WO2020181531A1 - Procédé de compensation de centre de gravité de cardan, cardan, et client - Google Patents

Procédé de compensation de centre de gravité de cardan, cardan, et client Download PDF

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Publication number
WO2020181531A1
WO2020181531A1 PCT/CN2019/078008 CN2019078008W WO2020181531A1 WO 2020181531 A1 WO2020181531 A1 WO 2020181531A1 CN 2019078008 W CN2019078008 W CN 2019078008W WO 2020181531 A1 WO2020181531 A1 WO 2020181531A1
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WO
WIPO (PCT)
Prior art keywords
gravity
center
pan
preset
torque value
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PCT/CN2019/078008
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English (en)
Chinese (zh)
Inventor
刘力源
谢文麟
刘帅
Original Assignee
深圳市大疆创新科技有限公司
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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 PCT/CN2019/078008 priority Critical patent/WO2020181531A1/fr
Priority to CN201980005507.7A priority patent/CN111316029B/zh
Publication of WO2020181531A1 publication Critical patent/WO2020181531A1/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
    • F16M11/043—Allowing translations
    • 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
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • 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
    • F16M11/10—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis
    • F16M11/105—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting around a horizontal axis the horizontal axis being the roll axis, e.g. for creating a landscape-portrait rotation
    • 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
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/12—Static balancing; Determining position of centre of gravity
    • G01M1/122—Determining position of centre of gravity

Definitions

  • the invention relates to the field of pan-tilt, in particular to a method for balancing the center of gravity of the pan-tilt, the pan-tilt and a client.
  • pan-tilts In related technologies, most pan-tilts only support loads with known types and ranges, such as cameras and mobile phones, and do not support users to install unknown custom load modules. With the development of pan-tilt technology, some pan-tilts have the function of supporting users to install some unknown custom load modules by themselves, such as educational robot pan-tilts. Many mounting holes are reserved on this type of pan-tilt to support users' freedom Mount a custom load module.
  • the custom load modules that DIY users install on the educational robot's pan/tilt may be water bomb guns, navigation modules, camera modules, searchlights, microphones, or even decorations, which are highly uncertain. If the layout of the custom load module is unreasonable, the center of gravity of the gimbal may be unstable, causing the gimbal to generate additional output in order to resist the gravity moment, which affects the use of the gimbal.
  • the invention provides a method for balancing the center of gravity of a pan/tilt, a pan/tilt and a client.
  • the present invention is implemented through the following technical solutions:
  • a method for balancing the center of gravity of a pan/tilt the pan/tilt is configured to rotate around a pitch axis and/or a roll axis, and the method includes:
  • a prompt signal for instructing to adjust the position of the center of gravity is output.
  • a pan/tilt configured to rotate around a pitch axis and/or a roll axis, and the pan/tilt includes:
  • a controller which is electrically connected to the pitch axis motor and/or the roll axis motor;
  • controller is used for:
  • a prompt signal for instructing to adjust the position of the center of gravity is output.
  • a method for balancing the center of gravity of a pan/tilt comprising:
  • the first trigger signal for center of gravity trim is generated
  • a client is provided, and the client includes:
  • Storage device for storing program instructions
  • the controller calls the program instructions, and when the program instructions are executed, it is used to:
  • the first trigger signal for center of gravity trim is generated
  • the pan/tilt can be triggered to perform center-of-gravity trim.
  • center-of-gravity trim if the center of gravity of the corresponding part of the pan/tilt deviates from the desired center of gravity Position, the center of gravity adjustment plan is given to guide the user to adjust the custom load module mounted on the corresponding part, so that the pan/tilt does not need to generate additional output to resist the gravitational moment when the normal output is maintained in a balanced state.
  • FIG. 1 is a flow chart of the method for balancing the center of gravity of the gimbal in an embodiment of the present invention on the gimbal side;
  • FIG. 2 is a flow chart of the method for balancing the center of gravity of the gimbal in a specific embodiment of the present invention on the gimbal side;
  • 3 is a schematic diagram of coordinates for detecting whether the position of the center of gravity of the part that rotates around the pitch axis in the pan/tilt head in an embodiment of the present invention is offset from the expected position of the center of gravity in the front-to-rear direction;
  • FIG. 4 is a schematic diagram of coordinates for detecting whether the position of the center of gravity of the part of the pan-tilt rotating around the roll axis in an embodiment of the present invention is offset from the expected position of the center of gravity in the left-right direction;
  • FIG. 5 is a schematic diagram of coordinates for detecting whether the position of the center of gravity of the part of the pan/tilt that rotates around the pitch axis in an embodiment of the present invention is offset from the expected position of the center of gravity in the vertical direction;
  • FIG. 6 is a schematic diagram of coordinates for detecting whether the position of the center of gravity of the part of the pan-tilt that rotates around the roll axis in an embodiment of the present invention is offset from the expected position of the center of gravity in the up and down direction;
  • FIG. 7 is a flow chart of the method for balancing the center of gravity of the gimbal on the gimbal side in another specific embodiment of the present invention.
  • Fig. 8 is a structural block diagram of a pan-tilt in an embodiment of the present invention.
  • FIG. 9 is a flow chart of the method for balancing the center of gravity of the gimbal in an embodiment of the present invention on the gimbal side;
  • Fig. 10 is a structural block diagram of a client in an embodiment of the present invention.
  • the educational robot PTZ can support users to install some unknown custom load modules by themselves. Due to the high uncertainty of the custom load modules, if the layout of the custom load modules mounted on the PTZ is not reasonable enough, it will cause the cloud The center of gravity of the platform is unstable, so that the gimbal needs to generate extra output in order to resist the gravity moment, which affects the use of the gimbal.
  • the present invention uses the user to trigger the pan/tilt to perform center-of-gravity trimming. After the center-of-gravity trim is performed, the pan/tilt can guide the user to the custom load modules mounted on the corresponding part.
  • the load module is adjusted so that the gimbal does not need to generate additional output to resist the gravitational moment when the normal output of the gimbal is kept in balance, reducing the power consumption of the gimbal and reducing the heat of the gimbal, which can protect the gimbal and greatly It reduces the risk of scalding users, and can also ensure that the gimbal has enough output for stabilization, greatly avoiding the degradation of disturbance suppression performance caused by output saturation; at the same time, the user experience is expanded, so that custom load modules can also be used in the cloud Normal use on stage.
  • the pan/tilt head of the embodiment of the present invention is configured to rotate around a pitch axis and/or a roll axis.
  • the gimbal is a single-axis gimbal, and the gimbal is configured to rotate around a pitch axis or a roll axis.
  • the gimbal is a two-axis gimbal, the gimbal is configured to rotate around the pitch axis and roll axis, or the gimbal is configured to rotate around the pitch axis and yaw axis, or the gimbal is configured to roll around The axis and the yaw axis rotate.
  • the gimbal is a three-axis gimbal, and the gimbal is configured to rotate around the pitch axis, roll axis, and yaw axis.
  • the pan/tilt can also be other multi-axis pan/tilt, which are not listed here.
  • the pan-tilt in the embodiment of the present invention may be a pan-tilt mounted on a mobile device, or a handheld pan-tilt.
  • the mobile device can be a mobile car, an unmanned aerial vehicle, or other devices with mobile functions.
  • FIG. 1 is a flow chart of the method for balancing the center of gravity of the gimbal in an embodiment of the present invention on the gimbal side. It should be noted that the method for balancing the center of gravity of the pan/tilt in the first embodiment of the present invention is executed by the pan/tilt. As shown in FIG. 1, the method for balancing the center of gravity of the pan/tilt in the first embodiment of the present invention may include the following steps:
  • S101 Upon receiving the first trigger signal for center of gravity trimming, detect whether the position of the center of gravity of the corresponding part of the pan/tilt head deviates from the expected position of the center of gravity;
  • the first trigger signal is used to instruct the pan/tilt head to perform center-of-gravity trim.
  • the pan/tilt in this embodiment will perform center-of-gravity trim after receiving the first trigger signal.
  • the first trigger signal is generated by the pan/tilt.
  • the pan/tilt may generate the first trigger signal by operating keys/buttons on the pan/tilt.
  • the first trigger signal is sent by an external device.
  • the external device can be a remote control device or a control terminal that controls the pan/tilt.
  • the control terminal can be a mobile terminal such as a mobile phone or a Pad, or other terminal devices.
  • the user can also trigger the pan-tilt to perform center-of-gravity trimming in other ways, such as touch, gestures, and voice.
  • the inner frame is a frame that rotates around the pitch axis
  • the middle frame is a frame that rotates around the roll axis
  • the outer frame is a frame around the yaw axis.
  • Rotating frame In an ideal state, the overall center of gravity of the gimbal (that is, the overall center of gravity composed of the outer frame, middle frame, inner frame and the load carried on the inner frame) is the position of the intersection of the pitch axis, roll axis and yaw axis.
  • the pitch axis and roll axis hardly need to resist the gravitational moment, the output value of the pitch axis and the roll axis is extremely small, and the average value is close to zero, that is, the gimbal does not need to generate additional output to resist the gravitational moment.
  • the gimbal is actually used, when the distance between the center of gravity of the gimbal and the intersection point is small, the extra output generated by the gimbal to resist the gravitational moment is also small, and the extra output will not affect the normal use of the gimbal.
  • the distance between the center of gravity of the gimbal and the intersection point can be set to be small enough to meet the normal use requirements of the gimbal. Therefore, the desired center of gravity position can be a certain distance from the intersection position.
  • the corresponding part when the pan/tilt is configured to rotate around the pitch axis, the corresponding part includes a part of the pan/tilt that rotates around the pitch axis, and it is desirable that the distance between the center of gravity position and the pitch axis is not greater than the first preset distance.
  • the part of the gimbal that rotates around the pitch axis includes the inner frame and the load mounted on the inner frame.
  • the distance between the desired center of gravity position and the pitch axis is the vertical distance from the desired center of gravity position to the pitch axis.
  • a preset distance can be set as required, such as 0.5cm, so that the extra output generated by the pan/tilt is small.
  • the corresponding part when the pan/tilt is configured to rotate around the roll axis, the corresponding part includes a part of the pan/tilt that rotates around the roll axis, and it is expected that the distance between the center of gravity position and the roll axis is not greater than the second preset distance.
  • the part of the pan/tilt that rotates around the roll axis includes the middle frame, the inner frame and the load carried on the inner frame.
  • the distance between the desired center of gravity and the roll axis is the distance from the desired center of gravity to the roll axis. vertical distance.
  • the second preset distance can be set as required, such as 0.5 cm, so that the extra output generated by the pan/tilt head is small.
  • the position of the center of gravity deviates from the desired center of gravity position including one or more of the following situations: the position of the center of gravity is deviated from the desired center of gravity position in the front and rear direction, the position of the center of gravity is deviated from the desired center of gravity position in the left-right direction, and the center of gravity position is up and down. The direction is offset from the desired center of gravity position.
  • the side of the pan/tilt facing the user is the front, and the side facing away from the user is the rear;
  • the side of the pan/tilt facing the left is the left, and the side of the pan/tilt facing the right is the right;
  • the direction of gravity of the gimbal is downward, and the opposite direction of the direction of gravity of the gimbal is upward.
  • the corresponding part is the part of the gimbal that rotates around the pitch axis
  • it can be detected whether the position of the center of gravity of the part of the gimbal that rotates around the pitch axis is offset from the expected center of gravity position in the front-to-back direction and/or up and down direction; when the corresponding part is in the gimbal
  • the part that rotates around the roll axis it can be detected whether the position of the center of gravity of the part that rotates around the roll axis in the pan/tilt head is offset from the desired center of gravity position in the left-right direction and/or up-down direction.
  • This embodiment detects whether the center of gravity position of the corresponding part of the pan/tilt platform deviates from the desired center of gravity position according to the type of the pan/tilt platform and actual requirements. For example, in some of the embodiments, it is only detected whether the center of gravity position of the corresponding part of the pan/tilt head is offset from the desired center of gravity position in the up and down direction, such as detecting the part of the pan/tilt head that rotates around the pitch axis and/or the pan/tilt head rotates around the roll axis. Whether the position of the center of gravity of the part in the vertical direction is offset from the desired position of the center of gravity.
  • the method of detecting whether the center of gravity position of the corresponding part of the pan/tilt head deviates from the desired center of gravity position can be selected according to needs, see Figure 2.
  • the process of detecting whether the center of gravity position of the corresponding part of the pan/tilt head deviates from the desired center of gravity position may include the following step:
  • S201 Control the pan/tilt to rotate so that the corresponding part of the pan/tilt is at at least one preset position
  • the preset position includes the target position and/or other positions.
  • the target position may be the position of the corresponding part when the center of gravity position of the historical record is at the desired center of gravity position, or the position of the pan/tilt when returning to the center (that is, the position of the corresponding portion when the pan/tilt is returning to the center).
  • the preset position may include one or more, for example, detecting whether the center of gravity position of the corresponding part of the pan/tilt head is offset from the expected center of gravity position in the front and rear direction and/or detecting whether the center of gravity position of the corresponding part of the pan/tilt head is in the left-right direction and the expected center of gravity When the position is offset, the preset position includes one.
  • the preset position when detecting whether the center of gravity position of the part that rotates around the pitch axis in the pan/tilt head is offset from the expected center of gravity position in the front and back direction, the preset position is the first preset position; when detecting whether the center of gravity position of the corresponding part of the pan/tilt head is on the left and right When the direction is offset from the desired center of gravity position, the preset position is the second preset position.
  • the first preset position and the second preset position may be the same position, for example, the first preset position and the second preset position are both target positions. Of course, the first preset position and the second preset position may also be different positions.
  • the preset positions include 3, such as detecting whether the center of gravity of the part that rotates around the pitch axis in the pan/tilt is in the vertical direction and the desired center of gravity.
  • the preset position includes the third preset position, the fourth preset position and the target position; whether the center of gravity position of the part that rotates around the roll axis in the detection platform is offset from the expected center of gravity position in the up and down direction
  • the preset position includes the fifth preset position, the sixth preset position and the target position.
  • S202 Detect whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position.
  • the corresponding part is the part of the gimbal that rotates around the pitch axis
  • the corresponding part is the part of the pan/tilt that rotates around the roll axis
  • Move and/or detect whether the center of gravity position when the part of the pan/tilt rotating around the roll axis is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction.
  • S202 may include the following steps:
  • the specific position is the first preset position. In this step, it is necessary to obtain the first torque value output by the pitch axis motor when the part of the gimbal that rotates around the pitch axis is at the first preset position.
  • the specific position is the second preset position. In this step, it is necessary to obtain the second torque value output by the roll axis motor when the part of the pan/tilt that rotates around the roll axis is at the second preset position.
  • the specific position includes the third preset position and the fourth preset position.
  • This step needs to obtain the third torque value output by the pitch axis motor when the part of the gimbal that rotates around the pitch axis is at the third preset position, and the pitch axis motor when the part of the gimbal that rotates around the pitch axis is at the fourth preset position The output fourth torque value.
  • the specific position includes the fifth preset position and the sixth preset position. Preset location. This step needs to obtain the fifth torque value output by the roll axis motor when the part of the pan/tilt rotating around the roll axis is at the fifth preset position, and when the part of the pan/tilt rotating around the roll axis is at the sixth preset position, The sixth torque value output by the roll axis motor.
  • the method further includes: determining the pitch axis motor and/or Or the torque value output by the roll axis motor converges to ensure the accuracy of the torque value obtained, thereby improving the accuracy of the center of gravity of the gimbal.
  • the process of determining the torque value output by the pitch axis motor and/or roll axis motor converges Including: determining the variance of multiple torque values output by the pitch axis motor and/or roll axis motor in a specific time period; and determining the convergence of the torque values output by the pitch axis motor and/or roll axis motor according to the variance.
  • the preset variance threshold can be set as required, such as 0.5, 0.6 or other values.
  • the process of determining the convergence of the torque value output by the pitch axis motor and/or the roll axis motor includes: determining the pitch axis when the duration of the corresponding part at at least one preset position is greater than or equal to the preset duration
  • the output torque value of the motor and/or roll axis motor converges.
  • the duration of the corresponding part being at the at least one preset position is greater than or equal to the preset time length to ensure that the corresponding part is stably at the at least one preset position, thereby ensuring the accuracy of the torque value.
  • the preset duration can be set as required, such as 5 seconds, 10 seconds or other durations.
  • the torque value output by the pitch axis motor and/or the roll axis motor is: a value obtained after smooth filtering of multiple torque values output by the pitch axis motor and/or roll axis motor in a specific period of time, In order to eliminate the influence of noise on the torque value, ensure the accuracy of the torque value, thereby improving the accuracy of the center of gravity of the gimbal.
  • the pitch axis and/or roll axis of the gimbal will output a continuous and constant torque value in order to resist the moment of gravity, so it can be based on the pitch axis and/or horizontal
  • the torque value output by the roller is used to calculate the current trim situation of the gimbal.
  • the pan/tilt is configured to rotate around the pitch axis, and the pan/tilt in this embodiment includes a pitch axis motor .
  • the corresponding part refers to the part of the pan/tilt that rotates around the pitch axis.
  • the specific position is the first preset position, and the aforementioned torque value may include: the first torque value output by the pitch axis motor when the corresponding part is at the first preset position.
  • the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position includes: according to the first torque value, detecting whether the center of gravity position when the corresponding part is at the first preset position There is an offset from the desired center of gravity in the front and rear direction.
  • the implementation of detecting whether the center of gravity position of the corresponding part is at the first preset position is offset from the expected center of gravity position in the front-to-rear direction may include the following two implementations:
  • the pitch axis to the center of gravity position that is, the part of the pan/tilt that rotates around the pitch axis is in the first preset position.
  • the line direction and the horizontal direction of the distance along the line form the first included angle ⁇ 1 .
  • the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position may include: first determining the angle of the first included angle according to the first torque value Range and/or the cosine value of the first included angle; then according to the angle range of the first included angle and/or the cosine value of the first included angle, it is detected whether the position of the center of gravity when the corresponding part is at the first preset position is in the front and rear direction. It is expected that there is an offset in the position of the center of gravity.
  • the first strategy can be set according to the use requirements of the pan/tilt.
  • the cosine of the first included angle is positive, it is determined that the position of the center of gravity is forward relative to the desired center of gravity; when the cosine of the first included angle is When the value is negative, it is determined that the position of the center of gravity is behind the expected position of the center of gravity.
  • the angle range of the first included angle when the angle range of the first included angle is within the first preset angle range, it is determined that the position of the center of gravity is forward relative to the desired center of gravity position; when the angle range of the first included angle is within the second preset angle range , Make sure that the center of gravity is behind the desired center of gravity.
  • the first strategy is not limited to the manners listed in the foregoing embodiment, and may be set in other manners.
  • position 1 is the position of the center of gravity when the part of the gimbal that rotates around the pitch axis is at the first preset position
  • ⁇ 1 is the first angle formed between the line direction and the horizontal direction of the distance from the pitch axis to the center of gravity position
  • T 1 is When the corresponding part is in the first preset position, the first torque value output by the pitch axis motor
  • m is the mass of the corresponding part
  • g is the acceleration of gravity
  • d is the distance from the pitch axis to the center of gravity
  • the hour hand is positive.
  • Figure 3 taking the desired center of gravity position as the origin, and the horizontal and vertical planes as references, the pan/tilt section is divided into four quadrant blocks.
  • the first torque value T 1 and the first included angle ⁇ 1 satisfy the following formula (1):
  • T 1 mg ⁇ d ⁇ cos ⁇ 1 (1)
  • the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant I or quadrant IV shown in Figure 3, and the gimbal rotates around the pitch axis
  • the position of the center of gravity of the part is forward relative to the expected center of gravity; when 90 degrees ⁇ 1 ⁇ 270 degrees, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant II or quadrant III as shown in Figure 3.
  • the position of the center of gravity of the part rotating around the pitch axis is offset from the desired position of the center of gravity.
  • the center of gravity position when the corresponding part is at the first preset position is offset from the expected center of gravity position in the front-to-rear direction .
  • the first torque value T 1 is greater than the first preset torque value, it is determined that the position of the center of gravity is forward relative to the desired center of gravity position; when the first torque value T 1 is less than the opposite of the first preset torque value, Make sure that the center of gravity is behind the desired center of gravity.
  • the first preset torque value can be set according to needs, for example, the first preset torque value can be 5N ⁇ m 2 , when T 1 >5N ⁇ m 2 , it is determined that the center of gravity position is forward relative to the desired center of gravity position; When T 1 ⁇ -5N ⁇ m 2 , it is determined that the position of the center of gravity is behind the expected position of the center of gravity.
  • the pan/tilt is configured to rotate about the roll axis, and the pan/tilt in this embodiment includes a horizontal Roller motor.
  • the corresponding part refers to the part of the pan/tilt that rotates around the roll axis.
  • the specific position is the second preset position
  • the aforementioned torque value includes: the second torque value output by the roll axis motor when the corresponding part is at the second preset position.
  • the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position may include: detecting that the corresponding part is at the second preset according to the second torque value Whether the position of the center of gravity is offset from the desired center of gravity in the left-right direction.
  • the implementation of detecting whether the center of gravity position of the corresponding part is at the second preset position is offset from the expected center of gravity position in the left-right direction may include the following two implementations:
  • the process of detecting whether the center of gravity position of the corresponding part is at the second preset position is offset from the expected center of gravity position in the left and right direction may include: first determining the second torque value according to the second torque value.
  • the angle range of the included angle and/or the cosine value of the second included angle is detected whether the center of gravity position when the corresponding part is at the second preset position There is an offset from the desired center of gravity in the left and right direction.
  • the second strategy can be set according to the use requirements of the pan/tilt.
  • the cosine of the second included angle is positive, it is determined that the position of the center of gravity is to the right of the desired center of gravity; when the cosine of the second included angle is When the value is negative, it is determined that the position of the center of gravity is to the left relative to the expected position of the center of gravity.
  • the angle range of the second included angle when the angle range of the second included angle is within the third preset angle range, it is determined that the position of the center of gravity is off to the right with respect to the desired center of gravity position; when the angle range of the second included angle is within the fourth preset angle range , Make sure that the center of gravity is to the left relative to the desired center of gravity.
  • the second strategy is not limited to the manners listed in the foregoing embodiment, and may be set in other manners.
  • position 2 is the position of the center of gravity when the part of the pan/tilt that rotates around the roll axis is in the second preset position
  • ⁇ 2 is the second included angle formed by the line direction and the horizontal direction of the distance from the roll axis to the center of gravity
  • T 2 is the second torque value output by the roll axis motor when the corresponding part is in the second preset position
  • m is the mass of the corresponding part
  • g is the acceleration of gravity
  • d is the distance from the roll axis to the center of gravity.
  • the direction of rotation is positive counterclockwise.
  • the second torque value T 2 and the second included angle ⁇ 2 satisfy the following formula (2):
  • the center of gravity of the part of the gimbal that rotates around the roll axis is located in the quadrant I or IV shown in Figure 4, and the gimbal rolls around The position of the center of gravity of the part of the axis rotation is offset to the right of the desired position of the center of gravity; when 90 degrees ⁇ 2 ⁇ 270 degrees, the center of gravity of the part of the gimbal that rotates around the roll axis is located in quadrant II or quadrant III as shown in Figure 4 , The center of gravity of the part of the pan/tilt that rotates around the roll axis is leftward relative to the desired center of gravity.
  • the second preset torque value can be set according to needs.
  • the second preset torque value can be 3N ⁇ m 2.
  • T 1 >3N ⁇ m 2 it is determined that the center of gravity position is to the right relative to the desired center of gravity position;
  • T 1 ⁇ -3N ⁇ m 2 it is determined that the center of gravity position is to the left relative to the desired center of gravity position.
  • the pan/tilt includes a pitch axis motor, and the corresponding part in this embodiment refers to the tilt axis in the pan/tilt.
  • the rotating part includes the third preset position and the fourth preset position
  • the torque value includes: when the corresponding part is at the third preset position, the third torque value output by the pitch axis motor, and the corresponding part is at the fourth preset position When, the fourth torque value output by the pitch axis motor.
  • the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position may include: detecting the corresponding part according to the third torque value and the fourth torque value Whether the center of gravity position at the target position in at least one preset position is offset from the desired center of gravity position in the up and down direction.
  • the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the third preset position and the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the fourth preset position have a fixed size.
  • the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the third preset position, and the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the fourth preset position is greater than 0 degrees If it is less than 180 degrees, the included angle can be 20 degrees, 30 degrees, 40 degrees, or other angles greater than 0 degrees and less than 180 degrees.
  • the distance along the line from the pitch axis to the center of gravity position when the corresponding part is at the third preset position (that is, the center of gravity position when the part of the gimbal that rotates around the pitch axis is at the third preset position) It forms a third angle ⁇ 3 along the line with the distance from the pitch axis to the center of gravity when the corresponding part is at the target position; when the corresponding part is at the fourth preset position, the pitch axis to the center of gravity position (that is, the part of the gimbal that rotates around the pitch axis is at The distance along the line direction of the center of gravity position at the fourth preset position and the distance along the line direction of the pitch axis to the center of gravity position when the corresponding part is at the target position form a third included angle forming a fourth included angle ⁇ 4 .
  • the third included angle ⁇ 3 and the fourth included angle ⁇ 4 are equal in magnitude.
  • the third preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the first preset angle in the first direction; the fourth preset position is: when the corresponding part is in the first In the case of three preset positions, the position of the corresponding part is rotated around the second direction twice the size of the first preset included angle.
  • the third preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the first preset angle around the first direction; the fourth preset position is: when the corresponding part is at At the target position, the position of the corresponding part after rotating the first preset angle in the second direction.
  • the first direction and the second direction are two opposite directions. When the first direction is counterclockwise, the second direction is clockwise; when the first direction is clockwise, the second direction is Counterclockwise. Specifically, in the embodiment shown in FIG. 5, the first direction is a counterclockwise direction, and the second direction is a clockwise direction.
  • the size of the first preset included angle can be set as required.
  • the first preset included angle in this embodiment is greater than 0 degrees and less than 90 degrees.
  • the first preset included angle may be 10 degrees, 15 degrees, and 20 degrees. , 30 degrees or other angles greater than 0 degrees and less than 90 degrees.
  • the line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is in the third preset position may coincide with the line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the target position, or the corresponding part is in the first position.
  • the along-line direction of the distance from the pitch axis to the center of gravity position at the four preset positions may coincide with the along-line direction of the distance from the pitch axis to the center of gravity position when the corresponding part is at the target position.
  • detecting whether the center of gravity position of the corresponding part is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction may include the following two implementations:
  • the distance from the pitch axis to the center of gravity position forms a fifth included angle with the horizontal direction. ⁇ 5 .
  • the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction may include: The third torque value and the fourth torque value determine the angle range of the fifth included angle and/or the sine value of the fifth included angle; according to the angle range of the fifth included angle and/or the sine value of the fifth included angle, detect the corresponding Whether the center of gravity position when part of the target position is in at least one preset position is offset from the expected center of gravity position in the up and down direction.
  • the third strategy can be set according to the use requirements of the PTZ.
  • the sine of the fifth included angle is positive, it is determined that the position of the center of gravity is higher than the expected position of the center of gravity; when the sine of the fifth included angle is When the value is negative, it is determined that the position of the center of gravity is lower than the expected position of the center of gravity.
  • the angle range of the fifth included angle when the angle range of the fifth included angle is within the fifth preset angle range, it is determined that the position of the center of gravity is higher than the expected position of the center of gravity; when the angle range of the fifth included angle is within the sixth preset angle range , Make sure that the center of gravity position is lower than the desired center of gravity position.
  • the third strategy is not limited to the manners listed in the foregoing embodiment, and may be set in other manners.
  • position 3 is the center of gravity when the part of the gimbal that rotates around the pitch axis is at the third preset position
  • position 4 is the position of the center of gravity when the part of the gimbal that rotates around the pitch axis is at the fourth preset position
  • ⁇ 3 is the corresponding The third angle formed by the distance along the line from the pitch axis to the center of gravity when the part is in the third preset position and the distance along the line from the pitch axis to the center of gravity when the corresponding part is at the target position
  • ⁇ 4 is the fourth The fourth angle formed by the distance along the line from the pitch axis to the center of gravity at the preset position and the distance from the pitch axis to the center of gravity when the corresponding part is at the target position.
  • ⁇ 5 is the pitch axis when the corresponding part is at the target position.
  • T 3 is the third angle output by the pitch axis motor when the corresponding part is at the third preset position.
  • Torque value, T 4 is the fourth torque value output by the pitch axis motor when the corresponding part is in the fourth preset position
  • m is the mass of the corresponding part
  • g is the acceleration of gravity
  • d is the distance from the pitch axis to the center of gravity
  • set The direction of rotation of the gimbal is positive counterclockwise.
  • the pan/tilt section is divided into four quadrant blocks.
  • the third torque value T 3 and the fifth angle ⁇ 5 and the fourth torque value T 4 and the fifth angle ⁇ 5 satisfy the following formula (3):
  • T 4 -T 3 2mg ⁇ d ⁇ sin ⁇ 1 ⁇ sin ⁇ 5 (4)
  • T 3 , T 4 , m, g, d and ⁇ 1 are all known, it can be known from formula (4) that when sin ⁇ 5 > 0, the center of gravity of the part of the gimbal that rotates around the pitch axis is located as shown in Figure 5 In the quadrant I or quadrant II, the center of gravity is determined to be higher than the desired center of gravity; when sin ⁇ 5 ⁇ 0, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in the quadrant III or quadrant IV shown in Figure 5. Make sure that the center of gravity is lower than the desired center of gravity.
  • the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant I or quadrant II as shown in Figure 5. It is determined that the center of gravity position is higher than the expected center of gravity position; when 180 degrees ⁇ When ⁇ 5 ⁇ 360 degrees, the center of gravity of the part of the gimbal that rotates around the pitch axis is located in quadrant III or quadrant IV shown in Figure 5, and the center of gravity is determined to be lower than the desired center of gravity.
  • the third preset torque value can be set according to needs, for example, the third preset torque value can be 8N ⁇ m 2 , when T 3 -T 4 >8N ⁇ m 2 , it is determined that the center of gravity position is deviated from the desired center of gravity position Down; When T 3 -T 4 ⁇ -8N ⁇ m 2 , it is determined that the center of gravity position is higher than the expected center of gravity position.
  • the pan/tilt head includes a roll axis motor, and the corresponding part in this embodiment refers to The part where the roll axis turns.
  • the specific position includes the fifth preset position and the sixth preset position
  • the torque value includes: when the corresponding part is at the fifth preset position, the fifth torque value output by the roll axis motor, and the corresponding part is at the sixth preset position Position, the sixth torque value output by the roll axis.
  • the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position deviates from the expected center of gravity position may include: detecting the corresponding part according to the fifth torque value and the sixth torque value Whether the center of gravity position at the target position in at least one preset position is offset from the desired center of gravity position in the up and down direction.
  • the distance along the line from the roll axis to the center of gravity position is fixed in size with the distance from the roll axis to the center of gravity position when the corresponding part is at the sixth preset position.
  • the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the fifth preset position and the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the sixth preset position is greater than 0 degrees and less than 180 degrees
  • the included angle can be 20 degrees, 30 degrees, 40 degrees, or other angles greater than 0 degrees and less than 180 degrees.
  • the distance from the roll axis to the center of gravity position (that is, the center of gravity position when the part of the pan/tilt that rotates around the roll axis is at the fifth preset position)
  • the distance along the line from the roll axis to the center of gravity forms a sixth included angle ⁇ 6
  • the roll axis to the center of gravity position ie The distance along the line direction of the distance of the part that the pitch axis rotates at the sixth preset position and the distance along the line from the roll axis to the center of gravity position when the corresponding part is at the target position forms a seventh included angle ⁇ 7 .
  • the sixth included angle ⁇ 6 and the seventh included angle ⁇ 7 are equal in magnitude.
  • the fifth preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the second preset angle around the third direction; the sixth preset position is: when the corresponding part is in the first When the preset position is five, the position of the corresponding part is rotated around the fourth direction by twice the second preset included angle.
  • the fifth preset position is: when the corresponding part is at the target position, the position of the corresponding part after rotating the second preset angle around the third direction; the sixth preset position is: when the corresponding part is at At the target position, the position of the corresponding part after rotating the second preset angle in the fourth direction.
  • the third direction and the fourth direction are two opposite directions.
  • the fourth direction is clockwise; when the third direction is clockwise, the fourth direction is Counterclockwise.
  • the third direction is a counterclockwise direction, and the fourth direction is a clockwise direction.
  • the size of the second preset included angle can be set as required.
  • the second preset included angle of this embodiment is greater than 0 degrees and less than 90 degrees.
  • the first preset included angle may be 10 degrees, 15 degrees, and 20 degrees. , 30 degrees or other angles greater than 0 degrees and less than 90 degrees.
  • the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the fifth preset position may coincide with the along-line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the target position, or the corresponding part
  • the line direction of the distance from the roll axis to the center of gravity position at the sixth preset position may coincide with the line direction of the distance from the roll axis to the center of gravity position when the corresponding part is at the target position.
  • the implementation of detecting whether the center of gravity position of the corresponding part is at the target position in at least one preset position is offset from the expected center of gravity position in the vertical direction may include the following two implementation methods:
  • the process of detecting whether the center of gravity position when the corresponding part is at the target position in at least one preset position is offset from the expected center of gravity position in the up and down direction may include: The fifth torque value and the sixth torque value determine the angle range of the eighth included angle and/or the sine value of the eighth included angle; detect the corresponding angle range and/or the sine value of the eighth included angle Whether the center of gravity position when part of the target position is in at least one preset position is offset from the expected center of gravity position in the front-to-back direction.
  • the fourth strategy can be set according to the use requirements of the PTZ.
  • the sine of the eighth included angle is positive, it is determined that the position of the center of gravity is higher than the expected position of the center of gravity; when the sine of the eighth included angle is When the value is negative, it is determined that the position of the center of gravity is lower than the expected position of the center of gravity.
  • angle range of the eighth included angle when the angle range of the eighth included angle is within the seventh preset angle range, it is determined that the position of the center of gravity is offset relative to the desired center of gravity position; when the angle range of the eighth included angle is within the eighth preset angle range , Make sure that the center of gravity position is lower than the desired center of gravity position.
  • position 5 is the center of gravity position when the part of the pan/tilt rotating around the roll axis is at the fifth preset position
  • position 6 is the position of the center of gravity when the part rotating around the roll axis of the gimbal is at the sixth preset position
  • ⁇ 6 It is the sixth included angle formed along the line of the distance from the roll axis to the center of gravity when the corresponding part is at the fifth preset position and the distance from the roll axis to the center of gravity when the corresponding part is at the target position.
  • ⁇ 7 is the corresponding sixth predetermined cross-section when in the position to seventh roll to roll axis direction along an angle from the center of gravity of the respective portions formed when the target position in the direction of the line from the center of gravity position, ⁇ 8 is located in a respective portion when the target position, the position of the center of gravity to the roll axis (i.e., center of gravity position in a corresponding portion of the target position) and an eighth angle along the horizontal direction is formed from a, T 5 in a fifth predetermined position corresponding moiety,
  • the fifth torque value output by the roll axis motor, T 6 is the sixth torque value output by the roll axis motor when the corresponding part is at the sixth preset position, m is the mass of the corresponding part, g is the acceleration due to gravity, and d is the horizontal
  • the direction of rotation of the gimbal is positive counterclockwise.
  • the PTZ section is divided into four quadrant blocks with the
  • T 6 -T 5 2mg ⁇ d ⁇ sin ⁇ 2 ⁇ sin ⁇ 8 (6)
  • T 5 , T 6 , m, g, d, and ⁇ 2 are all known, it can be seen from formula (6) that when sin ⁇ 8 > 0, the center of gravity of the part of the pan/tilt that rotates around the roll axis is located in Figure 6 In the quadrant I or quadrant II shown, the center of gravity is determined to be higher than the expected center of gravity; when sin ⁇ 8 ⁇ 0, the center of gravity of the part of the pan/tilt that rotates around the roll axis is located in the quadrant III or quadrant IV shown in Figure 6 , Confirm that the center of gravity position is lower than the desired center of gravity position.
  • the center of gravity of the part of the gimbal that rotates around the roll axis is located in quadrant I or quadrant II as shown in Figure 6. It is determined that the center of gravity position is higher than the expected center of gravity position; when 180 degrees When ⁇ 8 ⁇ 360 degrees, the center of gravity of the part of the pan/tilt that rotates around the roll axis is located in quadrant III or quadrant IV shown in Figure 6, and the center of gravity is determined to be lower than the desired center of gravity.
  • the fourth preset torque value can be set according to needs.
  • the fourth preset torque value can be 6N ⁇ m 2 , when T 5 -T 6 >6N ⁇ m 2 , it is determined that the center of gravity position is deviated from the expected center of gravity position Down; When T 5 -T 6 ⁇ -6N ⁇ m 2 , it is determined that the position of the center of gravity is higher than the expected position of the center of gravity.
  • the prompt signal in S102 carries the offset information of the position of the center of gravity to guide the user to adjust the installation position of the load installed in the corresponding part.
  • the offset information may include: offset direction and/or offset amount.
  • the part of the pan/tilt that rotates around the roll axis reserves multiple mounting parts, such as mounting holes, for users to install custom loads.
  • the plurality of mounting parts includes a plurality of first mounting parts arranged at intervals in the front-rear direction, and a plurality of second mounting parts arranged at intervals in the up-down direction.
  • the offset information in the prompt signal is used to indicate that the center of gravity of the part of the gimbal that rotates around the roll axis is forward, the user can install the load on the first installation part behind the current installation position of the load; when the prompt signal The offset information is used to indicate that when the center of gravity of the part of the gimbal that rotates around the roll axis is lower, the user can install the load on the second installation part above the current installation position of the load, and finally make the gimbal around the roll axis The position of the center of gravity of the rotated part coincides with the position of the desired center of gravity.
  • the interval between adjacent first mounting parts is such as 0.1cm, 0.2cm, 0.3cm, 0.4cm, 0.5cm, 0.6cm, 0.7cm, 0.8cm, 0.9cm or 1cm, and the distance between adjacent second mounting parts Intervals such as 0.1 cm, 0.2 cm, 0.3 cm, 0.4 cm, 0.5 cm, 0.6 cm, 0.7 cm, 0.8 cm, 0.9 cm or 1 cm.
  • the offset information in the prompt signal is used to indicate that the center of gravity of the part of the gimbal that rotates around the roll axis is forward, such as 0.1cm
  • the user can install the load on the first installation part behind the current installation position of the load Up
  • the offset information in the prompt signal is used to indicate that the center of gravity of the part of the gimbal that rotates around the roll axis is lower than 0.2cm
  • the user can install the load on the second installation above the current installation position of the load
  • the center of gravity of the part of the pan/tilt that rotates around the roll axis will coincide with the desired center of gravity.
  • the pan-tilt may use different ways to output the prompt signal.
  • a prompt signal for indicating adjustment of the center of gravity position is sent to the client, and the client can communicate with the pan-tilt.
  • the client can be a mobile terminal such as a mobile phone, a Pad, or other terminal equipment.
  • the pan-tilt includes a prompt module.
  • the prompt module outputs a prompt signal for indicating adjustment of the center of gravity position.
  • the prompt module can be a display screen, a voice module or others.
  • the gimbal before the gimbal balances the center of gravity, it needs to detect whether the load currently carried by the gimbal exceeds the upper limit of the load. If the load exceeds the upper limit, the center of gravity balance is not allowed to prevent the gimbal from being damaged by the excessive load.
  • the first trigger signal is obtained by the pan/tilt after determining that the load currently carried by the pan/tilt is within the preset load range of the pan/tilt, the first trigger signal is considered to be a valid trigger signal; if the first trigger signal is If the pan/tilt is obtained when it is determined that the load size currently carried by the pan/tilt exceeds the preset load size range of the pan/tilt, the first trigger signal is considered to be an invalid trigger signal. In this embodiment, the pan/tilt will perform center of gravity trimming only after receiving a valid trigger signal.
  • the gimbal includes a motor.
  • the motors correspondingly include: pitch axis motor, roll axis motor, and yaw axis.
  • Pan axis motor when the gimbal is configured as a two-axis gimbal that rotates around the pitch axis and roll axis, the corresponding motors include: pitch axis motor and roll axis motor; when the gimbal is configured to rotate around the pitch axis and yaw
  • the corresponding motors include: pitch axis motor and yaw axis motor; when the gimbal is configured as a two-axis gimbal that rotates around the roll axis and yaw axis, the corresponding motors include: roll Axis motor and yaw axis motor; when the gimbal is configured as a single-axis gimbal that rotates around the pitch axis or roll axis, the corresponding motors include: pitch axis motor or roll axis motor; and so on.
  • the motor of this embodiment is used to drive the pan/tilt to rotate.
  • the corresponding motor of this embodiment is used to drive the corresponding part of the pan/tilt to rotate.
  • the motor corresponding to the inner frame is used to drive the inner frame and the load carried by the inner frame. Rotate.
  • the load carried on the pan/tilt may include common load on the pan/tilt, such as an imaging device, or a custom load module installed by the user, or both of the above, which are not specifically limited here.
  • J J 0 +m*d 2
  • d is the distance from the center of gravity of the load to the shaft of the motor
  • m is the load mass
  • J 0 is the moment of inertia of the motor when the center of gravity of the load is set on the shaft. Therefore, by setting the preset inertia threshold and comparing the rotational inertia of the gimbal motor with the preset inertia threshold, it can be determined that the load currently carried by the gimbal is within the preset load range of the gimbal.
  • the process of determining that the load size currently carried by the pan/tilt is within the preset load size range of the pan/tilt may include:
  • the second trigger signal is used to instruct the pan/tilt to perform load evaluation.
  • the pan/tilt in this embodiment performs load evaluation after receiving the second trigger signal.
  • the second trigger signal is generated by the pan-tilt.
  • the pan-tilt can generate the second trigger signal by operating keys/buttons on the pan-tilt.
  • the second trigger signal is sent by an external device.
  • the external device may be a remote control device or a control terminal that controls the pan/tilt.
  • the control terminal may be a mobile terminal such as a mobile phone or a Pad, or other terminal devices.
  • the user can also trigger the pan-tilt to perform center-of-gravity trimming in other ways, such as touch, gestures, and voice.
  • the output torque of the gimbal motor and the angular acceleration of the motor can be detected by corresponding sensors, and can also be determined according to the input signal that controls the rotation of the motor.
  • the method of determining the output torque of the gimbal motor and the angular acceleration of the motor is the prior art. More details.
  • the load is a user-defined load module installed by the user
  • only the user-defined load module can be acquired.
  • the output torque and angular acceleration of the motor that the load module rotates For example, when the pitch axis motor drives the inner frame of the gimbal to rotate, but the custom load module is installed on the middle frame of the gimbal driven by the roll axis motor, only the output torque and angular acceleration of the roll axis motor can be obtained.
  • This step is to determine the moment of inertia of the corresponding shaft motor according to the output torque of the corresponding shaft motor and the angular acceleration of the corresponding shaft motor. This step needs to determine the moment of inertia of the pitch axis motor and/or roll axis motor.
  • T is the output torque of the motor
  • ⁇ is the angular acceleration of the motor
  • formula for calculating the moment of inertia J of the motor is not limited to formula (7), and may also be a modification based on formula (7).
  • the moment of inertia being less than or equal to the preset inertia threshold includes: the moment of inertia of the pitch axis motor and/or the roll axis motor determined in step (2) is less than or equal to the corresponding preset inertia threshold.
  • that the moment of inertia is less than or equal to the preset inertia threshold includes: the moment of inertia of the pitch axis motor is less than or equal to the first preset inertia threshold, and/or the moment of inertia of the roll axis motor is less than or equal to the second Preset inertia threshold.
  • the size of the first preset inertia threshold and the second preset inertia threshold may be equal or unequal, and the sizes of the first preset inertia threshold and the second preset inertia threshold may be set according to the specific structure.
  • the preset inertia threshold can be set according to the angular acceleration demand of the load.
  • the method for balancing the center of gravity of the gimbal in this embodiment may further include: when the moment of inertia is greater than the preset inertia threshold, it is determined that the load currently carried by the gimbal is too large, and the user needs to be prompted to reduce the load to protect the gimbal and prevent The gimbal is damaged.
  • the method for balancing the center of gravity of the gimbal may further include: outputting an evaluation result for the second trigger signal.
  • the evaluation results include: the current load of the pan/tilt is within the preset load range of the pan/tilt, or the load currently mounted on the pan/tilt is too large.
  • the evaluation result is that the current load of the gimbal is within the preset load range of the gimbal, remind the user that the gimbal can be triggered to perform center-of-gravity trim; when the evaluation result is that the current load of the gimbal is too large, remind the user Reduce the load to protect the gimbal.
  • the pan-tilt can use different methods to output the evaluation results.
  • the evaluation results are sent to the client.
  • the client can be a mobile terminal such as a mobile phone or a Pad, or other terminal equipment.
  • the first trigger signal is sent after the client terminal receives an evaluation result indicating that the load size currently carried by the pan/tilt is within a preset load size range of the pan/tilt.
  • the user can operate the client after the client receives the evaluation result indicating that the load size currently carried by the pan/tilt is within the preset load size range of the pan/tilt, so that the client sends the first trigger signal to PTZ, to trigger the PTZ for center of gravity trimming.
  • the first trigger signal is automatically generated after the pan/tilt detects that the current load of the pan/tilt is within the preset load range of the pan/tilt, or is output from the pan/tilt to indicate the current load of the pan/tilt.
  • the user After the evaluation result that the load size of is within the preset load size range of the pan/tilt, the user operates the keys/buttons on the pan/tilt to generate the first trigger signal.
  • the PTZ includes a prompt module.
  • the evaluation result is output through the prompt module.
  • the prompt module can be a display screen, a voice module or others.
  • the center of gravity of the pan/tilt will be adjusted again, that is, when the pan/tilt detects that the load carried by the pan/tilt generates When changing, re-check whether the center of gravity of the corresponding part of the PTZ deviates from the expected center of gravity.
  • the prompt signal for indicating the adjustment of the center of gravity position will be output again; if the center of gravity of the gimbal is re-balanced to determine that the center of gravity position does not deviate from the desired center of gravity position, then output A display signal used to indicate the successful balance of the center of gravity of the gimbal.
  • detecting a change in the load carried by the pan/tilt may include: detecting a change in the position and/or weight of the load carried by the pan/tilt on the pan/tilt.
  • this embodiment is suitable for a three-axis pan/tilt head (including pitch axis, roll axis and yaw axis) or a two-axis pan/tilt head without yaw axis (including pitch axis and roll axis) ), the embodiment shown in Figure 7 first performs the center of gravity balance on the pitch axis, and then performs the center of gravity balance on the roll axis. It can be understood that it can also be replaced by first performing the center of gravity balance on the roll axis, and then rebalance the pitch axis. The heart is balanced.
  • the method for balancing the center of gravity of the pan/tilt in the embodiment shown in FIG. 7 may include the following steps:
  • the user can operate the buttons/buttons on the pan/tilt to make the pan/tilt generate a second trigger signal for instructing the pan/tilt to perform load evaluation, or, by operating the client, the user can cause the client to send instructions for the pan/tilt
  • the second trigger signal for load evaluation is sent to the pan/tilt to trigger the pan/tilt to perform load evaluation.
  • step (3) is executed after step (2).
  • the user can operate the keys/buttons on the PTZ to make the PTZ generate the first trigger signal for instructing the PTZ to perform center-of-gravity trimming, or the user can operate the client terminal to cause the client to send instructions for the cloud
  • the first trigger signal for center-of-gravity trimming is sent to the gimbal to trigger the gimbal to perform center-of-gravity trim, or when the gimbal determines that the load currently carried by the gimbal is within the preset load range
  • the first trigger signal to instruct the pan/tilt to perform center of gravity trimming.
  • the target position is the position when the pan/tilt returns to the center.
  • the pitch axis rotates counterclockwise by ⁇ from the target position to reach the third preset position.
  • the pitch axis rotates counterclockwise by ⁇ from the third preset position to reach the fourth preset position.
  • step (10) and step (11) can be executed sequentially or simultaneously.
  • the pan-tilt may first perform step (10) and then step (11), or the pan-tilt may first perform step (11) and then step (10).
  • the output is used to indicate the position of the center of gravity of the part that deviates from the desired center of gravity in the adjustment platform that rotates around the pitch axis to guide the user to adjust the installation position of the pitch axis load;
  • the moment data during the trim of the pitch axis and the roll axis can be acquired in addition to the time sequence described above, but also other time sequences. For example, steps (13)-(14) can precede steps (4)-(9). ) Timing. At the same time, whether the position of the center of gravity of the corresponding part is offset from the expected position of the center of gravity in the up-and-down direction can be determined when the pitch axis is trimmed, or when the roll axis is trimmed, and there is no specific limitation here.
  • the output is used to instruct the adjustment of the center of gravity of the part of the pan/tilt that deviates from the desired center of gravity to rotate around the roll axis to guide the user to adjust the installation position of the roll axis load.
  • step (12) and step (16) can be executed at the same time, or can be executed sequentially according to the corresponding detection results, which is not specifically limited here.
  • the pan/tilt can be triggered to perform center-of-gravity trim.
  • center-of-gravity trim if the center of gravity of the corresponding part of the pan/tilt deviates from the desired center of gravity, the center of gravity is given
  • the adjustment plan is to guide the user to adjust the custom load module mounted in the corresponding part, so that the gimbal will not need to generate additional output to resist the gravity moment when the normal output of the gimbal is in a balanced state, reducing the power consumption of the gimbal, Reduce the gimbal heating, which can protect the gimbal and greatly reduce the risk of scalding users. It can also ensure that the gimbal has enough output for stabilization, greatly avoiding the degradation of disturbance suppression performance caused by output saturation; at the same time, The user experience is expanded, so that the custom load module can also be used normally on the PTZ.
  • the gimbal in the first embodiment of the present invention also provides a gimbal.
  • the gimbal 100 may include a pitch axis motor 110 and/or a roll axis motor 120 , And the first controller 130, wherein the first controller 130 is electrically connected to the pitch axis motor 110 and/or the roll axis motor 120.
  • the pan/tilt head 100 includes a pitch axis motor 110 and a roll axis motor 120.
  • the first controller 130 is configured to: upon receiving the first trigger signal for center of gravity trimming, detect whether the center of gravity position of the corresponding part of the pan/tilt head deviates from the expected center of gravity position; if the center of gravity position deviates from the expected center of gravity position, output Used to indicate the prompt signal to adjust the position of the center of gravity.
  • the first controller 130 in this embodiment may be a central processing unit (CPU).
  • the first controller 130 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.
  • CPLD complex programmable logic device
  • FPGA field-programmable gate array
  • GAL generic array logic
  • the first controller 130 may include a pan/tilt controller and/or an independent controller provided on the pan/tilt, and may also include other controllers.
  • Fig. 9 is a flow chart of the method for balancing the center of gravity of the pan/tilt in an embodiment of the present invention on the client side.
  • the execution subject of the method for balancing the center of gravity of the pan/tilt in the second embodiment of the present invention is a client, which can communicate with the pan/tilt, and the client may be a mobile terminal such as a mobile phone or a Pad, or other Terminal Equipment.
  • the method for balancing the center of gravity of the gimbal in the second embodiment of the present invention may include the following steps:
  • the method for balancing the center of gravity of the pan/tilt head further includes: before receiving the trimming instruction, receiving the evaluation result sent by the pan/tilt head.
  • the evaluation results include: the current load of the pan/tilt is within the preset load range of the pan/tilt, or the load currently mounted on the pan/tilt is too large.
  • the trim command is an evaluation result sent by the pan/tilt to indicate that the load currently carried by the pan/tilt is within a preset load range of the pan/tilt.
  • the trim command is generated by the user operating the client terminal.
  • the user operates a virtual key on the client terminal to generate a trim command, or the user operates a physical key/button on the client terminal to generate a trim command.
  • the client terminal may determine whether to generate the first trigger signal according to the trim instruction according to the evaluation result.
  • the client after the client receives the evaluation result indicating that the load size currently carried by the pan/tilt is within the preset load size range of the pan/tilt, if it receives a trimming instruction, it generates a first trigger signal; the client receives After the evaluation result indicating that the load currently carried by the pan/tilt head is too large, if a trim command is received, the first trigger signal will not be generated.
  • the method for balancing the center of gravity of the gimbal further includes: before receiving the evaluation result sent by the gimbal, if a load evaluation instruction is received, generating a second trigger signal for instructing the gimbal to perform load evaluation; Send the second trigger signal to the pan-tilt to trigger the pan-tilt to perform load evaluation.
  • the load evaluation instruction is generated by the user operating the client. For example, the user operates a virtual key on the client to generate a trim instruction, or the user operates a physical key/button of the client to generate a load evaluation instruction.
  • S902 Send the first trigger signal to the pan-tilt to trigger the pan-tilt to detect the position of the center of gravity;
  • the method for detecting the position of the center of gravity of the pan/tilt may refer to the first embodiment, which will not be repeated here.
  • the PTZ is triggered by the client to detect the center of gravity position, which is more flexible and meets the needs of users.
  • S903 Receive a prompt signal returned by the pan/tilt head for the first trigger signal, where the prompt signal is used to instruct to adjust the center of gravity position of the pan/tilt head that deviates from the expected center of gravity position.
  • the prompt signal carries the offset information of the center of gravity position to guide the user to adjust the installation position of the load on the corresponding part.
  • the offset information includes: an offset direction and/or an offset amount.
  • the client terminal outputs the prompt signal after receiving the prompt signal returned by the pan-tilt for the first trigger signal.
  • the prompt signal can be output based on at least one of graphics, text, and voice.
  • the client can also output the prompt signal in other ways.
  • the second embodiment of the present invention also provides a client.
  • the client 200 may include a storage device 210 and a second controller 220.
  • the storage device 210 is used to store program instructions, and the second controller 220 calls the program instructions.
  • the second controller 220 is used to execute the method for balancing the center of gravity of the pan/tilt head in the embodiment shown in 9.
  • the second controller 220 is configured to: if a trim command is received, generate a first trigger signal for center of gravity trim; send the first trigger signal to the pan/tilt to trigger the pan/tilt to perform the center of gravity position The detection; receiving the prompt signal returned by the pan/tilt head for the first trigger signal, the prompt signal is used to instruct the adjustment of the center of gravity position of the pan/tilt deviating from the desired center of gravity position.
  • the storage device 210 may include a volatile memory (volatile memory), such as random-access memory (RAM); the storage device 210 may also include a non-volatile memory (non-volatile memory), such as fast Flash memory (flash memory), hard disk drive (HDD) or solid-state drive (SSD); the storage device 210 may also include a combination of the foregoing types of memories.
  • volatile memory volatile memory
  • non-volatile memory non-volatile memory
  • flash memory fast Flash memory
  • HDD hard disk drive
  • SSD solid-state drive
  • the storage device 210 may also include a combination of the foregoing types of memories.
  • the second controller 220 in this embodiment may be a central processing unit (CPU).
  • the second controller 220 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL), or any combination thereof.
  • an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored. When the program is executed by the controller, the method for balancing the center of gravity of the pan/tilt head described in the first embodiment or the second embodiment is implemented. step.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

Abstract

L'invention concerne un procédé de compensation de centre de gravité de cardan (100), un cardan (100) et un client (200). Le procédé consiste : lorsqu'un premier signal de déclenchement d'une compensation de centre de gravité est reçu, à détecter si une position de centre de gravité d'une partie respective du cardan (100) s'écarte d'une position de centre de gravité souhaitée (S101) ; et si la position de centre de gravité s'écarte de la position de centre de gravité souhaitée, à émettre un signal d'invite destiné à indiquer le réglage de la position de centre de gravité (S102).
PCT/CN2019/078008 2019-03-13 2019-03-13 Procédé de compensation de centre de gravité de cardan, cardan, et client WO2020181531A1 (fr)

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PCT/CN2019/078008 WO2020181531A1 (fr) 2019-03-13 2019-03-13 Procédé de compensation de centre de gravité de cardan, cardan, et client
CN201980005507.7A CN111316029B (zh) 2019-03-13 2019-03-13 云台重心配平的方法、云台及客户端

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WO2022061520A1 (fr) * 2020-09-22 2022-03-31 深圳市大疆创新科技有限公司 Procédé de réglage de l'équilibre d'un stabilisateur et stabilisateur
CN112684814B (zh) * 2020-12-24 2024-04-12 杭州海康威视数字技术股份有限公司 调整云台的负载重心的方法、装置、云台及存储介质
CN114556005A (zh) * 2020-12-31 2022-05-27 深圳市大疆创新科技有限公司 云台及其调平方法和控制方法、调平电机和云台组件
WO2023065183A1 (fr) * 2021-10-20 2023-04-27 深圳市大疆创新科技有限公司 Procédé de réglage de degré d'équilibre et appareil de réglage de degré d'équilibre pour dispositif d'amélioration de stabilité, et dispositif d'augmentation de stabilité
CN114819426B (zh) * 2022-07-01 2022-12-09 深圳市海清数字技术有限公司 货物装车方案确定方法、装置、设备及存储介质

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