WO2020220232A1 - 云台的模拟控制方法、控制装置、设备及计算机存储介质 - Google Patents

云台的模拟控制方法、控制装置、设备及计算机存储介质 Download PDF

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Publication number
WO2020220232A1
WO2020220232A1 PCT/CN2019/085085 CN2019085085W WO2020220232A1 WO 2020220232 A1 WO2020220232 A1 WO 2020220232A1 CN 2019085085 W CN2019085085 W CN 2019085085W WO 2020220232 A1 WO2020220232 A1 WO 2020220232A1
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WIPO (PCT)
Prior art keywords
pan
tilt
supporting device
posture information
motion
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2019/085085
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English (en)
French (fr)
Inventor
刘帅
谢振生
王振动
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2019/085085 priority Critical patent/WO2020220232A1/zh
Priority to CN201980012462.6A priority patent/CN111742278A/zh
Publication of WO2020220232A1 publication Critical patent/WO2020220232A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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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
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers

Definitions

  • the embodiments of the present invention relate to the field of control, and in particular, to an analog control method, control device, equipment, and computer storage medium of a pan/tilt head.
  • the pan-tilt is a device that supports and fixes the camera.
  • the movement of the pan-tilt can drive the camera to move, thereby realizing smart shooting. Since the pan/tilt is generally larger or heavier, in some scenarios, some equipment is needed to carry the pan/tilt, for example, the handle of the pan/tilt or the car of the pan/tilt. When the user holds the handle to move or control the car When moving, the gimbal will follow the movement of the handle with the camera.
  • the gimbal Due to the importance of the gimbal, the gimbal often needs to be tested for performance before it leaves the factory. However, in the prior art, the test is generally carried out by artificially controlling the movement of the base. The automatic test of the gimbal cannot be realized, which reduces the cost of the gimbal. Test efficiency.
  • the embodiment of the present invention provides a simulation control method, control device, equipment, and computer storage medium of the pan/tilt, so as to realize automatic testing of the pan/tilt and improve the test efficiency of the pan/tilt.
  • the first aspect of the embodiments of the present invention is to provide a method for analog control of a pan-tilt, where the pan-tilt is movably connected to a supporting device, including:
  • the pan/tilt is controlled to perform corresponding movements.
  • the second aspect of the embodiments of the present invention is to provide an analog control device of a pan-tilt, including a memory and a processor;
  • the memory is used to store program codes
  • the processor calls the program code, and when the program code is executed, is used to perform the following operations:
  • the pan/tilt is controlled to perform corresponding movements.
  • the third aspect of the embodiments of the present invention is to provide a pan/tilt head, including: a load base for carrying a load; and the analog control device described in the second aspect.
  • the fourth aspect of the embodiments of the present invention is to provide a movable platform, including:
  • a sensing device arranged on the pan-tilt and/or the supporting device
  • the pan/tilt is connected to the supporting device, and the pan/tilt can follow the movement of the supporting device.
  • the fifth aspect of the embodiments of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, and the computer program is executed by a processor to implement the method described in the first aspect.
  • the simulation control method, control device, equipment, and computer storage medium of the pan/tilt obtained in this embodiment obtain simulated posture information of the supporting device; generate a feedback signal for simulating the movement of the supporting device according to the simulated posture information; based on the feedback signal, Generate a control instruction for controlling the pan/tilt to perform a response movement; based on the control instruction, control the pan/tilt to perform a corresponding movement, so as to test the response movement of the pan/tilt. Since the posture information of the supporting device is simulated posture information, that is, the movement of the supporting device is simulated, and there is no need to manually control the supporting device to generate the posture information of the actual movement. Therefore, it can avoid the defect of human control during the PTZ test. So as to realize the automation of PTZ test.
  • FIG. 1 is a schematic structural diagram of a movable platform according to an embodiment of the present application
  • FIG. 2 is a flowchart of a simulation control method of a pan/tilt provided by an embodiment of the present invention
  • Figure 3 is an application scenario diagram of an analog control method according to an embodiment of the present invention.
  • FIG. 4 is a flowchart of a simulation control method of a PTZ according to another embodiment of the present invention.
  • FIG. 5(a) is a simulation diagram of a simulation control method of a pan-tilt according to another embodiment of the present invention.
  • Figure 5(b) is an enlarged view of the simulation diagram provided in Figure 5(a);
  • Fig. 6 is a structural diagram of an analog control device for a pan/tilt provided by an embodiment of the present invention.
  • Fig. 7 is a structural diagram of a pan-tilt provided by another embodiment of the present invention.
  • 60 PTZ analog control device; 61: memory; 62: processor; 63: communication interface;
  • a component when a component is said to be “fixed to” another component, it can be directly on the other component or a central component may also exist. When a component is considered to be “connected” to another component, it can be directly connected to another component or there may be a centered component at the same time.
  • Fig. 1 is a schematic structural diagram of a movable platform according to an embodiment of the present application.
  • the movable platform 10 includes a pan/tilt 11 and a supporting device 12, and a sensing device arranged on the pan/tilt and/or supporting device.
  • the pan/tilt 11 is movably connected to the supporting device 12, and when supporting When the device 12 moves, the pan-tilt 11 can follow the movement of the supporting device 12 to make corresponding movements. For example, when the supporting device 12 is moving forward, backward, or rotating, the pan/tilt 11 will follow the supporting device 12 to perform forward, backward, and rotating motions in response to movement.
  • an IMU Inertial Measurement Unit
  • the IMU Inertial Measurement Unit
  • the IMU a three-axis gyroscope
  • detects the attitude information of the supporting device and then detects
  • the received attitude information is sent to the control device 13 of the pan/tilt, so that the control device 13 of the pan/tilt generates a control instruction for controlling the pan/tilt 11 to perform a response movement according to the received attitude information of the supporting device, and controls the pan/tilt 11 to perform
  • the test of the response movement of the pan/tilt 11 is realized.
  • the pan/tilt head In another way to test the motion of the pan/tilt head, it is to set a Hall sensor or potentiometer and IMU on the pan/tilt 11, and then the Hall sensor or potentiometer on the pan/tilt 11, and the IMU can detect the cloud respectively.
  • the embodiment of the present invention provides a simulation control method of the pan/tilt, and the simulation of the pan/tilt provided by the embodiment of the present invention will be combined with specific embodiments.
  • the control method is introduced in detail.
  • Fig. 2 is a flowchart of a method for analog control of a pan/tilt provided by an embodiment of the present invention. As shown in Figure 2, the method in this embodiment may include:
  • Step S201 Obtain simulated posture information of the supporting device.
  • the execution subject of the method in this embodiment is the control device 13 of the pan-tilt.
  • the structure and connection mode of the pan-tilt 11 and the supporting device 12 can be referred to the content introduction of FIG. 1.
  • the movable platform 10 may be a handheld movable platform, or a small vehicle, an unmanned ship, or an aircraft.
  • the PTZ 11 is a handheld PTZ
  • the supporting device 12 may be a base; when the movable platform 10 is a trolley, and the PTZ 11 is a trolley, the supporting device 12 It can be a chassis; when the movable platform 10 is an unmanned ship, the gimbal 11 is a shipborne gimbal, and the supporting device 12 is a hull; when the movable platform 10 is an aircraft, the gimbal 11 is an aircraft gimbal, and the supporting device 12 For the fuselage. It should be understood that the specific form of the pan-tilt is only used as an example to facilitate understanding, and the present invention does not specifically limit this.
  • the simulated posture information of the supporting device 12 is information used to simulate the movement posture of the supporting device 12.
  • the simulated posture information can be generated from external input information. External input information can be obtained in two ways, including direct acquisition and indirect acquisition.
  • the IMU is provided on the supporting device 12.
  • the posture information of the supporting device 12 can be obtained, and the posture information of the supporting device 12 can be adjusted to generate simulated posture information.
  • the posture information obtained by the IMU on the supporting device 12 is sent to the control device 13 of the pan-tilt 11 for direct adjustment to generate simulated posture information.
  • the posture information of the supporting device 12 refers to the posture angle of the supporting device 12, that is, the angle between the supporting device coordinate system and the ground inertial coordinate system.
  • the attitude angle includes roll angle, pitch angle, and yaw angle.
  • the attitude angle of the supporting device 12 can be detected by the IMU on the supporting device 12, that is, a three-axis accelerometer and a three-axis gyroscope.
  • the IMU on the supporting device 12 that is, a three-axis accelerometer and a three-axis gyroscope.
  • roll angle roll, pitch angle pitch, and yaw angle yaw refer to the existing definitions in the prior art, and the present invention will not be repeated here.
  • the pan/tilt 11 is provided with an IMU, and a Hall sensor or potentiometer.
  • the supporting device 12 is not provided with an IMU, it is impossible to obtain the simulated posture information by directly obtaining the posture angle of the supporting device 12 and adjusting the posture angle of the supporting device 12.
  • the movement of the pan/tilt 11 is related to the movement of the supporting device 12, the motion parameters of the pan/tilt 11 can be obtained and the movement parameters of the pan/tilt 11 can be adjusted to obtain simulated posture information.
  • the IMU on the pan/tilt 11 and the motion parameters of the pan/tilt 11 detected by the Hall sensor or potentiometer are adjusted, and then the simulated posture information of the supporting device 12 is deduced according to the motion parameters of the adjusted pan/tilt 11.
  • the simulated posture information should be understood as not the posture information of the actual movement of the supporting device 12, but a posture information assuming the movement of the supporting device 12, by artificially controlling the posture information of the supporting device 12 or the movement of the platform 11 By adjusting the parameters, the posture information of the assumed support device 12 can be obtained.
  • the movable platform 10 may also use other sensing devices other than IMU, such as an acceleration sensor, an angular velocity sensor, a compass, an inclination sensor, and the like.
  • Step S202 Generate a feedback signal for simulating the movement of the supporting device according to the simulated posture information.
  • control device 13 of the pan/tilt may directly use the simulated posture information as a feedback signal for simulating the movement of the supporting device.
  • the control device 13 of the pan/tilt may also process the simulated posture information to obtain a feedback signal.
  • the motion mode of the supporting device may be determined according to the simulated posture information, and the motion mode is fed back to the pan/tilt head 11 as a feedback signal.
  • the simulated posture information it is determined that the supporting device 12 is currently in a forward, backward, rotating or stationary motion mode, and the current forward, backward, rotating or stationary motion mode of the supporting device 12 is fed back to the pan/tilt 11 as a feedback signal.
  • Step S203 Based on the feedback signal, generate a control instruction for controlling the pan-tilt to perform a response movement.
  • control device 13 of the pan/tilt 11 after the control device 13 of the pan/tilt 11 generates a feedback signal, it can generate a control instruction for controlling the pan/tilt 11 to respond to movement according to the feedback signal. For example, if the control device 13 of the pan/tilt 11 receives the simulated posture information of the support device 12 to be forward, it will generate a forward control instruction.
  • Step S204 based on the control instruction, control the pan/tilt to perform corresponding movement.
  • control device 13 of the pan/tilt 11 will control the pan/tilt 11 to perform corresponding movements according to control instructions, so as to test the response movement of the pan/tilt 11.
  • control device 13 of the pan-tilt 11 controls the pan-tilt 11 to move forward according to the forward control instruction, so as to test the response performance of the pan-tilt.
  • the simulated posture information of the supporting device is obtained; the feedback signal for simulating the movement of the supporting device is generated according to the simulated posture information; the control instruction for controlling the pan/tilt head to perform the response movement is generated based on the feedback signal; The control instruction controls the pan-tilt to perform corresponding movement, so as to test the response movement of the pan-tilt. Since the posture information of the supporting device is simulated posture information, that is, the movement of the supporting device is simulated, and there is no need to manually control the supporting device to generate the posture information of the actual movement. Therefore, it can avoid the defect of human control during the PTZ test. So as to realize the automation of PTZ test.
  • the simulated posture information obtained in the foregoing embodiment is all obtained by adjusting the control device end of the pan-tilt 11.
  • the adjustment may not be performed on the control device side of the pan/tilt, but on the simulator side. That is, the posture information for simulating the motion posture of the support device is generated on the simulator, and then the posture information for simulating the motion posture of the support device is sent to the control device of the pan/tilt.
  • the control device of the pan/tilt is the receiving object of the simulated posture information, and receives the posture information sent by the simulator for simulating the motion posture of the supporting device to obtain the simulated posture information.
  • the simulator can be a remote terminal device, such as a computer.
  • the simulation control method implemented on the simulator can refer to the introduction of the following embodiment.
  • Fig. 3 is an application scenario diagram of an analog control method according to an embodiment of the present invention. As shown in FIG. 3, it includes a simulator 30, a pan-tilt 11 and a supporting device 12. The supporting device 12 is movably connected to the pan-tilt 11, the pan-tilt 11 includes a control device 13, and the simulator 30 and the control device 13 of the pan-tilt 11 Communication connection.
  • the simulator 30 when the simulator 30 generates posture information for simulating the motion posture of the supporting device, it may be generated according to the posture angle of the supporting device 12. Specifically, the posture information of the support device 12 detected by the IMU on the support device 12 is sent to the simulator 30, and the simulator 30 adjusts the posture angle of the support device 12 to generate the simulated posture information.
  • the simulator 30 when the simulator 30 generates posture information for simulating the motion posture of the supporting device, it may also be generated according to the motion parameters of the pan/tilt head 11. Specifically, by sending the Hall sensor or potentiometer on the pan-tilt 11 and the motion parameters of the pan-tilt 11 detected by the IMU to the simulator, the simulator 30 adjusts the motion parameters of the pan-tilt 11 to generate the simulation Posture information.
  • the simulated posture information includes at least one of the following motion parameters: speed, position, and direction
  • acquiring the simulated posture information for the supporting device 12 may be acquiring at least one of the speed, position, and direction on the supporting device 12 Information about the simulation.
  • the motion mode of the support device 12 is determined according to the simulated posture information, and the motion mode is fed back to the pan-tilt 11 as a feedback signal. It may also be simulated based on at least one of the speed, position and direction of the support device 12
  • the information determines the motion state and motion parameters of the supporting device 12, and is fed back to the pan-tilt 11 as a feedback signal, so that the pan-tilt 11 performs a response movement according to the motion state and motion parameters.
  • the supporting device is currently in a forward, backward, rotating or stationary state of motion, and the supporting device is currently in a forward, backward, rotating or stationary state of motion, as well as the speed, position and At least one parameter of the direction is fed back to the pan/tilt as a feedback signal.
  • the simulated posture information includes motion parameters for simulating the motion of the support device 12, and the control device 13 of the pan/tilt 11 may generate a feedback signal based on the motion parameters for simulating the motion of the support device 12. Then, generating the feedback signal for simulating the movement of the support device 12 according to the simulated posture information includes: generating the feedback signal based on the motion parameter used for simulating the movement of the support device 12.
  • the motion parameters of the pan/tilt head introduced in the foregoing embodiments include the angle of at least one joint angle and/or the attitude angle of the pan/tilt head, where the angle of the joint angle is the mechanical angle of the pan/tilt motor, that is, the The rotation angle of each joint angle can be measured by a Hall sensor or a potentiometer on the pan-tilt 11.
  • the attitude angle of the gimbal 11 can be obtained by measuring the IMU on the gimbal 11.
  • the pan/tilt motor here can be a two-axis motor or a three-axis motor, which is not limited in the present invention.
  • obtaining the simulated posture information by adjusting the motion parameters of the pan-tilt 11 includes: obtaining the simulated posture by adjusting the angle of the at least one joint angle and/or the attitude angle of the pan-tilt 11 information.
  • adding a step signal offset offset on the basis of the current joint angle of the pan/tilt 11 can simulate the movement mode of the support device 12 suddenly moving in a certain direction to a certain angle; Based on the current joint angle of, an offset with a preset speed increment is added to simulate the motion mode of the supporting device 12 rotating at a certain speed.
  • this embodiment is only an example for ease of understanding, and is not limited to the above-mentioned simulation methods.
  • the attitude angle of the gimbal 11 is the angle between the gimbal coordinate system and the ground inertial coordinate system.
  • the attitude angle includes roll angle, pitch angle, and yaw angle.
  • the attitude angle of the pan/tilt 11 can also be detected by the IMU on the pan/tilt 11, that is, a three-axis accelerometer and a three-axis gyroscope.
  • roll angle roll, pitch angle pitch, and yaw angle yaw refer to the existing definitions in the prior art, and the present invention will not repeat them here.
  • FIG. 4 is a flowchart of a simulation control method of a pan-tilt according to another embodiment of the present invention. As shown in Figure 4, based on the embodiments shown in Figures 2 and 3, the method in this embodiment may include:
  • Step S401 Record the feedback signal and the motion parameters of the pan/tilt for corresponding motion based on the control instruction.
  • the motion parameter of the pan/tilt head 11 for corresponding movement based on the control instruction may be, for example, at least one of the speed, position, and direction parameters of the pan/tilt head 11.
  • Step S402 Test the response of the pan/tilt head according to the feedback signal and the motion parameter.
  • testing the response of the pan-tilt 11 according to the feedback signal and the motion parameters includes: obtaining the actual motion parameters of the pan-tilt 11 before and after the corresponding movement based on the control instruction; 11 The actual motion parameters before and after the motion calculate the actual motion parameter difference of the pan/tilt head 11; by comparing the actual motion parameter difference with the motion parameter of the support device 12 indicated by the feedback signal, The response of PTZ 11 is tested.
  • the feedback signal used to simulate the movement of the supporting device 12 is that the supporting device 12 moves 0.2m to the front, and the recorded difference between the coordinates of the PTZ 11 before and after the corresponding movement based on the control instruction is obtained. If it is 0.2 and the direction is straight ahead, it is considered that the response performance of the pan/tilt 11 is good.
  • the feedback signal and the motion parameters of the pan/tilt for corresponding motion based on control instructions are recorded, and the response of the pan/tilt 11 is tested according to the feedback signal and motion parameters. Since the feedback signal is generated by the simulated posture information of the supporting device 12, Therefore, it can be considered as the motion parameter of the support device 12, and the response performance test of the pan/tilt 11 can be performed based on the comparison between the motion parameters of the support device 12 and the motion parameters of the pan/tilt 11 performing corresponding motions.
  • FIG. 5a is a simulation diagram of a simulation control method of a pan-tilt according to another embodiment of the present invention.
  • Figure 5b is an enlarged view of the simulation diagram provided in Figure 5a.
  • the current joint angle of the pan/tilt 11 is added with a sinusoidally varying joint angle offset offset to simulate the rotation of the supporting device 12 in a sinusoidal manner.
  • the abscissa represents time, the ordinate represents angle, curve a represents the change curve of the joint angle of the pan/tilt motor; curve b is the change curve of the yaw angle of the supporting device 12, and curve c is the change curve of the yaw command of the pan/tilt; curve d It is the actual yaw angle change curve of the gimbal.
  • the embodiment of the present invention provides an analog control device of a pan-tilt.
  • 6 is a structural diagram of a simulation control device for a pan/tilt head provided by an embodiment of the present invention.
  • the simulation control device 60 for a pan/tilt head includes a memory 61 and a processor 62; the memory 61 is used to store program codes;
  • the processor 62 calls the program code, and when the program code is executed, it is used to perform the following operations: obtain simulated posture information of the supporting device; and generate simulation posture information for simulating the supporting device according to the simulated posture information.
  • a feedback signal for the movement of the device based on the feedback signal, a control instruction for controlling the pan/tilt to respond to movement is generated; based on the control instruction, the pan/tilt is controlled to perform a corresponding movement.
  • the analog control device 60 of the pan/tilt in this embodiment may be the control device 13 shown in FIG. 1.
  • the processor 62 when the processor 62 obtains the simulated posture information of the supporting device, it is specifically configured to: obtain the motion parameters of the pan/tilt; and obtain the simulation by adjusting the motion parameters of the pan/tilt. Posture information.
  • the processor 62 when the processor 62 obtains the simulated posture information of the supporting device, it is specifically configured to: obtain the posture angle of the supporting device; and obtain the simulated posture angle by adjusting the posture angle of the supporting device. Posture information.
  • the simulated posture information includes motion parameters for simulating the motion of the supporting device; when the processor 62 generates a feedback signal for simulating the motion of the supporting device according to the simulated posture information, it is specifically used for : Generate the feedback signal based on the motion parameter used to simulate the motion of the supporting device.
  • the simulated posture information includes at least one of the following motion parameters: speed, position, and direction.
  • the processor 62 generates the feedback signal based on the motion parameters used to simulate the motion of the support device, and is specifically used to: determine the motion mode of the support device according to the simulated posture information, and change the motion mode It is fed back to the pan/tilt as the feedback signal.
  • control device 60 further includes: a communication interface 63, and the communication interface 63 is in communication connection with the processor 62; when the processor 62 obtains the simulated posture information of the supporting device, it is specifically used for: The posture information sent by the simulator for simulating the motion posture of the supporting device is received through the communication interface 63.
  • the simulated posture information is generated by the simulator according to the posture angle of the supporting device.
  • the attitude angle of the supporting device is measured according to an inertial measurement unit of the supporting device.
  • the simulated posture information is generated by the simulator according to the motion parameters of the pan/tilt head.
  • the motion parameter of the pan/tilt head includes the angle of at least one joint angle and/or the attitude angle of the pan/tilt head, and the joint angle is a mechanical angle of the pan/tilt head motor.
  • the angle of the at least one joint angle is measured according to the Hall sensor of the pan/tilt; and/or the attitude angle of the pan/tilt is measured according to the inertial measurement unit of the pan/tilt.
  • the processor 62 when the processor 62 obtains the simulated posture information by adjusting the motion parameters of the pan/tilt, it is specifically configured to: adjust the angle of the at least one joint angle and/or the pan/tilt The attitude angle is adjusted to obtain the simulated attitude information.
  • the processor 62 is further configured to: record the feedback signal and the motion parameters of the pan/tilt head performing corresponding motions based on the control instruction; according to the feedback signal and the motion parameters, the pan/tilt head The response is tested.
  • the processor 62 tests the response of the pan/tilt head according to the feedback signal and the motion parameter, it is specifically configured to: separately obtain that the pan/tilt head performs the corresponding movement based on the control instruction. And the actual motion parameters thereafter; calculate the actual motion parameter difference of the pan/tilt based on the actual motion parameters of the pan/tilt before and after the motion; compare the actual motion parameter difference to the support device indicated by the feedback signal The motion parameters of the motion test the response of the pan/tilt head.
  • the supporting device 12 is a base or a chassis.
  • the simulated posture information of the supporting device is obtained; the feedback signal for simulating the movement of the supporting device is generated according to the simulated posture information; the control instruction for controlling the pan/tilt head to perform the response movement is generated based on the feedback signal; The control instruction controls the pan-tilt to perform corresponding movement, so as to test the response movement of the pan-tilt. Since the posture information of the supporting device is simulated posture information, that is, the movement of the supporting device is simulated, and there is no need to manually control the supporting device to generate the posture information of the actual movement. Therefore, it can avoid the defect of human control during the PTZ test. So as to realize the automation of PTZ test.
  • FIG. 7 is a structural diagram of a pan/tilt head provided by another embodiment of the present invention; based on the technical solution provided by the embodiment shown in FIG. 6, the pan/tilt head 70 includes a load base 71 and a simulation of the pan/tilt head described in the previous embodiment
  • the control device 60 wherein the load base 71 is used to carry a load, and the load may be a camera, a surveying instrument, a scanner, an infrared device, a radar, and the like.
  • the pan-tilt 70 in this embodiment may be the pan-tilt 11 shown in FIG. 1, and the analog control device 60 of the pan-tilt may be the control device 13 shown in FIG. 1.
  • pan/tilt head 70 provided in the embodiment of the present invention are similar to those in the foregoing embodiment, and will not be repeated here.
  • the simulated posture information of the supporting device is obtained; the feedback signal for simulating the movement of the supporting device is generated according to the simulated posture information; the control instruction for controlling the pan/tilt head to perform the response movement is generated based on the feedback signal; The control instruction controls the pan-tilt to perform corresponding movement, so as to test the response movement of the pan-tilt. Since the posture information of the supporting device is simulated posture information, that is, the movement of the supporting device is simulated, and there is no need to manually control the supporting device to generate the posture information of the actual movement. Therefore, it can avoid the defect of human control during the PTZ test. So as to realize the automation of PTZ test.
  • the embodiment of the present invention provides a movable platform.
  • the movable platform 10 includes the pan-tilt 70 described in the foregoing embodiment and the supporting device 12 ,
  • the pan/tilt 70 is connected to the supporting device 12, and the pan/tilt 70 can follow the supporting device 12 to move.
  • the pan-tilt 70 in this embodiment may be the pan-tilt 11 shown in FIG. 1, and the supporting device 12 may be the supporting device 12 shown in FIG. 1.
  • the supporting device 12 is a supporting base, a chassis, a hull, or the fuselage of an aircraft.
  • the movable platform 10 includes: a handheld pan/tilt, an unmanned vehicle, an unmanned ship or an aerial vehicle.
  • the simulated posture information of the supporting device is obtained; the feedback signal for simulating the movement of the supporting device is generated according to the simulated posture information; the control instruction for controlling the pan/tilt head to perform the response movement is generated based on the feedback signal; The control instruction controls the pan-tilt to perform corresponding movement, so as to test the response movement of the pan-tilt. Since the posture information of the supporting device is simulated posture information, that is, the movement of the supporting device is simulated, and there is no need to manually control the supporting device to generate the posture information of the actual movement. Therefore, it can avoid the defect of human control during the PTZ test. So as to realize the automation of PTZ test.
  • this embodiment also provides a computer-readable storage medium on which a computer program is stored, and the computer program is executed by a processor to implement the simulation control method of the pan/tilt head described in the foregoing embodiment.
  • the disclosed device and method may be implemented in other ways.
  • the device embodiments described above are only illustrative.
  • the division of the units is only a logical function division, and there may be other divisions in actual implementation, for example, multiple units or components can be combined or It can be integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit may be implemented in the form of hardware, or may be implemented in the form of hardware plus software functional units.
  • the above-mentioned integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium.
  • the above-mentioned software functional unit is stored in a storage medium and includes several instructions to make a computer device (which may be a personal computer, a server, or a network device, etc.) or a processor execute the method described in the various embodiments of the present invention. Part of the steps.
  • the aforementioned storage media include: U disk, mobile hard disk, read-only memory (Read-Only Memory, ROM), random access memory (Random Access Memory, RAM), magnetic disk or optical disk and other media that can store program code .

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Abstract

一种云台的模拟控制方法、控制装置、设备及计算机存储介质，该方法中，云台可运动地连接在支撑设备上，所述方法包括：获取对所述支撑设备的模拟姿态信息(S201)；根据所述模拟姿态信息，生成用于模拟所述支撑设备运动的反馈信号(S202)；基于所述反馈信号，生成用于控制所述云台进行响应运动的控制指令(S203)；基于所述控制指令，控制所述云台进行相应运动(S204)。通过模拟支撑设备运动，从而实现云台的自动化测试，提高了测试效率。

Description

云台的模拟控制方法、控制装置、设备及计算机存储介质 技术领域
本发明实施例涉及控制领域，尤其涉及一种云台的模拟控制方法、控制装置、设备及计算机存储介质。
背景技术
云台是对拍摄装置进行支撑和固定的设备，通过云台运动可以带动拍摄装置移动，从而实现智能拍摄。由于云台一般体积较大或比较重，因此，在一些场景中，就需要一些设备来承载云台，例如：手持云台的手柄或者小车云台的小车，当用户手握手柄移动或者控制小车移动时，云台便会带着拍摄装置跟随手柄运动。
由于云台的重要性，所以云台在出厂前，往往需要进行性能测试，但是现有技术中一般是通过人为控制基座运动进行测试，无法实现云台的自动化测试，降低了对云台的测试效率。
发明内容
本发明实施例提供一种云台的模拟控制方法、控制装置、设备及计算机存储介质，以实现对云台的自动化测试，提高云台的测试效率。
本发明实施例的第一方面是提供一种云台的模拟控制方法，所述云台可运动地连接于支撑设备上，包括：
获取对所述支撑设备的模拟姿态信息；
根据所述模拟姿态信息，生成用于模拟所述支撑设备运动的反馈信号；
基于所述反馈信号，生成用于控制所述云台进行响应运动的控制指令；
基于所述控制指令，控制所述云台进行相应运动。
本发明实施例的第二方面是提供一种云台的模拟控制装置，包括存储器和处理器；
所述存储器用于存储程序代码；
所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以 下操作：
获取对所述支撑设备的模拟姿态信息；
根据所述模拟姿态信息，生成用于模拟所述支撑设备运动的反馈信号；
基于所述反馈信号，生成用于控制所述云台进行响应运动的控制指令；
基于所述控制指令，控制所述云台进行相应运动。
本发明实施例的第三方面是提供一种云台，包括：负载座，用于承载负载；以及第二方面所述的模拟控制装置。
本发明实施例的第四方面是提供一种可移动平台，包括：
第三方面所述的云台；以及
支撑设备；
设置于所述云台和/或所述支撑设备上的感测装置；
所述云台与所述支撑设备连接，所述云台可跟随所述支撑设备运动。
本发明实施例的第五方面是提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现第一方面所述的方法。
本实施例提供的云台的模拟控制方法、控制装置、设备及计算机存储介质通过获取对支撑设备的模拟姿态信息；根据模拟姿态信息，生成用于模拟支撑设备运动的反馈信号；基于反馈信号，生成用于控制所述云台进行响应运动的控制指令；基于所述控制指令，控制所述云台进行相应运动，从而对云台的响应运动进行测试。由于支撑设备的姿态信息是模拟姿态信息，即对支撑设备的运动进行模拟，并不需要人为控制支撑设备来产生实际运动的姿态信息，因此，可以避免云台测试过程中需要人为控制的缺陷，从而实现云台测试的自动化。
附图说明
为了更清楚地说明本发明实施例中的技术方案，下面将对实施例描述中所需要使用的附图作一简单地介绍，显而易见地，下面描述中的附图是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动性的前提下，还可以根据这些附图获得其他的附图。
图1是本申请实施例的一种可移动平台的结构示意图；
图2为本发明实施例提供的云台的模拟控制方法的流程图；
图3是本发明实施例的模拟控制方法的应用场景图；
图4为本发明另一实施例提供的云台的模拟控制方法的流程图；
图5(a)为本发明另一实施例提供的云台的模拟控制方法的仿真图；
图5(b)为图5(a)提供的仿真图的放大图；
图6为本发明实施例提供的云台的模拟控制装置的结构图；
图7为本发明另一实施例提供的云台的结构图。
附图标记：
10：可移动平台；11：云台；12：支撑设备；13：控制设备；
30：模拟器；
60：云台的模拟控制装置；61：存储器；62：处理器；63：通讯接口；
70：云台；71：负载座。
具体实施方式
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。
需要说明的是，当组件被称为“固定于”另一个组件，它可以直接在另一个组件上或者也可以存在居中的组件。当一个组件被认为是“连接”另一个组件，它可以是直接连接到另一个组件或者可能同时存在居中组件。
除非另有定义，本文所使用的所有的技术和科学术语与属于本发明的技术领域的技术人员通常理解的含义相同。本文中在本发明的说明书中所使用的术语只是为了描述具体的实施例的目的，不是旨在于限制本发明。本文所使用的术语“及/或”包括一个或多个相关的所列项目的任意的和所有的组合。
下面结合附图，对本发明的一些实施方式作详细说明。在不冲突的情况下，下述的实施例及实施例中的特征可以相互组合。
图1是本申请实施例的一种可移动平台的结构示意图。
如图1所示，可移动平台10包括云台11和支撑设备12，以及设置于云台和/或支撑设备上的感测装置，云台11可运动地连接在支撑设备12 上，当支撑设备12运动时，云台11可跟随支撑设备12的运动作相应运动。例如，支撑设备12在进行前进、后退、旋转运动时，云台11会跟随支撑设备12进行前进、后退、旋转运动等响应运动。
在一种云台响应运动的测试方式中，是通过在支撑设备12上设置IMU(Inertial Measurement Unit，惯性测量单元)，进而由IMU即三轴陀螺仪来检测支撑设备的姿态信息，然后将检测到的姿态信息发送给云台的控制设备13，以使云台的控制设备13根据接收到的支撑设备的姿态信息生成用于控制云台11进行响应运动的控制指令，并控制云台11进行响应运动，进而实现对云台11的响应运动的测试。
在另一种云台响应运动的测试方式中，是通过在云台11上设置霍尔传感器或电位计，以及IMU，进而云台11上的霍尔传感器或电位计，以及IMU分别能够检测云台11的关节角角度和云台的姿态角，并基于IMU获取的云台姿态，结合霍尔传感器或电位计获取的云台11各关节角的转动角度，来推算出支撑设备12的姿态信息。进一步根据所述支撑设备12的姿态信息来控制云台11进行响应运动，如跟随等，并实现对云台11的响应运动的测试。
基于上述云台11和支撑设备12的运动连接方式可知，云台11在出厂测试时，需要人为控制支撑设备12先运动，才能对云台11的性能进行测试。这种方式无法实现自动化测试。
为了解决上述问题，即人为控制支撑设备运动无法实现自动化测试的问题，本发明实施例提供了一种云台的模拟控制方法，下面将结合具体的实施例对本发明实施例提供的云台的模拟控制方法进行详细的介绍。
本发明实施例提供一种云台的模拟控制方法。图2为本发明实施例提供的云台的模拟控制方法的流程图。如图2所示，本实施例中的方法，可以包括：
步骤S201、获取对支撑设备的模拟姿态信息。
本实施例方法的执行主体是云台的控制设备13。云台11与支撑设备12的结构以及连接方式可参见图1的内容介绍。本实施例中，可移动平台 10可以是手持可移动平台，也可以是小车、无人船或飞行器等。其中，可移动平台10为手持可移动平台时，云台11为手持云台，支撑设备12可以是基座；当可移动平台10为小车时，云台11为小车云台时，支撑设备12可以是底盘；当可移动平台10为无人船时，云台11为船载云台，支撑设备12为船体；当可移动平台10为飞行器时，云台11为飞行器云台，支撑设备12为机身。应当理解的是，云台的具体形式只是为了方便理解作举例介绍，本发明对此不做具体限定。
本实施例中，支撑设备12的模拟姿态信息是用于模拟支撑设备12运动姿态的信息。模拟姿态信息可以由外部的输入信息生成。外部的输入信息可以有两种获取方式，包括直接获取方式和间接获取方式。
在直接获取方式中，是支撑设备12上设置有IMU的情况。这种情况可以通过获取支撑设备12的姿态信息，并对支撑设备12的姿态信息进行调节，进而生成模拟姿态信息。具体的，是对支撑设备12上IMU获取的姿态信息发送给云台11的控制设备13以直接进行调节，来生成模拟姿态信息。支撑设备12的姿态信息是指支撑设备12的姿态角，即支撑设备坐标系和地面惯性坐标系之间的夹角。该姿态角包括横滚角roll、俯仰角pitch、偏航角yaw。支撑设备12的姿态角可以通过支撑设备12上的IMU即三轴加速度计和三轴陀螺仪来检测。对于横滚角roll、俯仰角pitch、偏航角yaw的定义可参见现有技术的已有的定义，本发明在此不作赘述。
在间接获取方式中，是云台11上设置有IMU，以及霍尔传感器或电位计的情况。这种情况由于支撑设备12上没有设置IMU，故无法通过直接获取支撑设备12的姿态角，并对支撑设备12的姿态角进行调节的方式来获取模拟姿态信息。但由于云台11运动与支撑设备12运动相关，因此，可以通过获取云台11的运动参数，并对云台11的运动参数进行调节，来得到模拟姿态信息。具体的，是将云台11上IMU，以及霍尔传感器或电位计检测到的云台11的运动参数进行调节，进而根据调节后云台11的运动参数反推出支撑设备12的模拟姿态信息。
在本实施例中，模拟姿态信息应当理解为不是支撑设备12实际运动的姿态信息，而是一种假定支撑设备12运动的姿态信息，通过人为对支撑设备12的姿态信息或者云台11的运动参数进行调节，就可以得到这种 假定支撑设备12运动的姿态信息。
可以理解，所述可移动平台10还可以使用除IMU外的其他感测装置，如加速度传感器、角速度传感器、罗盘、倾角传感器等。
步骤S202、根据模拟姿态信息，生成用于模拟支撑设备运动的反馈信号。
可选的，云台的控制设备13在获取到模拟姿态信息后，可以直接将模拟姿态信息作为用于模拟支撑设备运动的反馈信号。
可选的，云台的控制设备13在获取到模拟姿态信息后，还可以对该模拟姿态信息进行处理，从而得到反馈信号。具体的，可以是根据模拟姿态信息确定支撑设备的运动模式，并将该运动模式作为反馈信号反馈给云台11。例如，根据模拟姿态信息确定支撑设备12当前处于前进、后退、旋转或静止的运动模式，并将该支撑设备12当前处于前进、后退、旋转或静止的运动模式作为反馈信号反馈给云台11。
步骤S203、基于反馈信号，生成用于控制云台进行响应运动的控制指令。
具体的，云台11的控制设备13在生成反馈信号后，就可以根据该反馈信号，来生成控制云台11进行响应运动的控制指令。例如，云台11的控制设备13接收到支撑设备12的模拟姿态信息是前进，则会生成前进的控制指令。
步骤S204、基于控制指令，控制云台进行相应运动。
具体的，云台11的控制设备13会根据控制指令控制云台11进行相应运动，从而测试云台11的响应运动。例如，云台11的控制设备13根据前进的控制指令控制云台11作前进运动，以此来测试云台的响应性能。
本实施例通过获取对支撑设备的模拟姿态信息；根据模拟姿态信息，生成用于模拟支撑设备运动的反馈信号；基于反馈信号，生成用于控制所述云台进行响应运动的控制指令；基于所述控制指令，控制所述云台进行相应运动，从而对云台的响应运动进行测试。由于支撑设备的姿态信息是模拟姿态信息，即对支撑设备的运动进行模拟，并不需要人为控制支撑设备来产生实际运动的姿态信息，因此，可以避免云台测试过程中需要人为控制的缺陷，从而实现云台测试的自动化。
上述实施例获取模拟姿态信息均是在云台11的控制设备端进行调节来得到。当然，本发明实施例还可以不在云台的控制设备端进行调节，而是在模拟器端进行调节。即在模拟器端生成用于模拟支撑设备运动姿态的姿态信息，然后由模拟器将用于模拟支撑设备运动姿态的姿态信息发送至云台的控制设备。此时，云台的控制设备是作为模拟姿态信息的接收对象，接收模拟器发送的用于模拟支撑设备运动姿态的姿态信息来获取模拟姿态信息。其中，模拟器可以是远程的终端设备，例如电脑。在模拟器端实现的模拟控制方法可以参见如下实施例的介绍。
图3是本发明实施例的模拟控制方法的应用场景图。如图3所示，包括模拟器30、云台11和支撑设备12，支撑设备12可运动地与云台11连接，云台11包括控制设备13，模拟器30与云台11的控制设备13通信连接。
如图3所示，模拟器30在生成用于模拟支撑设备运动姿态的姿态信息时，可以是根据支撑设备12的姿态角生成。具体的，是通过将支撑设备12上IMU检测到的支撑设备12的姿态信息发送给模拟器30，由模拟器30对支撑设备12的姿态角进行调节，来生成模拟姿态信息。
如图3所示，模拟器30在生成用于模拟支撑设备运动姿态的姿态信息时，也可以是根据云台11的运动参数来生成。具体的，是通过将云台11上霍尔传感器或电位计，以及IMU检测到的云台11的运动参数发送给模拟器，由模拟器30对云台11的运动参数进行调节，来生成模拟姿态信息。
可选的，模拟姿态信息至少包括以下运动参数中的一项：速度、位置和方向，则获取对支撑设备12的模拟姿态信息可以是获取对支撑设备12的速度、位置和方向中至少一项进行模拟的信息。进一步的，根据模拟姿态信息确定支撑设备12的运动模式，并将该运动模式作为反馈信号反馈给云台11，还可以是根据对支撑设备12的速度、位置和方向中至少一项进行模拟的信息确定支撑设备12的运动状态以及运动参数，并作为反馈信号反馈给云台11，以使云台11根据该运动状态和运动参数进行响应运 动。例如，根据速度、位置和方向中至少一项确定支撑设备当前处于前进、后退、旋转或静止的运动状态，并将该支撑设备当前处于前进、后退、旋转或静止的运动状态以及速度、位置和方向中至少一项的参数作为反馈信号反馈给云台。
具体的，模拟姿态信息包括用于模拟所述支撑设备12运动的运动参数，云台11的控制设备13可以基于用于模拟所述支撑设备12运动的运动参数来生成反馈信号。则所述根据所述模拟姿态信息，生成用于模拟支撑设备12运动的反馈信号，包括：基于用于模拟所述支撑设备12运动的运动参数生成所述反馈信号。
可选的，前述实施例介绍的云台的运动参数包括至少一个关节角的角度和/或所述云台的姿态角，其中，关节角的角度是云台电机的机械角度，即云台上各关节角的转动角度，可以由云台11上的霍尔传感器或电位计测量得到。云台11的姿态角可以根据云台11上的IMU测量得到。此处的云台电机可以是两轴电机，也可以是三轴电机，本发明对此不做限定。则通过对所述云台11的运动参数进行调节，得到所述模拟姿态信息，包括：通过对所述至少一个关节角的角度和/或所述云台11的姿态角进行调节，得到模拟姿态信息。例如，在云台11的当前关节角角度的基础上增加一个阶跃信号的偏移量offset，可以模拟支撑设备12突然往某个方向运动到某个角度的运动模式；也可以在云台11的当前关节角角度基础上增加预设速度递增的offset，模拟支撑设备12以一定速度转动的运动模式。当然，本实施例只是为了便于理解作的举例介绍，并不限于上述几种模拟方式，本领域技术人员可以通过对支撑设备12的姿态信息进行调节，或者对云台11的运动参数进行调节，来模拟支撑设备12的任意运动，例如，云台跟随模式下能够跟随支撑设备12的平稳性、快速性、滞后多少、跟随的快慢等性能。本实施例在此不再一一举例介绍。云台11的姿态角，是云台坐标系和地面惯性坐标系之间的夹角。该姿态角包括横滚角roll、俯仰角pitch、偏航角yaw。同样地，云台11的姿态角也可以通过云台11上的IMU即三轴加速度计和三轴陀螺仪来检测。对于横滚角roll、俯仰角pitch、偏航角yaw的定义可参见现有技术已有的定义，本发明在此不作赘述。
本发明实施例提供一种云台的模拟控制方法。图4为本发明另一实施例提供的云台的模拟控制方法的流程图。如图4所示，在图2和图3所示实施例的基础上，本实施例中的方法，可以包括：
步骤S401、记录反馈信号和云台基于控制指令进行相应运动的运动参数。
本实施例中的反馈信号可参见步骤S202中的介绍，在此不再赘述。云台11基于控制指令进行相应运动的运动参数可以是例如，云台11的速度、位置、方向参数中的至少一项。
步骤S402、根据反馈信号和运动参数，对云台的响应进行测试。
具体的，根据反馈信号和运动参数，对云台11的响应进行测试，包括：分别获取所述云台11在基于所述控制指令进行相应运动之前和之后的实际运动参数；基于所述云台11在运动前后的实际运动参数计算所述云台11的实际运动参数差值；通过比较所述实际运动参数差值与所述反馈信号指示的所述支撑设备12运动的运动参数，对所述云台11的响应进行测试。例如，用于模拟支撑设备12运动的反馈信号为支撑设备12往正前方移动0.2m，记录的云台11在基于控制指令进行相应运动之前的坐标和之后的坐标作差后，得到的差值为0.2，方向为正前方，则认为云台11的响应性能良好。
本实施例通过记录反馈信号和云台基于控制指令进行相应运动的运动参数，并根据反馈信号和运动参数，对云台11的响应进行测试，由于反馈信号是支撑设备12的模拟姿态信息生成，故可以认为是支撑设备12的运动参数，根据支撑设备12的运动参数和云台11进行相应运动的运动参数的比较，就能够对云台11进行响应性能测试。
下面结合一个具体的实验对上述实施例介绍的云台的模拟控制方法的有益效果进行详细说明。
图5a为本发明另一实施例提供的云台的模拟控制方法的仿真图。图5b为图5a提供的仿真图的放大图。如图5a和图5b所示，是在跟随模式下给云台11的当前关节角的角度增加一个以正弦变化的关节角偏移量offset，以此来模拟支撑设备12以正弦曲线方式转动，并观察云台11的跟 随命令和跟随结果的仿真结果图。图5b中，横坐标表示时间，纵坐标表示角度，曲线a代表云台电机关节角的变化曲线；曲线b是支撑设备12的yaw角度变化曲线，曲线c是云台yaw命令变化曲线；曲线d是云台的实际yaw角度变化曲线。从图5b可以看出，对云台11的关节角的角度进行调节后(可参见线条a)，根据关节角的角度反推得到的支撑设备12的姿态角，即yaw角度也发生了相应的变化(可参见线条b)，进而云台11根据调节后关节角的角度生成的控制命令，即跟随支撑设备12的yaw角度变化的命令发生了相应变化(可参见线条c)，云台11根据该变化后的控制指令进行相应运动，最后云台11在做跟随运动过程中的实际yaw角度也发生了相应变化(可参见线条d)。通过上述仿真实验结果可以看出，本发明实施例的云台的模拟控制方法能够很好的模拟支撑设备12运动，从而实现对云台11的自动化测试。
本发明实施例提供一种云台的模拟控制装置。图6为本发明实施例提供的云台的模拟控制装置的结构图，如图6所示，云台的模拟控制装置60包括存储器61和处理器62；所述存储器61用于存储程序代码；所述处理器62，调用所述程序代码，当程序代码被执行时，用于执行以下操作：获取对所述支撑设备的模拟姿态信息；根据所述模拟姿态信息，生成用于模拟所述支撑设备运动的反馈信号；基于所述反馈信号，生成用于控制所述云台进行响应运动的控制指令；基于所述控制指令，控制所述云台进行相应运动。本实施例中云台的模拟控制装置60可以是如图1所示的控制设备13。
可选的，所述处理器62获取对所述支撑设备的模拟姿态信息时，具体用于：获取所述云台的运动参数；通过对所述云台的运动参数进行调节，得到所述模拟姿态信息。
可选的，所述处理器62获取对所述支撑设备的模拟姿态信息时，具体用于：获取所述支撑设备的姿态角；通过对所述支撑设备的姿态角进行调节，得到所述模拟姿态信息。
具体的，所述模拟姿态信息包括用于模拟所述支撑设备运动的运动参数；所述处理器62根据所述模拟姿态信息，生成用于模拟所述支撑设备 运动的反馈信号时，具体用于：基于用于模拟所述支撑设备运动的运动参数生成所述反馈信号。
可选的，所述模拟姿态信息至少包括以下运动参数中的一项：速度、位置、方向。
具体的，所述处理器62基于用于模拟所述支撑设备运动的运动参数生成所述反馈信号，具体用于：根据所述模拟姿态信息确定所述支撑设备的运动模式，并将该运动模式作为所述反馈信号反馈给所述云台。
进一步的，所述控制装置60还包括:通讯接口63，所述通讯接口63和所述处理器62通讯连接；所述处理器62获取对所述支撑设备的模拟姿态信息时，具体用于：通过所述通讯接口63接收模拟器发送的用于模拟所述支撑设备运动姿态的姿态信息。
可选的，所述模拟姿态信息是所述模拟器根据所述支撑设备的姿态角生成的。
可选的，所述支撑设备的姿态角是根据所述支撑设备的惯性测量单元测量得到的。
可选的，所述模拟姿态信息是所述模拟器根据所述云台的运动参数生成的。
具体的，所述云台的运动参数包括至少一个关节角的角度和/或所述云台的姿态角，所述关节角是所述云台电机的机械角度。
具体的，所述至少一个关节角的角度是根据所述云台的霍尔传感器测量得到；和/或，所述云台的姿态角是根据所述云台的惯性测量单元测量得到。
具体的，所述处理器62通过对所述云台的运动参数进行调节，得到所述模拟姿态信息时，具体用于：通过对所述至少一个关节角的角度和/或所述云台的姿态角进行调节，得到所述模拟姿态信息。
进一步的，所述处理器62还用于：记录所述反馈信号和所述云台基于所述控制指令进行相应运动的运动参数；根据所述反馈信号和所述运动参数，对所述云台的响应进行测试。
具体的，所述处理器62根据所述反馈信号和所述运动参数，对所述云台的响应进行测试时，具体用于：分别获取所述云台在基于所述控制指 令进行相应运动之前和之后的实际运动参数；基于所述云台在运动前后的实际运动参数计算所述云台的实际运动参数差值；通过比较所述实际运动参数差值所述反馈信号指示的所述支撑设备运动的运动参数，对所述云台的响应进行测试。
可选的，所述支撑设备12为基座或底盘。
本发明实施例提供的云台的模拟控制装置60的具体原理和实现方式均与上述实施例类似，此处不再赘述。
本实施例通过获取对支撑设备的模拟姿态信息；根据模拟姿态信息，生成用于模拟支撑设备运动的反馈信号；基于反馈信号，生成用于控制所述云台进行响应运动的控制指令；基于所述控制指令，控制所述云台进行相应运动，从而对云台的响应运动进行测试。由于支撑设备的姿态信息是模拟姿态信息，即对支撑设备的运动进行模拟，并不需要人为控制支撑设备来产生实际运动的姿态信息，因此，可以避免云台测试过程中需要人为控制的缺陷，从而实现云台测试的自动化。
本发明实施例提供一种云台。图7为本发明另一实施例提供的云台的结构图；在图6所示实施例提供的技术方案的基础上，云台70包括负载座71，以及前述实施例介绍的云台的模拟控制装置60，其中，负载座71用于承载负载，负载可以是拍摄装置、测绘仪、扫描仪、红外设备、雷达等。本实施例中的云台70可以是如图1所示的云台11，云台的模拟控制装置60可以是如图1所示的控制设备13。
本发明实施例提供的云台70的具体原理和实现方式均与上述实施例类似，此处不再赘述。
本实施例通过获取对支撑设备的模拟姿态信息；根据模拟姿态信息，生成用于模拟支撑设备运动的反馈信号；基于反馈信号，生成用于控制所述云台进行响应运动的控制指令；基于所述控制指令，控制所述云台进行相应运动，从而对云台的响应运动进行测试。由于支撑设备的姿态信息是模拟姿态信息，即对支撑设备的运动进行模拟，并不需要人为控制支撑设备来产生实际运动的姿态信息，因此，可以避免云台测试过程中需要人为控制的缺陷，从而实现云台测试的自动化。
本发明实施例提供一种可移动平台。可移动平台的结构图可参见如图1所示的结构图；在图7所示实施例提供的技术方案的基础上，可移动平台10包括前述实施例介绍的云台70，以及支撑设备12，所述云台70与所述支撑设备12连接，所述云台70可跟随所述支撑设备12运动。本实施例中的云台70可以为如图1所示的云台11，支撑设备12可以为如图1所示的支撑设备12。
可选的，所述支撑设备12为支撑基座、底盘、船体、或飞行器的机身。
可选的，所述可移动平台10包括：手持云台、无人车、无人船或飞行器。
本发明实施例提供的可移动平台10的具体原理和实现方式均与上述实施例类似，此处不再赘述。
本实施例通过获取对支撑设备的模拟姿态信息；根据模拟姿态信息，生成用于模拟支撑设备运动的反馈信号；基于反馈信号，生成用于控制所述云台进行响应运动的控制指令；基于所述控制指令，控制所述云台进行相应运动，从而对云台的响应运动进行测试。由于支撑设备的姿态信息是模拟姿态信息，即对支撑设备的运动进行模拟，并不需要人为控制支撑设备来产生实际运动的姿态信息，因此，可以避免云台测试过程中需要人为控制的缺陷，从而实现云台测试的自动化。
另外，本实施例还提供一种计算机可读存储介质，其上存储有计算机程序，所述计算机程序被处理器执行以实现上述实施例所述的云台的模拟控制方法。
在本发明所提供的几个实施例中，应该理解到，所揭露的装置和方法，可以通过其它的方式实现。例如，以上所描述的装置实施例仅仅是示意性的，例如，所述单元的划分，仅仅为一种逻辑功能划分，实际实现时可以有另外的划分方式，例如多个单元或组件可以结合或者可以集成到另一个系统，或一些特征可以忽略，或不执行。另一点，所显示或讨论的相互之间的耦合或直接耦合或通信连接可以是通过一些接口，装置或单元的间接 耦合或通信连接，可以是电性，机械或其它的形式。
所述作为分离部件说明的单元可以是或者也可以不是物理上分开的，作为单元显示的部件可以是或者也可以不是物理单元，即可以位于一个地方，或者也可以分布到多个网络单元上。可以根据实际的需要选择其中的部分或者全部单元来实现本实施例方案的目的。
另外，在本发明各个实施例中的各功能单元可以集成在一个处理单元中，也可以是各个单元单独物理存在，也可以两个或两个以上单元集成在一个单元中。上述集成的单元既可以采用硬件的形式实现，也可以采用硬件加软件功能单元的形式实现。
上述以软件功能单元的形式实现的集成的单元，可以存储在一个计算机可读取存储介质中。上述软件功能单元存储在一个存储介质中，包括若干指令用以使得一台计算机设备(可以是个人计算机，服务器，或者网络设备等)或处理器(processor)执行本发明各个实施例所述方法的部分步骤。而前述的存储介质包括：U盘、移动硬盘、只读存储器(Read-Only Memory，ROM)、随机存取存储器(Random Access Memory，RAM)、磁碟或者光盘等各种可以存储程序代码的介质。
本领域技术人员可以清楚地了解到，为描述的方便和简洁，仅以上述各功能模块的划分进行举例说明，实际应用中，可以根据需要而将上述功能分配由不同的功能模块完成，即将装置的内部结构划分成不同的功能模块，以完成以上描述的全部或者部分功能。上述描述的装置的具体工作过程，可以参考前述方法实施例中的对应过程，在此不再赘述。
最后应说明的是：以上各实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述各实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分或者全部技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的范围。

Claims (37)

  1. 一种云台的模拟控制方法，所述云台可运动地连接于支撑设备上，其特征在于，包括：
    获取对所述支撑设备的模拟姿态信息；
    根据所述模拟姿态信息，生成用于模拟所述支撑设备运动的反馈信号；
    基于所述反馈信号，生成用于控制所述云台进行响应运动的控制指令；
    基于所述控制指令，控制所述云台进行相应运动。
  2. 根据权利要求1所述的方法，其特征在于，所述获取对所述支撑设备的模拟姿态信息，包括：
    获取所述云台的运动参数；
    通过对所述云台的运动参数进行调节，得到所述模拟姿态信息。
  3. 根据权利要求1所述的方法，其特征在于，所述获取对所述支撑设备的模拟姿态信息，包括：
    获取所述支撑设备的姿态角；
    通过对所述支撑设备的姿态角进行调节，得到所述模拟姿态信息。
  4. 根据权利要求1-3任一项所述的方法，其特征在于，所述模拟姿态信息包括用于模拟所述支撑设备运动的运动参数；
    所述根据所述模拟姿态信息，生成用于模拟支撑设备运动的反馈信号，包括：
    基于用于模拟所述支撑设备运动的运动参数生成所述反馈信号。
  5. 根据权利要求4所述的方法，其特征在于，所述模拟姿态信息至少包括以下运动参数中的一项：速度、位置、方向。
  6. 根据权利要求4或5所述的方法，其特征在于，所述基于用于模拟所述支撑设备运动的运动参数生成所述反馈信号，包括：
    根据所述模拟姿态信息确定所述支撑设备的运动模式，并将该运动模式作为所述反馈信号反馈给所述云台。
  7. 根据权利要求2所述的方法，其特征在于，所述获取对所述支撑设备的模拟姿态信息，包括：
    接收模拟器发送的用于模拟所述支撑设备运动姿态的姿态信息。
  8. 根据权利要求7所述的方法，其特征在于，所述模拟姿态信息是 所述模拟器根据所述支撑设备的姿态角生成的。
  9. 根据权利要求8所述的方法，其特征在于，所述支撑设备的姿态角是根据所述支撑设备的惯性测量单元测量得到的。
  10. 根据权利要求7所述的方法，其特征在于，所述模拟姿态信息是所述模拟器根据所述云台的运动参数生成的。
  11. 根据权利要求2或10所述的方法，其特征在于，所述云台的运动参数包括至少一个关节角的角度和/或所述云台的姿态角，所述关节角是所述云台电机的机械角度。
  12. 根据权利要求11所述的方法，其特征在于，
    所述至少一个关节角的角度是根据所述云台的霍尔传感器测量得到；
    和/或，
    所述云台的姿态角是根据所述云台的惯性测量单元测量得到。
  13. 根据权利要求11或12所述的方法，其特征在于，所述通过对所述云台的运动参数进行调节，得到所述模拟姿态信息，包括：
    通过对所述至少一个关节角的角度和/或所述云台的姿态角进行调节，得到所述模拟姿态信息。
  14. 根据权利要求1-13任一项所述的方法，其特征在于，所述方法还包括：
    记录所述反馈信号和所述云台基于所述控制指令进行相应运动的运动参数；
    根据所述反馈信号和所述运动参数，对所述云台的响应进行测试。
  15. 根据权利要求14所述的方法，其特征在于，所述根据所述反馈信号和所述运动参数，对所述云台的响应进行测试，包括：
    分别获取所述云台在基于所述控制指令进行相应运动之前和之后的实际运动参数；
    基于所述云台在运动前后的实际运动参数计算所述云台的实际运动参数差值；
    通过比较所述实际运动参数差值与所述反馈信号指示的所述支撑设备运动的运动参数，对所述云台的响应进行测试。
  16. 根据权利要求1-15任一项所述的方法，其特征在于，所述支撑 设备为基座或底盘。
  17. 一种云台的模拟控制装置，其特征在于，包括存储器和处理器；
    所述存储器用于存储程序代码；
    所述处理器，调用所述程序代码，当程序代码被执行时，用于执行以下操作：
    获取对支撑设备的模拟姿态信息；
    根据所述模拟姿态信息，生成用于模拟所述支撑设备运动的反馈信号；
    基于所述反馈信号，生成用于控制所述云台进行响应运动的控制指令；
    基于所述控制指令，控制所述云台进行相应运动。
  18. 根据权利要求17所述的装置，其特征在于，所述处理器获取对所述支撑设备的模拟姿态信息时，具体用于：
    获取所述云台的运动参数；
    通过对所述云台的运动参数进行调节，得到所述模拟姿态信息。
  19. 根据权利要求17所述的装置，其特征在于，所述处理器获取对所述支撑设备的模拟姿态信息时，具体用于：
    获取所述支撑设备的姿态角；
    通过对所述支撑设备的姿态角进行调节，得到所述模拟姿态信息。
  20. 根据权利要求17-19任一项所述的装置，其特征在于，所述模拟姿态信息包括用于模拟所述支撑设备运动的运动参数；
    所述处理器根据所述模拟姿态信息，生成用于模拟所述支撑设备运动的反馈信号时，具体用于：
    基于用于模拟所述支撑设备运动的运动参数生成所述反馈信号。
  21. 根据权利要求20所述的装置，其特征在于，所述模拟姿态信息至少包括以下运动参数中的一项：速度、位置、方向。
  22. 根据权利要求20或21所述的装置，其特征在于，所述处理器基于用于模拟所述支撑设备运动的运动参数生成所述反馈信号，具体用于：
    根据所述模拟姿态信息确定所述支撑设备的运动模式，并将该运动模式作为所述反馈信号反馈给所述云台。
  23. 根据权利要求18所述的装置，其特征在于，所述控制装置还包括:通讯接口，所述通讯接口和所述处理器通讯连接；
    所述处理器获取对所述支撑设备的模拟姿态信息时，具体用于：
    通过所述通讯接口接收模拟器发送的用于模拟所述支撑设备运动姿态的姿态信息。
  24. 根据权利要求23所述的装置，其特征在于，所述模拟姿态信息是所述模拟器根据所述支撑设备的姿态角生成的。
  25. 根据权利要求24所述的装置，其特征在于，所述支撑设备的姿态角是根据所述支撑设备的惯性测量单元测量得到的。
  26. 根据权利要求23所述的装置，其特征在于，所述模拟姿态信息是所述模拟器根据所述云台的运动参数生成的。
  27. 根据权利要求18或26所述的装置，其特征在于，所述云台的运动参数包括至少一个关节角的角度和/或所述云台的姿态角，所述关节角是所述云台电机的机械角度。
  28. 根据权利要求27所述的装置，其特征在于，
    所述至少一个关节角的角度是根据所述云台的霍尔传感器或电位计测量得到；
    和/或，
    所述云台的姿态角是根据所述云台的惯性测量单元测量得到。
  29. 根据权利要求27或28所述的装置，其特征在于，所述处理器通过对所述云台的运动参数进行调节，得到所述模拟姿态信息时，具体用于：
    通过对所述至少一个关节角的角度和/或所述云台的姿态角进行调节，得到所述模拟姿态信息。
  30. 根据权利要求17-29任一项所述的装置，其特征在于，所述处理器还用于：
    记录所述反馈信号和所述云台基于所述控制指令进行相应运动的运动参数；
    根据所述反馈信号和所述运动参数，对所述云台的响应进行测试。
  31. 根据权利要求30所述的装置，其特征在于，所述处理器根据所述反馈信号和所述运动参数，对所述云台的响应进行测试时，具体用于：
    分别获取所述云台在基于所述控制指令进行相应运动之前和之后的实际运动参数；
    基于所述云台在运动前后的实际运动参数计算所述云台的实际运动参数差值；
    通过比较所述实际运动参数差值所述反馈信号指示的所述支撑设备运动的运动参数，对所述云台的响应进行测试。
  32. 根据权利要求17-31任一项所述的装置，其特征在于，所述支撑设备为基座或底盘。
  33. 一种云台，其特征在于，包括：
    负载座，用于承载负载；以及
    权利要求17-32任一项所述的模拟控制装置。
  34. 一种可移动平台，其特征在于，包括：
    权利要求33所述的云台；以及
    支撑设备；
    设置于所述云台和/或所述支撑设备上的感测装置；
    所述云台与所述支撑设备连接，所述云台可跟随所述支撑设备运动。
  35. 根据权利要求34所述的可移动平台，其特征在于，所述支撑设备为支撑基座、底盘、船体、或飞行器的机身。
  36. 根据权利要求34或35所述的可移动平台，其特征在于，所述可移动平台包括：手持云台、无人车、无人船或飞行器。
  37. 一种计算机可读存储介质，其特征在于，所述计算机可读存储介质中存储有计算机执行指令，所述计算机执行指令被处理器执行时用于实现如权利要求1至16任一项所述的方法。
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