Step S703 convert the second angular velocity into the Euler angular velocity according to the conversion relationship between the coordinate system of the gimbal body and the Euler coordinate system;
  • R b-> ⁇ is the conversion relationship between the gimbal body coordinate system and Euler coordinate system
  • inn_euler_rad is the Euler angle of the inner frame
  • mid_euler_rad is the Euler angle of the middle frame
  • the Euler angle of the inner frame and the Euler angle of the middle frame are the expected Euler angles of the gimbal at the last closed loop, that is, at the end of the last closed loop Real-time attitude of the gimbal.
  • the joint angle of the middle frame is 40 degrees
  • the joint angle of the inner frame is 40 degrees
  • the Euler angle of the inner frame is 10
  • the Euler angle of the middle frame is 0,
  • the joint angular velocity (that is, the first The angular velocity) is [0,0,1].
  • the Euler angular velocity of the gimbal is the joint angular velocity [0,0,1] by default.
  • the Euler angular velocity of the gimbal is [-0.3830, 0.6428, 0.6634]. It can be known that by converting the first angular velocity through the coordinate system of the gimbal body, a more accurate attitude control can be obtained, and the gimbal can stay more accurately at the position when the manpower is pushed to stop.
  • the speed of the corresponding preset axis in the Euler angular velocity can be controlled to be a preset Set value, such as 0.
  • the axis arm corresponding to the preset axis is an axis arm in the gimbal that does not require attitude control. In this way, the torque output of the axis arm for the preset axis can be avoided to prevent the attitude control of other axis arms in the gimbal from being affected due to control saturation.
  • the gimbal is not provided with an axis arm corresponding to a preset axis, that is, the axis arm corresponding to the preset axis may be an axis arm that does not actually exist in the gimbal, such as a roll axis. That is, due to the Euler angle calculation, even if the axis arm corresponding to the preset axis does not exist, the axis arm corresponding to the preset axis may have Euler angular velocity, but the default value is the default value to prevent the motor torque output from being saturated. .
  • the gimbal can be a two-axis gimbal.
  • the arm includes two of a yaw axis arm, a pitch axis arm, and a roll axis arm. After performing step S703, the Euler angular velocity of the other axis arm can be controlled as 0.
  • the other axis arm is a roll axis axis arm; when the axis arm includes a yaw axis axis arm and a roll axis axis arm, the other axis arm Is the pitch axis axis arm; when the axis arm includes the pitch axis axis arm and the roll axis axis arm, the other axis arm is the yaw axis axis arm.
  • Step S704 Determine the Euler angular velocity as the attitude conversion speed of the gimbal.
  • Step S203 Control the desired attitude to a real-time attitude in accordance with the direction of the manipulator and the speed of the attitude conversion.
  • the inertial measurement unit IMU on the gimbal can be used to measure the direction of movement when the human is panning the pan / tilt, and then in the direction of movement, control the expectations in accordance with the attitude conversion speed determined in step S202.
  • the attitude is real-time. In this way, the speed of controlling the desired attitude toward the real-time attitude is related to the offset between the desired attitude of the gimbal and the real-time attitude of the gimbal when the manipulator moves the gimbal, and it can be adjusted in real time according to the offset.
  • the Euler angle corresponding to a certain axis arm in the desired attitude is A
  • the Euler angle corresponding to this axis arm in the real-time attitude is B.
  • A is directly assigned to B, since a posture may correspond to multiple joint angles, then As a result of the direct assignment, the corresponding axis arm in the gimbal is not sure which joint angle it should stay at. As a result, the gimbal may not be able to stay at the end of the user's human power after the human power is pushed. For example, the gimbal may exist Rotate and hit the mechanical limit. If A is gradually converted to B according to the attitude conversion speed and rotation direction, the above problems can be effectively solved.
  • the desired attitude of the PTZ is the real-time attitude of the PTZ when manually panned
  • the current desired attitude if it is detected again that the working parameters match the preset conditions of the manually-moved PTZ, then the current desired attitude, And the real-time attitude of the pan / tilt when the manually detected pan / tilt is detected again, determine the current attitude conversion speed of the pan / tilt, and then control the current according to the direction of the manually detected pan / tilt and the current attitude conversion speed of the pan / tilt.
  • the desired attitude is the real-time attitude of the manual pan-tilt head detected again.
  • the attitude conversion speed of the pan / tilt in this embodiment may be determined by the speed of the manual movement of the pan / tilt.
  • the change in the attitude conversion speed of the head is positively related to the speed of the manual movement of the pan / tilt. For example, when The speed of moving the pan / tilt head changes from slow to fast, so the attitude conversion speed of the pan / tilt head changes from slow to fast.
  • the change in the attitude conversion speed of the pan / tilt head is consistent with the speed change of the manipulator moving the pan / tilt head, so that the head can move smoothly.
  • step S203 is performed after determining that the gimbal is in the over-damping mode.
  • the gimbal is in an over-damped mode, and the gimbal follows the movement of the gimbal when a human moves the gimbal (that is, the gimbal stays at the position corresponding to the real-time posture of the gimbal when the user pushes the gimbal);
  • the pan / tilt will spring back to the position before the pan / tilt. You can choose whether the gimbal is in the over-damped mode or other modes according to the actual needs of users.
  • the pan / tilt when detecting that the working parameters of the pan / tilt match the preset conditions of manually panning the pan / tilt, the pan / tilt is panned according to the direction of the pan / tilt and the desired attitude and manpower
  • the attitude conversion speed determined by the real-time attitude of the PTZ is to control the PTZ to change its desired attitude, so that the PTZ ’s real-time attitude when the PTZ moves to manpower and the existing PTZ control is controlled by the remote control.
  • the operation process is simple and intuitive, and the positioning accuracy is high; and the attitude control speed determined by the attitude conversion speed determined by the real-time attitude of the gimbal when the gimbal is moved manually can control the gimbal's attitude conversion
  • the speed can be adjusted to make the PTZ more smoothly follow the movement of the PTZ when manpower moves the PTZ, and the user experience is better.
  • the second embodiment of the present invention also provides a PTZ.
  • a second embodiment of the present invention provides a pan / tilt head.
  • the pan / tilt head may include: an inertial measurement unit IMU1 and a processor 2.
  • the processor 2 is electrically connected to the inertial measurement unit IMU2.
  • the processor 2 in this embodiment is configured to execute the PTZ control method shown in FIG. 2 to FIG. 7.
  • the processor 2 is configured to: obtain the working parameters of the gimbal, and the working parameters of the gimbal include the expected attitude of the gimbal; if it is detected that the working parameters match the preset manual movement of the gimbal conditions, according to the expected attitude
  • the manipulator moves the pan-tilt head in real time, determine the speed of the gimbal's attitude conversion; according to the direction of the man-powered pan-tilt head and the speed of the attitude conversion, control the desired attitude to be a real-time attitude.
  • the processor 2 in this embodiment may be a central processing unit (central processing unit, CPU).
  • the processor 2 may further include a hardware chip.
  • the above-mentioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the gimbal of this embodiment may be a single-axis gimbal, a two-axis gimbal, a three-axis gimbal, or another gimbal.
  • the gimbal of this embodiment is used to carry a shooting device, and is used to adjust the attitude of the shooting device (for example, change the height, inclination, and / or direction of the shooting device) and keep the shooting device in a fixed attitude.
  • the PTZ can also be equipped with other loads, such as a photographing device, which can be a camera or an image sensor.
  • an embodiment of the present invention further provides a movable platform.
  • the movable platform may include a processor 100 and a PTZ 200.
  • the PTZ 200 includes an inertial measurement unit IMU, and the processor 100 inertial measurement unit IMU is electrically connected.
  • the processor 100 in this embodiment is configured to execute the PTZ control method shown in FIG. 2 to FIG. 7.
  • the processor 100 is configured to: obtain the working parameters of the gimbal 200, and the working parameters of the gimbal 200 include the expected attitude of the gimbal 200; if it is detected that the working parameters match the preset manual motion gimbal 200 conditions, Then, according to the desired attitude and the real-time posture of the gimbal 200 when the human head moves the gimbal 200, the attitude conversion speed of the gimbal 200 is determined; according to the direction and speed of the human gimbal 200, the desired attitude is controlled as a real-time attitude.
  • the processor 100 may be a mobile platform processor, a PTZ processor, or other controllers provided on the mobile platform.
  • the movable platform can be an unmanned aerial vehicle, such as a drone, or a ground mobile device, such as a remotely controlled car, or a surface mobile device, such as a remotely controlled ship.
  • the processor 100 may be a flight controller.
  • the processor 100 in this embodiment may be a central processing unit (CPU).
  • the processor 100 may further include a hardware chip.
  • the hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD), or a combination thereof.
  • the PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a general array logic (GAL), or any combination thereof.
  • the head 200 in this embodiment may be a single-axis head, a two-axis head, a three-axis head, or another head.
  • the gimbal 200 of this embodiment is used to carry a shooting device, and is used to adjust the attitude of the shooting device (for example, change the height, inclination, and / or direction of the shooting device) and keep the shooting device in a fixed attitude.
  • the pan / tilt 200 can also be equipped with other loads, such as a photographing device.
  • the photographing device can be a camera or an image sensor.
  • an embodiment of the present invention further provides a computer-readable storage medium on which a computer program is stored.
  • the program is executed by the processor 100, the steps of the PTZ control method of the first embodiment are implemented.
  • the program can be stored in a computer-readable storage medium.
  • the program When executed, the processes of the embodiments of the methods described above may be included.
  • the storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random, Access Memory, RAM).

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

Abstract

L'invention concerne un cardan et son procédé de commande, et une plateforme mobile. Le procédé consiste à : acquérir un paramètre de fonctionnement d'un cardan, le paramètre de fonctionnement du cardan comprenant une attitude souhaitée du cardan (S201) ; s'il est détecté que le paramètre de fonctionnement correspond à une condition prédéfinie pour manipuler manuellement le cardan, déterminer la vitesse de variation d'attitude du cardan en fonction de l'attitude souhaitée et de l'attitude en temps réel du cardan lorsqu'il est manipulé manuellement (S202) ; et conformément à la direction de manipulation manuelle du cardan et à la vitesse de variation d'attitude, commander l'attitude souhaitée pour qu'elle soit une attitude en temps réel (S203). Lorsqu'un cardan est manipulé manuellement, le présent procédé peut commander, conformément à la direction dans laquelle le cardan est manipulé manuellement et à une vitesse de variation d'attitude déterminée en fonction d'une attitude souhaitée et d'une attitude en temps réel du cardan lorsqu'il est manipulé manuellement, l'attitude souhaitée pour qu'elle tende vers l'attitude en temps réel, de telle sorte que le cardan reste à une position correspondant à l'attitude en temps réel du cardan lorsqu'il est en train d'être manipulé manuellement. Le processus de fonctionnement est simple et intuitif, la précision de positionnement est élevée, et la vitesse de variation d'attitude du cardan peut être ajustée en temps réel. Ceci aide à éviter la situation dans laquelle le cardan se déplace en va-et-vient lorsqu'il se déplace vers l'attitude en temps réel.
PCT/CN2018/109207 2018-09-30 2018-09-30 Cardan et son procédé de commande, et plateforme mobile WO2020062298A1 (fr)

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CN201880040630.8A CN110770671A (zh) 2018-09-30 2018-09-30 云台及其控制方法、可移动平台
PCT/CN2018/109207 WO2020062298A1 (fr) 2018-09-30 2018-09-30 Cardan et son procédé de commande, et plateforme mobile

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