WO2021016985A1

WO2021016985A1 - Gimbal control method, controller, gimbal, unmanned mobile platform, and storage medium

Info

Publication number: WO2021016985A1
Application number: PCT/CN2019/098860
Authority: WO
Inventors: 刘帅; 王映知; 邓波
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2019-08-01
Filing date: 2019-08-01
Publication date: 2021-02-04
Also published as: CN112154398A

Abstract

Provided are a gimbal control method, a controller, a gimbal, an unmanned mobile platform, and a computer-readable storage medium. The gimbal control method comprises: determining a measurement control deviation of a gimbal according to a target attitude of the gimbal and a measurement attitude of a base (S102); and on the basis of the condition that the measurement control deviation of the gimbal is within a preset range, controlling a plurality of electric motors to output specified torques so as to respectively drive a plurality of shaft arms to rotate (S104). According to the gimbal control method, when an attitude error of the gimbal is relatively small, the electric motors are controlled to perform output at a minimum speed, thereby avoiding the problems of a power consumption increase and heating caused by the fact that the electric motors output relatively large torques for a long time under conditions where the electric motors do not actually act, and thus reducing the power consumption of the gimbal and effectively prolonging the service life of the gimbal.

Description

PTZ control method, controller, PTZ, unmanned mobile platform and storage medium

Technical field

This application relates to the technical field of pan/tilt heads, and specifically to a method for controlling a pan/tilt head, a controller, a pan/tilt head, an unmanned mobile platform, and a computer-readable storage medium.

Background technique

PTZ is a support device used to install and fix camera equipment. With the development of technology and social progress, various forms of electric PTZ are gradually appearing on the market, such as handheld PTZ and drone PTZ and other portable small PTZ, this type of small PTZ also uses multiple motors to control the actions of multiple shaft arms to adjust the posture of the PTZ. When using each motor to control each shaft arm, due to the existence of factors such as the friction of the motor, when the position error is small and the static friction of the motor is large, the error of the attitude is small at this time, it will rely on Speed control increases the angular speed of the motor to overcome the static friction, and then the pan/tilt reaches the desired posture. In speed control, the increase in angular velocity is usually controlled as the error increases. However, due to the large static friction, it is easy to happen that the motor output terminal does not move during the process of controlling the motor speed. At this time, the motor has been The long-term output of large torque will cause the heating and power consumption of the motor to increase, which will not only increase the power consumption of the entire pan/tilt, but also shorten the service life of the motor.

Application content

The embodiments of the present application provide a pan-tilt control method, a controller, a pan-tilt, an unmanned mobile platform, and a storage medium, which can reduce power consumption and reduce heat generation of the fuselage.

For this reason, the first aspect of this application is to propose a method for controlling the pan/tilt.

The second aspect of this application is to provide a controller.

The third aspect of this application is to propose a pan-tilt.

The fourth aspect of this application is to propose an unmanned mobile platform.

The fifth aspect of this application is to provide a computer-readable storage medium.

In view of this, according to the first aspect of the present application, a method for controlling a pan/tilt head is provided. The pan/tilt head includes a base, a plurality of shaft arms, and a plurality of motors. The multiple motors are used to drive the multiple shaft arms to rotate, respectively. The control method includes: confirming the measurement control deviation of the gimbal according to the target posture of the gimbal and the measurement posture of the base; based on the condition that the measurement control deviation of the gimbal is in the preset range, controlling multiple motors to output specified torques to drive the multiple A shaft arm rotates.

In the pan/tilt control method provided by the present application, the pan/tilt includes a base, a plurality of shaft arms, and a plurality of motors that control the rotation of the multiple shaft arms, and the measured attitude of the base and the input target attitude of the pan/tilt are detected by sensors Obtain the measurement control deviation, where the measured posture of the base is the actual posture of the gimbal after the movement, and the target posture of the gimbal is the preset posture expected according to the operation instructions. Because the gimbal base and the pivot arm or other movable positions are different This kind of friction force can easily cause the deviation between the measured attitude of the base and the target attitude of the gimbal. According to the comparison between the measured attitude of the base and the target attitude of the gimbal, the measurement control deviation can be obtained. When the motor is controlled for low-speed action, Due to the large static friction of the motor, it may cause the motor to output a large torque for a long time, but the actual action of the motor does not cause the motor to heat up and power consumption increases. Therefore, set a preset range for the measurement control deviation to determine the measurement control deviation Whether it is within the preset range, if the measured control deviation is within the range, it can be considered that the motor has not overcome the friction force to perform actual action, and then the motor is controlled to output the preset specified torque, thereby driving the rotation of multiple shaft arms to make the pan/tilt posture When the error is small, the motor is controlled to output at a low speed, which prevents the motor from outputting a large torque for a long time without actual action, and prevents the increase in power consumption caused by the motor heating when the error is small.

In the second aspect of the present application, a controller is proposed, including: a processor and a memory, a computer program is stored in the memory, and the processor executes the computer program stored in the memory to realize: according to the target posture of the pan/tilt and the base The measurement attitude confirms the measurement control deviation of the pan/tilt head; based on the situation that the measurement control deviation of the pan/tilt head is within the preset range, the multiple motors of the pan/tilt head are controlled to output specified torques to drive the multiple shaft arms of the pan/tilt head to rotate.

The controller provided in the present application obtains the measured posture of the base detected by the sensor and the input target posture of the pan/tilt through the processor to obtain the measurement control deviation, wherein the measured posture of the base is the actual posture after the movement of the pan/tilt. The target posture is the preset posture expected according to the operating instructions. Due to the various friction forces between the gimbal base and the pivot arm or other active positions, it is easy to cause the measured posture of the base to deviate from the target posture of the gimbal. The processor compares the measured posture of the base with the target posture to obtain the measured control deviation. When the processor controls the motor for low-speed action, the motor’s static friction force is very large, which may cause the motor to output a large torque for a long time, but No actual action of the motor caused the motor to heat up and power consumption increased. Therefore, the processor sets a preset range for the measurement control deviation to determine whether the measurement control deviation is within the preset range. If the measurement control deviation is within the range, the motor can be considered The actual action does not overcome the friction force, and the processor controls the motor to output a preset specified torque, thereby driving multiple shaft arms to rotate, so that when the PTZ attitude error is small, the motor is controlled to output at a lower speed, which avoids The motor outputs a large torque for a long time without actual action, which prevents the increase of power consumption caused by the motor heating when the error is small.

The third aspect of the present application proposes a pan/tilt head, including a controller of any of the above technical solutions; and multiple shaft arms, including a yaw shaft arm, a pitch shaft arm, and a roll shaft arm; multiple motors, The multiple shaft arms are driven to rotate multiple motors; the base is connected with the yaw shaft arm. Since the pan/tilt head includes the controller of any of the above technical solutions, it has all the beneficial effects of the controller of any of the above technical solutions, which will not be repeated here.

In the fourth aspect of this application, an unmanned mobile platform is proposed, which includes the pan-tilt in any of the above technical solutions. Since the unmanned mobile platform includes the pan/tilt of any of the above technical solutions, it has all the beneficial effects of the pan/tilt of any of the above technical solutions, which will not be repeated here.

In the fifth aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, and when the computer program is executed by a processor, the pan-tilt control method of any of the above technical solutions is realized. Therefore, the beneficial effects of the pan-tilt control method with any of the above technical solutions are not repeated here.

Description of the drawings

The advantages of the above and/or additional aspects of the present application will be clearly and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

Fig. 1 shows a schematic flowchart of a pan-tilt control method according to an embodiment of the present application;

FIG. 2 shows a schematic flowchart of a pan-tilt control method according to another embodiment of the present application;

FIG. 3 shows a schematic flowchart of a pan-tilt control method according to another embodiment of the present application;

Fig. 4 shows a schematic flow chart of a method for acquiring a target attitude of a pan-tilt according to an embodiment of the present application;

FIG. 5 shows a schematic flowchart of a method for acquiring a measurement attitude of a base according to an embodiment of the present application;

Fig. 6 shows a schematic flowchart of a pan-tilt control method according to still another embodiment of the present application;

FIG. 7 shows a schematic flowchart of a pan-tilt control method according to still another embodiment of the present application;

FIG. 8 shows a schematic flowchart of a pan-tilt control method according to still another embodiment of the present application;

Fig. 9 shows a schematic block diagram of a controller of an embodiment of the present application;

Fig. 10 shows a schematic block diagram of a pan-tilt according to an embodiment of the present application;

Figure 11 shows the control deviation and following speed curve of an embodiment of the present application;

Figure 12 shows the control deviation and following speed curve of a current position double loop control method;

Figure 13 shows an experimental simulation diagram of motor torque and measurement control deviation data of a current position dual-loop control method;

Fig. 14 shows an experimental simulation diagram of motor torque and measurement control deviation data of an embodiment of the present application;

Figure 15 shows a control block diagram of a current position dual-loop control method;

Fig. 16 shows a control block diagram of a pan-tilt control method according to an embodiment of the present application.

Among them, the corresponding relationship between the reference signs and the components in FIG. 9 and FIG. 10 is:

10 controller, 12 processor, 14 memory, 20 gimbal, 222 yaw axis arm, 224 pitch axis arm, 226 roll axis arm, 242 yaw motor, 244 pitch motor, 246 roll motor.

Detailed ways

In order to be able to understand the above objectives, features and advantages of the application more clearly, the application will be further described in detail below in conjunction with the accompanying drawings and specific implementations. It should be noted that the embodiments of the application and the features in the embodiments can be combined with each other if there is no conflict.

In the following description, many specific details are set forth in order to fully understand this application. However, this application can also be implemented in other ways different from those described here. Therefore, the scope of protection of this application is not covered by the specific details disclosed below. Limitations of the embodiment.

The following describes a pan-tilt control method, controller, pan-tilt, unmanned mobile platform, and computer-readable storage medium according to some embodiments of the present application with reference to FIGS. 1 to 16.

According to an embodiment of the first aspect of the present application, a pan/tilt control method is provided, and FIG. 1 shows a schematic flowchart of the pan/tilt control method according to an embodiment of the present application. As shown in Figure 1, the PTZ control method includes:

S102: Confirm the measurement control deviation of the PTZ according to the target posture of the PTZ and the measurement posture of the base;

The attitude of the pan/tilt head is determined by the joint rotation of multiple shaft arms, where the shaft arm includes one or any combination of a roll axis, a pitch axis, and a yaw axis.

S104: Based on the condition that the measurement control deviation of the pan/tilt is in the preset range, control multiple motors to output specified torques to drive multiple shaft arms to rotate respectively.

In the method for controlling the pan/tilt provided in this application, the acquired measurement attitude of the base and the input target attitude of the pan/tilt acquire the measurement control deviation, wherein the measured attitude of the base is the actual attitude of the base after the pan/tilt moves. The target posture of is the preset posture expected according to the operation instructions. Due to the various friction forces between the gimbal base and the pivot arm or other active positions, it is easy to cause deviations between the measured posture and the target posture of the gimbal. Comparing the measured attitude with the target attitude of the gimbal can get the measurement control deviation. When controlling the motor for low-speed action, due to the large static friction of the motor, it may cause the motor to output a large torque for a long time, but the motor does not occur The actual action caused the motor to heat up and the power consumption increased. Therefore, set a preset range for the measurement control deviation to determine whether the measurement control deviation is within the preset range. If the measurement control deviation is outside the range, it can be considered that the motor has not overcome the friction force. Action, the motor is controlled to directly output the preset specified torque, thereby driving the rotation of multiple shaft arms, so that when the attitude error of the pan/tilt is small, the motor is controlled to output at the minimum speed, avoiding the fact that the motor does not actually move. Long-term output of large torque can prevent the increase of power consumption caused by motor heating when the error is small.

Among them, the preset range is a larger value, that is, when the measurement and control deviation of the pan/tilt is large, the motor is directly controlled to output a larger torque, and the larger torque is the torque that is sufficient for the static friction of the motor to avoid the It is not enough to overcome the motor heating caused by the static friction of the motor, and the power consumption increases.

In a specific embodiment, the pan/tilt receives a control instruction, and controls multiple motors to control the multiple axis arms of the corresponding pan/tilt to move according to the control instruction. The control instruction contains the desired position of the control axis arm, but due to the internal motor The static friction is large, which causes the actual movement position of the axle arm to not reach the desired position. After the sensor detects the actual position of the axle arm movement, the PTZ measurement is determined according to the expected position of each axle arm and the actual position of each axle arm The control deviation, that is, the position error of the pan/tilt, determines whether the measurement control error of the pan/tilt is within the preset range. If it is outside the preset range, it can be considered that the attitude error of the pan/tilt is large, and the motor is directly controlled to output the specified torque drive The shaft arm rotates to the desired attitude, thus avoiding the motor output very small desired speed when the gimbal has a small attitude error, and at the same time, it can generate a large angular velocity sufficient to overcome the static friction when the gimbal has a large attitude error. The problem of heat generation and increased power consumption caused by the large torque output of the motor without overcoming the static friction force for a long time.

Fig. 2 shows a schematic flow chart of a method for controlling a pan-tilt according to another embodiment of the present application. As shown in Fig. 2, the method for controlling a pan-tilt includes:

S202: Confirm the measurement control deviation of the pan/tilt based on the target attitude of the pan/tilt and the measured attitude of the base;

S204: Determine that the measurement control deviation is within a preset range according to the measurement control deviation and the control deviation and the following speed curve;

S206: Determine the designated torque according to the following speed of the shaft arm corresponding to the measured control deviation;

S208, controlling multiple motors to output a specified torque.

In this embodiment, according to the control deviation and following speed curve as shown in Figure 11, the control deviation and following speed curve can be used to measure the following speed of the motor output of any axis arm in the pan/tilt during control and the measurement of the pan/tilt. The relationship curve of control deviation, the measurement attitude of the base includes the measurement attitude of the base of each axle arm, and the measurement control deviation of each axle arm is determined according to the measured attitude of each axle arm and the target attitude of the pan/tilt. The measurement control deviation of each pan/tilt can obtain the motor output following speed corresponding to each shaft arm by controlling the deviation and following the speed curve, so as to determine the output torque of the motor that controls the rotation of each shaft arm, so that each motor can control each shaft arm. A shaft arm reaches the desired posture.

Among them, because the various parameters of different gimbals are different, for example, different gimbals use different motors, and different motors have different static friction forces, so it cannot be guaranteed that each gimbal uses the same control deviation and following speed curve. Appropriate results can be obtained during calculation, and the control deviation and following speed curve can be obtained in a variety of ways, including the following embodiments.

Example one

The mobile data storage device stores a variety of different control deviations and following speed curves, and the mobile data storage device is connected to the pan/tilt. The pan/tilt can perform multiple control deviations and following speed curves stored in the mobile storage device according to the user's choice. Make selections to obtain the appropriate control deviation and following speed curve.

In this embodiment, by storing a plurality of preset control deviations and following speed curves in the mobile data storage device, the user can select different control deviations and following speed curves according to their own needs or the pan/tilt model.

Example two

Different control deviations and following speed curves are stored in the cloud server. The PTZ can be connected to the cloud server through an external device, and the control deviation and following speed curves corresponding to the PTZ model can be obtained from the cloud server.

In this embodiment, the different control deviations and following speed curves are stored in the cloud server, which also enables the pan/tilt manufacturer to update the control deviation and following speed curve in the cloud server at any time. When accessing the cloud server online, the control deviation and following speed curve of the corresponding model of the PTZ can be automatically obtained, avoiding the cumbersome operation required by the user to select the control deviation and following the speed curve by themselves, and further improving the user experience.

Example three

The processor of the pan/tilt has an algorithm program for real-time acquisition of control deviation and following speed curve. The pan/tilt uses the algorithm program to calculate the control deviation and following speed curve based on the attitude data collected in real time.

In this embodiment, due to the different environments used by the pan/tilt, its various parameters will not be exactly the same. For example, when the pan/tilt is used in an environment with high air humidity, the static friction of the pan/tilt motor itself and the air humidity are low. The environment is different, and the preset control deviation and following speed curve have set the corresponding measurement control deviation range, which cannot be adjusted according to the environment used by the pan/tilt. The generation algorithm of the control deviation and following speed curve is stored in the pan/tilt. , The controller of the pan/tilt can calculate according to the different attitude errors collected each time to obtain the real-time change of the control deviation and follow the speed curve, which realizes that the pan/tilt can work in various environments without outputting for a long time. Larger torque torque does not act, resulting in increased heat and power consumption of the motor.

Specifically, the gimbal can calculate the control deviation and following speed curve according to the attitude error generated after the first action after starting up. It does not need to regenerate the control deviation and following speed curve every time it moves to avoid excessive calculations. The amount of power consumption increases and the service life of the pan/tilt is shortened.

As shown in Figure 12, the relationship between following speed and measurement control deviation in the related technology is that after the measurement control deviation is generated, when the measurement control deviation is small, because the speed loop control is directly used, the motor will increase with the measurement control deviation While increasing the angular velocity, when the angular velocity is increased, the torque output by the motor cannot overcome the friction to drive the motor to rotate, which leads to the problem of motor heating. As shown in Figure 11, the improved control deviation and follow the speed curve, in the pan/tilt When the measurement and control deviation is small, it is ensured that the angular speed output by the motor is basically maintained at the initial speed, and the fluctuations are stable, so as to avoid the situation where the motor is always outputting a large torque but does not act, and it is guaranteed that the motor will not generate a lot of heat.

Among them, the control deviation and the following speed curve are redesigned based on the torque that overcomes the static friction force. When the measured control deviation of the detected PTZ is in the preset range, the motor corresponding to the shaft arm will not output a small expectation When the measurement and control deviation of the pan/tilt is outside the preset range, the shaft arm can be controlled to run at a larger desired speed to overcome the static friction. The preset range can be 0≤|X|＜R, where X It is the preset measurement control deviation value. When the measurement control deviation value X is between 0≤|X|＜R, it can be considered that the measurement control deviation of the pan/tilt is within the preset range and is small; when the measurement control deviation value X When |X|≥R, it can be considered that the measurement control deviation of the pan/tilt is outside the preset range, that is, the measurement control deviation is relatively large.

In an embodiment of the present application, preferably, when the measurement control deviation is within the preset range, the corresponding shaft arm following speed fluctuates smoothly; when the measurement control deviation is outside the preset range, the corresponding shaft arm following speed There is roughly a positive correlation with the control deviation.

In this embodiment, when the measurement control deviation value X of the pan/tilt is between 0≤|X|<R, the pan/tilt will not control the follow-up speed increase of the shaft arm, that is, when the measurement control deviation is within the preset range, In the small case, the motor will not be controlled to output a large torque. When the measured control deviation value is |X|≥R, the motor output torque corresponding to the shaft arm is controlled to overcome the friction, and the shaft arm follows the speed with the control deviation Increase and increase, that is, the increase in the follow-up speed of the control shaft arm causes the motor to output with greater torque, thereby reducing the measurement and control deviation of the PTZ.

In an embodiment of the present application, preferably, the control deviation and the following speed curve are obtained through the following process: obtaining the control deviation and following speed curve pre-stored in the memory of the pan/tilt; or, obtaining the data received by the communication device of the pan/tilt. The control deviation and following speed curve in the received control command.

In this embodiment, the control deviation and the following speed curve can be stored in the memory in the pan/tilt, or the communication device of the pan/tilt may be used to receive the control instructions transmitted from the outside, and receive the control deviation and following from the external transmission. The speed curve can be updated at any time, so as to adjust the curve according to actual usage.

Fig. 3 shows a schematic flow chart of a method for controlling a pan/tilt according to another embodiment of the present application. As shown in Fig. 3, the method for controlling a pan/tilt includes:

S302: Obtain the target attitude of the pan/tilt;

S304: Obtain the measured attitude of the base;

S306: Confirm the measurement control deviation of the PTZ according to the target posture of the PTZ and the measurement posture of the base;

S308: Based on the condition that the measurement control deviation of the pan/tilt is in a preset range, control multiple motors to output specified torques to drive multiple shaft arms to rotate respectively.

In this embodiment, by first acquiring the target attitude of the pan/tilt head and the measured attitude of the base, the measurement control deviation of the pan/tilt head is determined according to the acquired target attitude of the pan/tilt and the measured attitude of the base.

Among them, obtaining the target posture of the pan/tilt head can be obtained in many ways, including the following embodiments.

Example one

The PTZ communication device communicates with the somatosensory controller. As shown in Figure 4, the method for obtaining the target posture of the PTZ:

S402: Receive PTZ measurement data sent by the somatosensory controller;

S404: Confirm the target attitude of the pan/tilt based on the measurement data of the pan/tilt.

In this embodiment, the somatosensory controller includes a sensor, and the sensor includes an inertial measurement unit and a compass, which can measure the attitude information and speed information of the somatosensory controller, and can determine the pan/tilt measurement data according to the attitude information and speed information. It also includes a transmitter. The transmitter is a wireless signal transmitter. The somatosensory controller sends the gimbal measurement data to the gimbal through the transmitter, and the gimbal determines the target attitude of the gimbal according to the gimbal measurement data.

Among them, the somatosensory controller also includes a setting panel, allowing the user to directly input corresponding settings through the setting panel. The corresponding setting information includes PTZ measurement data, and the setting information including the PTZ measurement data is sent to the PTZ through the transmitter. The platform determines the target attitude of the platform based on the measurement data of the platform.

In the above embodiment, preferably, the measurement data of the pan/tilt is the angular velocity data of the pan/tilt. The process of confirming the target attitude of the pan/tilt according to the measurement data of the pan/tilt specifically includes: determining the target angular velocity of the pan/tilt based on the angular velocity data of the pan/tilt. ; Integrate the target angular velocity of the gimbal to determine the target attitude of the gimbal.

In this embodiment, the gimbal measurement data is angular velocity data, and the angular velocity information is the angular velocity of the somatosensory controller in the geodetic coordinate system. The gravity direction vector is measured by the accelerometer in the inertial measurement unit, and the geomagnetic direction is obtained by the compass. Integrate the difference between the direction and the geomagnetic direction to obtain the true east direction vector, and perform the difference integration of the gravity direction vector and the true east direction vector to obtain the true north direction vector. Use the gravity direction vector, the true north direction vector, and the true east direction vector to form the reference space attitude cosine matrix , The reference space attitude cosine matrix is converted into attitude quaternion, and the attitude quaternion is subjected to extended Kalman filter fusion filtering to obtain the final target attitude information. The pan/tilt can be controlled by the motion sensing controller to enable the user to interact with the cloud. The interactive experience between stations is better and the user experience is improved.

Example two

The method for obtaining the target posture of the PTZ through communication with the terminal equipment through the PTZ communication device:

The control communication device receives the control instruction sent by the terminal device, and the control instruction includes the target posture of the pan/tilt; the target posture of the pan/tilt is generated by the terminal device according to the motion track of the control instruction, and the control instruction is received by the setting panel of the terminal device.

In this embodiment, the user can realize the control instruction of the pan/tilt control through the data input of the setting panel of the terminal, wherein the control instruction includes the movement trajectory of controlling the movement of the pan/tilt, and the terminal can simulate and generate the pan/tilt according to the control instruction according to the movement trajectory. The posture after exercise is the target posture of the PTZ. The target posture of the PTZ is added to the control instruction, and the communication device of the terminal itself is connected to the communication device of the PTZ, and the control instruction is sent to the cloud. In this way, the pan/tilt can obtain the target posture of the pan/tilt, and the pan/tilt is connected with other terminals to realize the effect of remote control of the pan/tilt. For example, the user can use a computer or mobile terminal to control the pan/tilt.

Example three

The gimbal has a control handle, and the method of obtaining the target posture of the gimbal:

Receive the setting instruction received by the control handle of the pan/tilt. The setting instruction includes the target posture of the pan/tilt.

In this embodiment, the pan/tilt has a control handle for controlling the movement of the pan/tilt, and the control handle has a setting panel. The user can input setting instructions through the setting panel. The user can directly send the cloud to the pan/tilt through the control handle. The target posture setting instruction of the platform, the setting handle can be a structure connected with the pan-tilt, suitable for holding the pan-tilt, and the setting handle is set at the grip position, and the posture of the pan-tilt can be adjusted by operating the setting handle.

Example four

Receive the actual attitude of the control handle of the pan/tilt, and use the actual attitude of the control handle as the target attitude of the pan/tilt.

In this embodiment, the pan/tilt has an inductive control handle, which includes an inertial measurement unit, which can detect the attitude of the control handle. When the user changes the attitude of the control handle, the inertial measurement unit measures and records the control The attitude of the handle, and the attitude of the control handle is used as the target attitude of the pan/tilt. The somatosensory control handle does not require the user to input various parameters through the panel, and directly uses the attitude of the somatosensory handle itself as the target attitude of the pan/tilt, which simplifies The user's setting of the PTZ posture is convenient for the user to operate, saves a lot of tedious operations, and improves the user's experience.

As shown in Figure 5, the method for obtaining the measured attitude of the base includes:

S502: Obtain the measured attitude and joint angle of the PTZ;

S504: Confirm the measured attitude of the base according to the measured attitude and joint angle of the pan/tilt.

In this embodiment, the joint angle is the angle of the multiple pivot arms with respect to the joint coordinate system of the pan/tilt. The base is the structure used to place the camera in the pan/tilt. Since the base is connected to the pivot arm, the posture of the base can be determined by the cloud. The posture and joint angle of the platform are determined. The platform is equipped with an inertial measurement unit. The measured posture and joint angle of the platform can be obtained by using the inertial measurement unit. The measured posture of the base is determined according to the measured posture and joint angle of the platform.

Fig. 6 shows a schematic flow chart of a method for controlling a pan-tilt according to another embodiment of the present application. As shown in Fig. 6, the method for controlling a pan-tilt includes:

S602: Obtain the target attitude of the pan/tilt;

S604: Obtain the measured attitude of the base;

S606: Confirm the measurement control deviation of the gimbal according to the target posture of the gimbal and the measurement posture of the base;

S608: Determine whether the measurement control deviation of the pan/tilt is within a preset range, execute S610 if the judgment result is yes, and execute S612 if the judgment result is otherwise;

S610, control multiple motors to output specified torque;

S612: Confirm the driving torque of the multiple motors according to the target posture of the pan/tilt, and control the multiple motors to output the drive torque.

In this embodiment, it is judged whether the measurement control deviation of the pan/tilt is within the preset range. When the measurement control deviation of the pan/tilt is within the preset range, it can be determined that the position error of the pan/tilt is not large. Change the speed of multiple motors to maintain the initial minimum speed. Maintaining the initial minimum speed means that the control motor does not control the motor to increase the following speed according to the position error, so that the multiple motors output the specified torque. When the measurement control deviation of the platform is outside the preset range, it can be considered that the position error of the pan/tilt is too large. At this time, it is necessary to control multiple motors to increase the torque to accelerate the speed of multiple motors, so that the pan/tilt can return to the target attitude as soon as possible. It solves the problem of heat generation and power consumption increase caused by the large torque output of the motor for a long time without overcoming the static friction force. At the same time, it can also ensure that the preset target posture can be quickly reached when the gimbal posture has a large error, that is, in the guarantee While adjusting the speed of the pan/tilt, it also solves the problem that the motor heating power consumption increases due to excessive static friction.

FIG. 7 shows a schematic flowchart of a method for controlling a pan/tilt head according to another embodiment of the present application. As shown in FIG. 7, the method for controlling a pan/tilt head includes:

S702: Obtain the target attitude of the pan/tilt;

S704: Obtain the measured attitude of the base;

S706: Confirm the measurement control deviation of the gimbal according to the target posture of the gimbal and the measurement posture of the base;

S708: Determine whether the measurement control deviation of the pan/tilt is within a preset range, execute S710 if the judgment result is yes, and execute S712 if the judgment result is otherwise;

S710, controlling multiple motors to output specified torque;

S712: Determine the position errors of multiple axis arms according to the target posture of the pan/tilt;

S714: Confirm the target angular velocity of the multiple shaft arms according to the position errors of the multiple shaft arms;

S716: According to the target angular velocities of the multiple shaft arms and the measured angular velocities of the multiple shaft arms, confirm the drive torque of the multiple motors, and control the multiple motors to output drive torque.

In this embodiment, the control method shown in Fig. 15 and Fig. 16 is adopted, and the position error of multiple axis arms in the pan/tilt is determined first, and the position error of each axis arm can be determined by the target posture of the pan/tilt. According to the position error of each axle arm, confirm the target angular velocity of each axle arm, the sensor of the pan-tilt will measure the measured angular velocity of each axle arm, and get the angular velocity error according to the measured angular velocity and the target angular velocity. The angular velocity error can be calculated Obtain the specific torque required by the motor to obtain the angular velocity to reach the target angular velocity, thereby determining the drive torque of each motor, and controlling the output drive torque of the motor according to the drive torque, so as to realize that the motor output is not controlled when the PTZ attitude error is small Therefore, the motor will not output a large torque for a long time when the static friction force is large, thereby reducing the heating and the increase of power consumption caused by the motor due to the obstacle of static friction force. At the same time, it also extends the service life of the motor in the pan/tilt, thereby improving the user experience.

Specifically, as shown in Figure 15 is the current position double-loop control block diagram of the pan/tilt motor. The pan/tilt receives external instructions to determine the target attitude of the pan/tilt. The difference between the target attitude of the pan/tilt and the measured attitude of the base can get a pan/tilt. According to the measurement control deviation of the pan/tilt, the angular velocity output of the motor is determined. The above control method will make the motor increase the angular velocity of the output as the measurement control deviation increases, but the angular velocity is not reached. When the static friction force is overcome, the motor cannot produce action. Add a controller to the above control method, as shown in the control block diagram in Figure 16, which can measure the angular velocity of the motor output when the control deviation is within the specified preset range No change occurs, thus avoiding the problem of motor heating and power consumption increase caused by speed loop control only when the measurement control deviation is small.

As shown in Figure 13 and Figure 14, Figure 13 is the curve of the torque of the motor with the measurement control deviation under the current position dual-loop control. When the measurement control deviation is small, the torque may rise suddenly and rapidly. The output angular speed of the motor has been in the rising stage, but the output torque has not overcome the static friction of the motor, so the torque continues to increase. At this time, the motor will generate a lot of heat, which affects the service life of the motor and increases the power consumption. Figure 14 is used In the control method of any of the above embodiments, the torque of the motor varies with the measured control deviation. It can be seen that even when the measured control deviation is small, the torque is basically maintained near a value, and the maximum torque is much smaller than As shown in Figure 13, the maximum torque in the curve using the current position double loop control.

FIG. 8 shows a schematic flowchart of a method for controlling a pan/tilt head according to another embodiment of the present application. As shown in FIG. 8, the method for controlling a pan/tilt head includes:

S802: Obtain the target attitude of the gimbal;

S804: Obtain the measured attitude of the base;

S806: Confirm the measurement control deviation of the gimbal according to the target posture of the gimbal and the measurement posture of the base;

S808: Determine whether the measurement control deviation of the PTZ is within a preset range, execute S810 if the judgment result is yes, and execute S812 if the judgment result is otherwise;

S810, control multiple motors to output specified torque;

S812: Confirm the gimbal attitude error according to the gimbal target attitude and the gimbal's measured attitude;

S814: Convert the PTZ attitude error according to the preset algorithm to confirm the position error of multiple axle arms;

S816: Confirm the target angular velocity of the multiple shaft arms according to the position errors of the multiple shaft arms;

S818, according to the target angular velocity of the multiple shaft arms and the measured angular velocity of the multiple shaft arms, confirm the drive torque of the multiple motors, and control the multiple motors to output drive torque.

Further, the preset algorithm is the Jacobian inverse matrix algorithm.

In this embodiment, since there are multiple pivot arms in the pan/tilt, when the overall attitude of the pan/tilt is controlled, the position error of each pivot arm in the pan/tilt is not the same. Therefore, the attitude of each pivot arm in the pan/tilt needs to be uniform. For control, when determining the position error of each axis arm of the pan/tilt, the attitude error of the pan/tilt can be calculated according to the target attitude of the pan/tilt and the measured attitude of the pan/tilt, and the inverse matrix of the Jacobian is based on the cloud The attitude error of the platform calculates the position error of multiple shaft arms. The Jacobian inverse matrix can convert the space coordinate system into a two-dimensional coordinate system. The position error of the entire pan/tilt can be converted into every The two-dimensional error corresponding to each axis arm is used to obtain the position error of each axis arm of the gimbal. By controlling the motor corresponding to each axis arm to output with different torques, the overall attitude of the gimbal can be accurately controlled. . As shown in FIG. 9, the embodiment of the second aspect of the present application proposes a controller 10, including: a processor 12 and a memory 14, a computer program is stored in the memory, and the processor 12 executes the data stored in the memory 14. The computer program realizes: confirm the measurement and control deviation of the pan/tilt based on the target attitude of the pan/tilt and the measurement attitude of the base; based on the situation that the measurement and control deviation of the pan/tilt is in the preset range, control the multiple motors of the pan/tilt to output specified torque, To drive the multiple shaft arms of the PTZ to rotate.

The controller provided in the present application includes a processor 12 and a memory 14. The memory 14 is used to store a computer program, and the measurement control deviation is obtained by making the processor 12 obtain the measured attitude of the base and the input target attitude of the pan/tilt. The measured attitude of the base is the actual attitude of the base after the pan/tilt moves. The target attitude of the pan/tilt is the preset attitude expected according to the operation instructions. Due to the various friction forces between the base of the pan/tilt and the pivot arm or other movable positions, It is easy to cause a deviation between the measurement attitude and the target attitude of the pan/tilt. According to the comparison between the measurement attitude of the base and the target attitude of the pan/tilt, the measurement control deviation can be obtained. When the motor is controlled for low-speed action, the static friction force of the motor is very high. Large, may cause the motor to output a large torque for a long time, but the motor does not actually act, which causes the motor to generate heat and power consumption. Therefore, set a preset range for the measurement control deviation to determine whether the measurement control deviation is within the preset range If the measurement control deviation is outside the range, it can be considered that the motor has not overcome the friction force to take actual action. Then the control motor directly outputs the preset specified torque to drive multiple shaft arms to rotate, so that when the PTZ attitude error is small, the control The motor outputs at the minimum speed, which prevents the motor from outputting a large torque for a long time without actual action, and prevents the increase in power consumption caused by the motor heating when the error is small.

Among them, the preset range is a larger value, that is, when the measurement control deviation of the pan/tilt is large, the processor 12 directly controls the motor to output a larger torque, where the larger torque is the torque that is sufficient for the static friction of the motor. Avoid the heating of the motor due to insufficient torque to overcome the static friction of the motor and the increase in power consumption.

In a specific embodiment, the processor 12 receives a control instruction, and controls multiple motors to control the corresponding PTZ multiple axis arms to move according to the control instruction. The control instruction contains the desired position of the control axis arm, but due to the internal motor The static friction force is large, which causes the actual movement position of the shaft arm to not reach the expected position. After the sensor detects the actual position of the shaft arm movement, the pan/tilt head is determined according to the expected position of each shaft arm and the actual position of each shaft arm. Measurement control deviation, that is, the position error of the pan/tilt, judge whether the measurement control error of the pan/tilt is within the preset range, if it is outside the preset range, it can be considered that the attitude error is large, then directly control the motor to output the specified torque to drive the shaft arm Rotate to the desired attitude, so as to avoid the motor output and the very small expected speed when the pan/tilt has a small attitude error. At the same time, it can generate a large angular velocity sufficient to overcome the static friction when the pan/tilt has a large attitude error. The problem of heat generation and increased power consumption caused by the large torque output of the motor without overcoming the static friction force for a long time.

In an embodiment of the present application, preferably, the processor 12 executes the process of controlling the multiple motors of the pan/tilt to output a specified torque based on the measurement and control deviation of the pan/tilt head, which specifically includes: controlling the deviation based on the measurement According to the control deviation and following speed curve, it is determined that the measurement control deviation is within the preset range; where the control deviation and following speed curve is the relationship curve between the following speed of the shaft arm of any one of the multiple shaft arms and the control deviation of the pan/tilt; Measure the following speed of the shaft arm corresponding to the control deviation to determine the specified torque; control multiple motors to output the specified torque.

In this embodiment, according to the control deviation and following speed curve as shown in Figure 11, the control deviation and following speed curve can be used to measure the following speed of the motor output of any axis arm in the pan/tilt during control and the measurement of the pan/tilt. The relationship curve of the control deviation. The measured attitude of the base includes the measured attitude of the base of each axle arm. The processor 12 determines the measured control deviation of each axle arm according to the measured attitude of each axle arm and the target attitude of the pan/tilt. According to the measured control deviation of each pan/tilt, the output following speed of the motor corresponding to each shaft arm can be obtained through the control deviation and following speed curve, so as to determine the output torque of the motor that controls the rotation of each shaft arm, and then make each motor Control each shaft arm to achieve the desired posture.

In this embodiment, according to the control deviation and following speed curve as shown in Figure 11, the control deviation and following speed curve can be used for the relationship curve between the following speed and the measurement control deviation of any axis arm in the pan/tilt during control. The measurement attitude of the base includes the measurement attitude of the base of each axle arm, and the measurement control deviation of each axle arm is determined according to the measurement attitude of each axle arm and the target attitude. According to each measurement control deviation, the control deviation is compared with the Following the speed curve can obtain the corresponding follow speed of each shaft arm, so as to determine the output torque of the motor that controls the rotation of each shaft arm, so that each motor can control each shaft arm to reach the desired posture.

Among them, the control deviation and the following speed curve are redesigned based on the torque that overcomes the static friction force. When the measured control deviation of the detected PTZ is in the preset range, the motor corresponding to the shaft arm will not output a small expectation Speed, and when the measurement control deviation of the pan/tilt is outside the preset range, the shaft arm can be controlled to run at a larger desired speed to overcome the static friction force. The preset range can be 0≤|X|＜R, where X is the preset measurement control deviation value. When the measurement control deviation value X is between 0≤|X|＜R, it can be considered that the measurement control deviation of the pan/tilt is within the preset range and is small; when the measurement control deviation value When X is in |X|≥R, it can be considered that the measurement control deviation of the pan/tilt is outside the preset range, that is, the measurement control deviation is relatively large.

In another embodiment of the present application, preferably, when the measurement control deviation is within the preset range, the corresponding shaft arm following speed changes smoothly; when the measurement control deviation is outside the preset range, the corresponding shaft arm follows Speed and control deviation are roughly positively correlated.

In this embodiment, when the measurement control deviation value X of the pan/tilt is between 0≤|X|<R, the pan/tilt will not control the axis arm to increase the following speed, that is, when the measurement control deviation is within the preset range If it is smaller, the motor will not be controlled to output a large torque. When the measured control deviation is |X|≥R, the motor output torque corresponding to the shaft arm is controlled to overcome the friction, and the shaft arm follows the speed with the control deviation The increase and increase of the control shaft arm follow the speed to make the motor output with greater torque, so as to reduce the measurement and control deviation of the PTZ.

In another embodiment of the present application, preferably, the processor 12 obtains the control deviation and the following speed curve through the following process: obtains the control deviation and the following speed curve pre-stored in the memory of the pan-tilt; or, obtains the pan-tilt The control deviation and following speed curve in the control command received by the communication device.

In this embodiment, the control deviation and follow-up speed curve used for the processor 12 to perform arithmetic processing can be stored in the memory 14 in the pan/tilt, or the communication device of the pan/tilt may be used to receive the control instructions transmitted from the outside. , Receiving the control deviation and following speed curve transmitted from the outside can update the curve at any time, so as to adjust the curve according to the actual use.

In another embodiment of the present application, preferably, the communication device of the pan/tilt can communicate with the motion sensing controller, and the processor 12 obtains the target posture of the pan/tilt through the following process: receiving pan/tilt measurement data sent by the motion sensing controller; Confirm the target attitude of the gimbal according to the measurement data of the gimbal.

In this embodiment, the processor 12 obtains the target posture of the pan/tilt through the somatosensory controller. The somatosensory controller includes a sensor, and the sensor includes an inertial measurement unit and a compass. It can measure the posture information and speed information of the somatosensory controller, and according to the posture information and Speed information can determine the measurement data of the pan/tilt. The somatosensory controller also includes a transmitter. The transmitter is a wireless signal transmitter. The somatosensory controller sends the measurement data of the pan/tilt to the pan/tilt through the transmitter, and the pan/tilt determines the data based on the measurement data of the pan/tilt. The target posture of the gimbal.

In another embodiment of the present application, preferably, the measurement data of the pan/tilt is the angular velocity data of the pan/tilt, and the processor 12 is further configured to: determine the target angular velocity of the pan/tilt according to the angular velocity data of the pan/tilt; The angular velocity is integrated to determine the target attitude of the gimbal.

In this embodiment, the PTZ measurement data is angular velocity data, and the angular velocity information is the angular velocity of the somatosensory controller in the geodetic coordinate system. The gravity direction vector is measured by the accelerometer in the inertial measurement unit, and the geomagnetic direction is obtained by the compass. 12 The positive east direction vector is obtained by the difference integration of the gravity direction and the geomagnetic direction, and then the positive north direction vector is obtained by the difference integration of the gravity direction vector and the true east direction vector, which is composed of the gravity direction vector, the true north direction vector, and the true east direction vector The reference space attitude cosine matrix, the reference space attitude cosine matrix is converted into an attitude quaternion, the attitude quaternion is subjected to extended Kalman filter fusion filtering to obtain the final target attitude information, and the pan/tilt is controlled by the motion sensing controller. It can make the interaction experience between the user and the PTZ better and improve the user experience.

In another embodiment of the present application, preferably, the communication device of the pan-tilt can communicate with the terminal device, and the processor 12 obtains the target posture of the pan-tilt through the following process: control the communication device to receive the control instruction sent by the terminal device, and control The instruction includes the target posture of the pan/tilt; the target posture of the pan/tilt is generated by the terminal device according to the motion track of the control instruction, and the control instruction is received by the setting panel of the terminal device.

In this embodiment, the processor 12 obtains the target posture of the pan/tilt through the communication device of the pan/tilt, and the processor 12 can receive the control instructions of the user to realize the control of the pan/tilt through the setting panel data input of the terminal, wherein the control instructions include controlling the pan/tilt. For the motion trajectory of the action, the terminal can simulate the motion trajectory to generate the posture of the gimbal after moving according to the control instruction, which is the target posture of the gimbal. The target posture of the gimbal is added to the control instruction and passed through the terminal’s own The communication device communicates with the communication device of the pan-tilt, and sends control instructions to the pan-tilt, so that the pan-tilt obtains the target posture of the pan-tilt, and the pan-tilt connects with other terminals to achieve the effect of remote control of the pan-tilt For example, users can use a computer or mobile terminal to control the PTZ.

In another embodiment of the present application, preferably, the processor 12 obtains the target attitude of the pan/tilt head through the following process: receiving a setting instruction received by the control handle of the pan/tilt head, and the setting instruction includes the target attitude of the pan/tilt tip.

In this embodiment, the processor 12 obtains the target posture of the pan/tilt through the control handle of the pan/tilt itself. The pan/tilt itself has a control handle for controlling the movement of the pan/tilt, and the control handle has a setting panel. The processor 12 acquires the user Through the setting command input by the setting panel, the user can directly send the setting command of the target posture with the PTZ to the PTZ through the control handle. The setting handle can be a structure connected with the PTZ, suitable for hand-held PTZ The setting handle is set at the grip position, and the posture of the PTZ can be adjusted by operating the setting handle.

In another embodiment of the present application, preferably, the actual posture of the control handle of the pan/tilt is received, and the actual posture of the control handle is used as the target posture of the pan/tilt.

In this embodiment, the pan/tilt has an inductive control handle. The control handle includes an inertial measurement unit, which can detect the attitude of the control handle. When the user changes the attitude of the control handle, the processor 12 uses the inertial measurement unit. Measure and record the posture of the control handle, and use the posture of the control handle as the target posture of the pan/tilt. The somatosensory control handle does not require the user to input various parameters through the panel, and directly uses the posture of the somatosensory handle itself as the target of the gimbal. The posture simplifies the user's setting of the PTZ posture, facilitates the user's operation, saves a lot of tedious operations, and improves the user's experience.

In another embodiment of the present application, preferably, the processor 12 obtains the measured posture of the base through the following process: obtains the measured posture and joint angle of the pan/tilt; Measure the posture; where the joint angle is the angle of the multiple axis arms of the pan/tilt with respect to the joint coordinate system of the pan/tilt.

In another embodiment of the present application, preferably, the pan/tilt includes an inertial measurement unit, and the processor 12 executes the process of acquiring the measured attitude and joint angle of the pan/tilt, specifically including: controlling the inertial measurement unit to acquire the measured attitude of the pan/tilt and Joint angle.

In this embodiment, the joint angle is the angle of the multiple pivot arms with respect to the joint coordinate system of the pan/tilt. The base is the structure used to place the camera in the pan/tilt. Since the base is connected to the pivot arm, the posture of the base can be determined by the cloud. The posture and joint angle of the platform are determined. The platform is equipped with an inertial measurement unit. The processor 12 receives and uses the inertial measurement unit to obtain the measured posture and joint angle of the platform. The processor 12 receives the measured posture of the platform And the joint angle determines the measurement attitude of the base.

In another embodiment of the present application, preferably, based on the situation that the measurement control deviation of the pan/tilt is outside the preset range, the processor 12 is further configured to: confirm the driving torque of the multiple motors according to the target posture of the pan/tilt; Control multiple motors to output drive torque.

In this embodiment, the processor 12 determines whether the measurement control deviation of the pan/tilt is within the preset range. When the measurement control deviation of the pan/tilt falls within the preset range, it can be determined that the position error of the pan/tilt is not large. When it is not necessary to change the speed of multiple motors, it is enough to keep multiple motors at the initial minimum speed. Even if multiple motors output specified torque, when it is determined that the measurement control deviation of the pan/tilt is outside the preset range, the pan/tilt can be considered The position error of the motor is too large. At this time, it is necessary to control multiple motors to increase the torque to accelerate the speed of multiple motors, so that the pan/tilt can return to the target attitude as soon as possible, and solve the problem of the motor outputting a large torque without overcoming the static friction for a long time. The problem of heat generation and increased power consumption can also be ensured that the preset target attitude can be quickly reached when there is a large error in the gimbal attitude. That is, while ensuring the adjustment speed of the gimbal, it also solves the problem of excessive static friction. The problem of rising heat power consumption.

In another embodiment of the present application, preferably, the processor 12 executes the process of confirming the driving torques of the multiple motors according to the target posture of the pan/tilt, which specifically includes: determining the position errors of the multiple shaft arms according to the target posture of the pan/tilt. ; According to the position error of multiple shaft arms, confirm the target angular velocity of multiple shaft arms; according to the target angular velocity of multiple shaft arms and the measured angular velocity of multiple shaft arms, confirm the drive torque of multiple motors.

In this embodiment, the control method shown in Fig. 15 and Fig. 16 is adopted. The processor 12 first determines the position error of multiple shaft arms in the pan/tilt. The target posture of the pan/tilt can determine the position of each shaft arm. Position error, according to the position error of each axle arm, confirm the target angular velocity of each axle arm, the sensor of the pan-tilt will measure the measured angular velocity of each axle arm, and get the angular velocity error according to the measured angular velocity and the target angular velocity. The error can be calculated to obtain the specific torque required by the motor to obtain the angular velocity to reach the target angular velocity, thereby determining the drive torque of each motor, and controlling the output drive torque of the motor according to the drive torque, so that when the PTZ attitude error is small, the processor 12 does not It will control the motor to output a small angular velocity, so the motor will not output a large torque for a long time when the static friction is large, thereby reducing the heat generated by the motor due to the resistance of the static friction and the increase in power consumption. While reducing power consumption, it also prolongs the service life of the motor in the pan/tilt, thereby improving the user experience.

Specifically, as shown in Figure 15 is the current position double-loop control block diagram of the pan/tilt motor. The pan/tilt receives an external command to determine the target attitude of the pan/tilt. The difference between the target attitude of the pan/tilt and the measured attitude of the base can get a pan/tilt. According to the measurement control deviation of the pan/tilt, the angular velocity output of the motor is determined. The above control method will make the motor increase the angular velocity of the output as the measurement control deviation increases, but the angular velocity is not reached. When the static friction force is overcome, the motor cannot produce action. On the basis of the above control method, a controller is added again, as shown in the control block diagram in Figure 16, which can make the measurement and control deviation of the pan/tilt be within the specified preset range. The output angular velocity does not change, thus avoiding the problem of motor heating and power consumption increase caused by speed loop control only when the measurement control deviation is small.

In another embodiment of the present application, preferably, the processor 12 executes the process of determining the position errors of the multiple axis arms according to the target attitude of the pan/tilt, specifically including: confirming the target attitude of the pan/tilt and the measured attitude of the pan/tilt. PTZ attitude error: Convert the PTZ attitude error according to the preset algorithm to confirm the position error of multiple axis arms.

In another embodiment of the present application, preferably, the preset algorithm is the Jacobian inverse matrix algorithm.

In this embodiment, since there are multiple pivot arms in the pan/tilt, when the processor 12 controls the overall posture of the pan/tilt, the position error of each pivot arm in the pan/tilt is not the same. When the processor 12 determines the position error of each axis arm of the pan/tilt, it can calculate the attitude error of the pan/tilt according to the target attitude of the pan/tilt and the measured attitude of the pan/tilt, and use the Jacobian The inverse matrix of the matrix calculates the position error of multiple axis arms according to the attitude error of the pan/tilt. The Jacobian inverse matrix can convert the space coordinate system into a two-dimensional coordinate system through calculation. The entire pan/tilt can be transformed by the Jacobian inverse matrix. The position error is converted into a two-dimensional error corresponding to each shaft arm, so as to obtain the position error of each shaft arm of the pan/tilt. The processor 12 controls the motor corresponding to each shaft arm to output with different torques, thereby achieving In order to accurately control the overall posture of the PTZ.

As shown in FIG. 10, the embodiment of the third aspect of the present application provides a pan/tilt head 20, which includes multiple shaft arms, multiple shaft arms, including a yaw shaft arm 222, a pitch shaft arm 224, and a roll shaft arm 226 ；

Multiple motors, driving multiple shaft arms to rotate multiple motors, the multiple motors are respectively yaw motor 242, pitch motor 244, and roll motor 246;

Base, the base is connected with the yaw shaft arm;

The controller is used to confirm the measurement and control deviation of the pan/tilt based on the target attitude of the pan/tilt and the measured attitude of the base; based on the situation that the measurement and control deviation of the pan/tilt is in the preset range, it controls multiple motors to output specified torque to drive separately Multiple shaft arms rotate.

The pan/tilt head provided in this application includes the controller 10 in any of the above embodiments, multiple shaft arms composed of a yaw axis arm, a pitch axis arm, and a roll axis arm. In the space coordinate system of the pan/tilt, the pitch The axis rotates along the x axis to control the pitch of the base, the roll axis rotates along the z axis, which can control the base to roll back and forth, the yaw axis rotates along the y axis, which can control the base to roll left and right, and is used to drive Multiple motors of multiple shaft arms, each motor controls the rotation of one shaft arm, and because the base is connected to the yaw axis, three motors are used to control the yaw shaft arm, pitch shaft arm and roll shaft arm respectively. The attitude of the base is obtained by making the measured attitude of the base acquired by the controller 10 and the input target attitude of the pan/tilt to obtain the measurement control deviation, wherein the measured attitude of the base is the actual attitude of the base after the pan/tilt moves. The target posture of is the preset posture expected according to the operation instructions. Due to the various friction forces between the gimbal base and the pivot arm or other active positions, it is easy to cause deviations between the measured posture and the target posture of the gimbal. Comparing the measured attitude with the target attitude of the gimbal can get the measurement control deviation. When controlling the motor for low-speed action, due to the large static friction of the motor, it may cause the motor to output a large torque for a long time, but the motor does not occur The actual action caused the motor to heat up and the power consumption increased. Therefore, set a preset range for the measurement control deviation to determine whether the measurement control deviation is within the preset range. If the measurement control deviation is outside the range, it can be considered that the motor has not overcome the friction force. Action, the motor is controlled to directly output the preset specified torque, thereby driving the rotation of multiple shaft arms, so that when the attitude error of the pan/tilt is small, the motor is controlled to output at the minimum speed, avoiding the fact that the motor does not actually move. Long-term output of large torque can prevent the increase of power consumption caused by motor heating when the error is small.

In a specific embodiment, the controller 10 receives a control instruction, and controls multiple motors to control the corresponding PTZ multiple axis arms to move according to the control instruction. The control instruction contains the desired position of the control axis arm, but due to the internal motor The static friction force is large, which causes the actual movement position of the shaft arm to not reach the expected position. After the sensor detects the actual position of the shaft arm movement, the pan/tilt head is determined according to the expected position of each shaft arm and the actual position of each shaft arm. Measurement control deviation, that is, the position error of the pan/tilt, judge whether the measurement control error of the pan/tilt is within the preset range, if it is outside the preset range, it can be considered that the attitude error is large, then directly control the motor to output the specified torque to drive the shaft arm Rotate to the desired attitude, so as to avoid the motor output and the very small expected speed when the pan/tilt has a small attitude error. At the same time, it can generate a large angular velocity sufficient to overcome the static friction when the pan/tilt has a large attitude error. The problem of heat generation and increased power consumption caused by the large torque output of the motor without overcoming the static friction force for a long time.

In an embodiment of the present application, preferably, the controller 10 executes the process of controlling a plurality of motors to output a specified torque based on the measurement control deviation of the pan/tilt head in the preset range, which specifically includes: according to the measurement control deviation and the control deviation With the following speed curve, it is determined that the measurement control deviation is within the preset range; the control deviation and following speed curve is the relationship curve between the shaft arm following speed of any one of the multiple shaft arms and the control deviation of the pan/tilt; according to the measurement control deviation The corresponding shaft arm follows the speed to determine the specified torque; controls multiple motors to output the specified torque.

In this embodiment, according to the control deviation and following speed curve as shown in Figure 11, the control deviation and following speed curve can be used to measure the following speed of the motor output of any axis arm in the pan/tilt during control and the measurement of the pan/tilt. The relationship curve of the control deviation. The measured attitude of the base includes the measured attitude of the base of each axle arm. The controller 10 determines the measured control deviation of each axle arm according to the measured attitude of each axle arm and the target attitude of the pan/tilt. According to the measured control deviation of each pan/tilt, the output following speed of the motor corresponding to each shaft arm can be obtained through the control deviation and following speed curve, so as to determine the output torque of the motor that controls the rotation of each shaft arm, and then make each motor Control each shaft arm to achieve the desired posture.

As shown in Figure 12, the relationship between following speed and measurement control deviation in the related technology is that after the measurement control deviation is generated, when the measurement control deviation is small, because the speed loop control is directly used, the motor will increase with the measurement control deviation While increasing the angular velocity, when the angular velocity is increased, the torque output by the motor cannot overcome the friction to drive the motor to rotate, which leads to the problem of motor heating. As shown in Figure 11, the improved control deviation and follow the speed curve, in the pan/tilt When the measurement control deviation is small, it is ensured that the angular velocity of the motor output is basically maintained at the initial speed, and the fluctuation fluctuation is stable, so as to avoid the situation where the motor is always outputting a large torque but does not act, and it ensures that the motor does not generate a lot of heat.

In another embodiment of the present application, preferably, the controller 10 obtains the control deviation and the following speed curve through the following process: obtains the control deviation and the following speed curve pre-stored in the memory of the pan/tilt; or, obtains the pan/tilt The control deviation and following speed curve in the control command received by the communication device.

In this embodiment, the control deviation and follow-up speed curve used for the arithmetic processing of the controller 10 can be stored in the memory in the pan-tilt, or can be carried in the control instructions transmitted from the outside by the communication device of the pan-tilt, Receiving the control deviation and following speed curve transmitted from the outside can update the curve at any time, so as to adjust the curve according to actual usage.

In another embodiment of the present application, preferably, the pan/tilt includes a communication device that can communicate with the somatosensory controller, and the target posture of the pan/tilt is obtained by the following process: receiving measurement data of the pan/tilt sent by the somatosensory controller; Confirm the target attitude of the gimbal according to the measurement data of the gimbal.

In this embodiment, the controller 10 obtains the target posture of the pan/tilt through the somatosensory controller. The somatosensory controller includes a sensor, and the sensor includes an inertial measurement component and a compass. It can measure the attitude information and speed information of the somatosensory controller, and according to the attitude information and Speed information can determine the measurement data of the pan/tilt. The somatosensory controller also includes a transmitter. The transmitter is a wireless signal transmitter. The somatosensory controller sends the measurement data of the pan/tilt to the pan/tilt through the transmitter, and the pan/tilt determines the data based on the measurement data of the pan/tilt. The target posture of the gimbal.

In another embodiment of the present application, the measurement data of the pan/tilt is the angular velocity data of the pan/tilt, and the controller 10 is also used to: determine the target angular velocity of the pan/tilt according to the angular velocity data of the pan/tilt; and integrate the target angular velocity of the pan/tilt To determine the target posture of the gimbal.

In this embodiment, the PTZ measurement data is the angular velocity data, and the angular velocity information is the angular velocity of the somatosensory controller in the geodetic coordinate system. The gravity direction vector is measured by the accelerometer in the inertial measurement component, and the geomagnetic direction is obtained by the compass. 10 The positive east direction vector is obtained by differential integration of the gravity direction and the geomagnetic direction, and then the positive north direction vector is obtained by the difference integration of the gravity direction vector and the true east direction vector, which is composed of the gravity direction vector, the true north direction vector, and the true east direction vector The reference space attitude cosine matrix, the reference space attitude cosine matrix is converted into an attitude quaternion, the attitude quaternion is subjected to extended Kalman filter fusion filtering to obtain the final target attitude information, and the pan/tilt is controlled by the motion sensing controller. It can make the interaction experience between the user and the PTZ better and improve the user experience.

In another embodiment of the present application, preferably, the pan-tilt includes a communication device that can communicate with the terminal device, and the controller 10 obtains the target posture of the pan-tilt through the following process: control the communication device to receive the control sent by the terminal device Instruction, the control instruction includes the target posture of the pan/tilt; the target posture of the pan/tilt is generated by the terminal device according to the motion track of the control instruction, and the control instruction is received by the setting panel of the terminal device.

In this embodiment, the pan-tilt also includes a communication device for communicating with other devices. The controller 10 obtains the target posture of the pan-tilt through the communication device of the pan-tilt, and the controller 10 can receive data input from the user through the terminal's setting panel. The control instruction for the control of the pan/tilt, where the control instruction includes the movement trajectory for controlling the movement of the pan/tilt. The terminal can simulate the movement trajectory to generate the movement of the pan/tilt according to the control instruction, which is the target attitude of the pan/tilt. The target posture of the platform is added to the control instruction, and the terminal’s own communication device communicates with the communication device of the PTZ, and the control instruction is sent to the PTZ, so that the PTZ can obtain the target posture of the PTZ. Connect with other terminals to achieve the effect of remote control of the PTZ. For example, the user can use a computer or mobile terminal to control the PTZ.

In another embodiment of the present application, preferably, the controller 10 obtains the target attitude of the pan/tilt head through the following process: obtains the setting instruction received by the control handle of the pan/tilt head, and the setting instruction includes the target attitude of the pan/tilt head.

In this embodiment, the controller 10 acquires the target posture of the pan/tilt through the control handle of the pan/tilt itself. The pan/tilt itself has a control handle for controlling the movements of the pan/tilt, and the control handle has a setting panel. The controller 10 acquires the user Through the setting command input by the setting panel, the user can directly send the setting command of the target posture with the PTZ to the PTZ through the control handle. The setting handle can be a structure connected with the PTZ, suitable for hand-held PTZ The setting handle is set at the grip position, and the posture of the PTZ can be adjusted by operating the setting handle.

In another embodiment of the present application, preferably, the controller 10 obtains the target attitude of the pan/tilt head through the following process: receiving the actual attitude of the control handle of the pan/tilt head, and using the actual attitude of the control handle as the target attitude of the pan/tilt head.

In this embodiment, the pan/tilt has an inductive control handle, which includes an inertial measurement component, which can detect the attitude of the control handle. When the user changes the attitude of the control handle, the controller 10 uses the inertial measurement component Measure and record the posture of the control handle, and use the posture of the control handle as the target posture of the pan/tilt. The somatosensory control handle does not require the user to input various parameters through the panel, and directly uses the posture of the somatosensory handle itself as the target of the gimbal. The posture simplifies the user's setting of the PTZ posture, facilitates the user's operation, saves a lot of tedious operations, and improves the user's experience.

In another embodiment of the present application, preferably, the pan/tilt head further includes: an inertial measurement unit, used to obtain the measured attitude and joint angle of the pan/tilt head, and send the measured attitude and joint angle of the pan/tilt head to the controller 10; control; The device 10 is also used to confirm the measured posture of the base according to the measured posture and joint angle of the pan/tilt; where the joint angle is the angle of the multiple axis arms relative to the joint coordinate system of the gimbal.

In this embodiment, the joint angle is the angle of the multiple pivot arms with respect to the joint coordinate system of the pan/tilt. The base is the structure used to place the camera in the pan/tilt. Since the base is connected to the pivot arm, the posture of the base can be determined by the cloud. The posture and joint angle of the platform are determined. The platform is equipped with an inertial measurement component. The controller 10 can obtain the measured posture and joint angle of the platform based on the received measurement posture of the platform. And the joint angle determines the measurement attitude of the base.

In another embodiment of the present application, preferably, based on the situation that the measured control deviation of the pan/tilt is outside the preset range, the controller 10 is further configured to: confirm the driving torque of the multiple motors according to the target posture of the pan/tilt; Control multiple motors to output drive torque.

In this embodiment, the controller 10 determines whether the measurement control deviation of the pan/tilt is within the preset range. When the measurement control deviation of the pan/tilt is within the preset range, it can be determined that the position error of the pan/tilt is not large. When it is not necessary to change the speed of multiple motors, it is enough to keep multiple motors at the initial minimum speed. Even if multiple motors output specified torque, when it is determined that the measurement control deviation of the pan/tilt is outside the preset range, the pan/tilt can be considered The position error of the motor is too large. At this time, it is necessary to control multiple motors to increase the torque to accelerate the speed of multiple motors, so that the pan/tilt can return to the target attitude as soon as possible, and solve the problem of the motor outputting a large torque without overcoming the static friction for a long time. The problem of heat generation and increased power consumption can also be ensured that the preset target attitude can be quickly reached when there is a large error in the gimbal attitude. That is, while ensuring the adjustment speed of the gimbal, it also solves the problem of excessive static friction. The problem of rising heat power consumption.

In another embodiment of the present application, preferably, the controller 10 executes the process of confirming the driving torque of the multiple motors according to the target posture of the pan/tilt, which specifically includes: determining the position error of the multiple shaft arms according to the target posture of the pan/tilt. ; According to the position error of multiple shaft arms, confirm the target angular velocity of multiple shaft arms; according to the target angular velocity of multiple shaft arms and the measured angular velocity of multiple shaft arms, confirm the drive torque of multiple motors.

In this embodiment, the control method shown in Fig. 15 and Fig. 16 is adopted. The controller 10 first determines the position error of multiple axis arms in the pan/tilt. The target posture of the pan/tilt can determine the position of each axis arm. Position error, according to the position error of each axle arm, confirm the target angular velocity of each axle arm, the sensor of the pan-tilt will measure the measured angular velocity of each axle arm, and get the angular velocity error according to the measured angular velocity and the target angular velocity. The error can be calculated to obtain the specific torque required by the motor to obtain the angular velocity to reach the target angular velocity, thereby determining the drive torque of each motor, and controlling the output drive torque of the motor according to the drive torque, so as to realize that when the PTZ attitude error is small, the controller 10 does not It will control the motor to output a small angular velocity, so the motor will not output a large torque for a long time when the static friction is large, thereby reducing the heat generated by the motor due to the resistance of the static friction and the increase in power consumption. While reducing power consumption, it also prolongs the service life of the motor in the pan/tilt, thereby improving the user experience.

In another embodiment of the present application, preferably, the controller 10 executes the process of determining the position errors of the multiple axis arms according to the target posture of the pan/tilt, specifically including: confirming the target posture of the pan/tilt and the measured posture of the pan/tilt. PTZ attitude error: Convert the PTZ attitude error according to the preset algorithm to confirm the position error of multiple axis arms.

In this embodiment, because there are multiple pivot arms in the pan/tilt, when the controller 10 controls the overall posture of the pan/tilt, the position error of each pivot arm in the pan/tilt is not the same. When determining the position error of each axis arm of the gimbal, the controller 10 can calculate the attitude error of the gimbal according to the target posture of the gimbal and the measured posture of the gimbal, and use the Jacobian The inverse matrix of the matrix calculates the position error of multiple axis arms according to the attitude error of the pan/tilt. The Jacobian inverse matrix can convert the space coordinate system into a two-dimensional coordinate system through calculation. The entire pan/tilt can be transformed by the Jacobian inverse matrix. The position error of each axis arm is converted into a two-dimensional error corresponding to each axis arm, so as to obtain the position error of each axis arm of the pan/tilt. The controller 10 controls the motor corresponding to each axis arm to output with different torques to achieve In order to accurately control the overall posture of the PTZ.

The embodiment of the fourth aspect of the present application proposes an unmanned mobile platform that includes the pan/tilt in any of the above embodiments, and thus has the beneficial effects of the pan/tilt in any of the above embodiments, and will not be repeated here.

The embodiment of the fifth aspect of the present application proposes a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, the pan/tilt control method of any of the above embodiments is implemented. Therefore, it has the beneficial effects of the pan-tilt control method in any of the above-mentioned embodiments, which will not be repeated here.

Specifically, a computer-readable storage medium may include any medium capable of storing or transmitting information. Examples of computer-readable storage media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

In this application, the term "plurality" refers to two or more than two, unless specifically defined otherwise. The terms "installed", "connected", "connected", "fixed" and other terms should be understood in a broad sense. For example, "connected" can be a fixed connection, a detachable connection, or an integral connection; "connected" can be It is directly connected or indirectly connected through an intermediary. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

In the description of this specification, the description of the terms "one embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiments or examples are included in this application In at least one embodiment or example. In this specification, the schematic representations of the above-mentioned terms do not necessarily refer to the same embodiment or example. Moreover, the described specific features, structures, materials or characteristics may be combined in any one or more embodiments or examples in a suitable manner.

The above are only preferred embodiments of the application, and are not used to limit the application. For those skilled in the art, the application can have various modifications and changes. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of this application shall be included in the protection scope of this application.

Claims

A control method of a pan/tilt head, the pan/tilt head includes a base, a plurality of shaft arms, and a plurality of motors, and the plurality of motors are used to drive the plurality of shaft arms to rotate, and the control method is characterized in that include:

Confirm the measurement control deviation of the pan/tilt head according to the target attitude of the pan/tilt head and the measured attitude of the base;

Based on the condition that the measurement control deviation of the pan/tilt head is in a preset range, the multiple motors are controlled to output a specified torque to drive the multiple shaft arms to rotate respectively.
The control method of the pan/tilt head according to claim 1, wherein the process of controlling the multiple motors to output a specified torque based on the condition that the measurement control deviation of the pan/tilt head is within a preset range specifically includes:

According to the measurement control deviation and the control deviation and following speed curve, it is determined that the measurement control deviation is within a preset range; wherein, the control deviation and following speed curve is the shaft arm following of any one of the plurality of shaft arms The relationship curve between the speed and the control deviation of the pan/tilt;

Determine the specified torque according to the shaft arm following speed corresponding to the measured control deviation;

The plurality of motors are controlled to output the specified torque.
The method of controlling a pan/tilt head according to claim 2, wherein:

When the control deviation is within the preset range, the corresponding shaft arm following speed fluctuates smoothly; when the control deviation is outside the preset range, the corresponding shaft arm following speed and the control deviation are roughly in a positive correlation.
The control method of the pan/tilt head according to claim 2, wherein the control deviation and the following speed curve are obtained through the following process:

Obtain the control deviation and following speed curve pre-stored in the memory of the pan/tilt head; or obtain the control deviation and following speed curve in the control instruction received by the communication device of the pan/tilt head.
The control method of the pan/tilt head according to claim 1, wherein the communication device of the pan/tilt head can communicate with a motion sensing controller, and the target posture of the pan/tilt head is obtained through the following process:

Receiving pan-tilt measurement data sent by the somatosensory controller;

Confirm the target posture of the pan/tilt based on the measurement data of the pan/tilt.
The control method of the pan/tilt head according to claim 5, wherein the measurement data of the pan/tilt head is the angular velocity data of the pan/tilt head, and the target attitude of the pan/tilt head is confirmed according to the measurement data of the pan/tilt head. The process includes:

Determine the target angular velocity of the pan/tilt according to the angular velocity data of the pan/tilt;

The target angular velocity of the pan/tilt is integrated to determine the target attitude of the pan/tilt.
The control method of the pan/tilt head according to claim 1, wherein the communication device of the pan/tilt head can communicate with terminal equipment, and the target posture of the pan/tilt head is obtained through the following process:

Controlling the communication device to receive a control instruction sent by the terminal device, where the control instruction includes the target posture of the pan/tilt;

The target posture of the pan/tilt head is generated by the terminal device according to the motion trajectory of a control instruction, and the control instruction is received by a setting panel of the terminal device.
The method for controlling the pan/tilt head according to claim 1, wherein the target posture of the pan/tilt head is obtained through the following process:

Receiving a setting instruction received by a control handle of the pan/tilt head, where the setting instruction includes the target posture of the pan/tilt head.
The method for controlling the pan/tilt head according to claim 1, wherein the target posture of the pan/tilt head is obtained through the following process:

The actual posture of the control handle of the pan/tilt is received, and the actual posture of the control handle is used as the target posture of the pan/tilt.
The method for controlling a pan/tilt head according to any one of claims 1 to 9, wherein the measured attitude of the base is obtained by the following process:

Acquiring the measured posture and joint angle of the base of the pan-tilt;

According to the measurement attitude of the base of the pan/tilt head and the joint angle, confirm the measurement attitude of the base; wherein the joint angle is the joint coordinate system of the plurality of shaft arms relative to the pan/tilt head angle.
The method for controlling a pan/tilt head according to claim 10, wherein the pan/tilt head includes an inertial measurement unit, wherein the process of obtaining the measured attitude and joint angle of the base of the pan/tilt head specifically includes:

Control the inertial measurement unit to obtain the measured posture and joint angle of the base of the pan/tilt.
The control method of a pan/tilt head according to any one of claims 1 to 11, wherein the control method further comprises:

Based on the situation that the measurement control deviation of the pan/tilt is outside the preset range, confirming the driving torque of the multiple motors according to the target posture of the pan/tilt;

The plurality of motors are controlled to output the driving torque.
The method of controlling the pan/tilt head according to claim 12, wherein the process of confirming the driving torque of the multiple motors according to the target posture of the pan/tilt head includes:

Determining the position errors of the multiple axle arms according to the target posture of the pan/tilt;

Confirming the target angular velocity of the multiple shaft arms according to the position errors of the multiple shaft arms;

Based on the target angular velocities of the plurality of shaft arms and the measured angular velocities of the plurality of shaft arms, the driving torque of the plurality of motors is confirmed.
The method for controlling the pan/tilt head according to claim 13, wherein the process of determining the position errors of the plurality of axle arms according to the target posture of the pan/tilt head comprises:

Confirming the PTZ attitude error according to the target attitude of the PTZ and the measured attitude of the base of the PTZ;

The attitude error of the pan/tilt head is converted according to a preset algorithm to confirm the position error of the plurality of axle arms.
The method for controlling a pan/tilt head according to claim 14, wherein:

The preset algorithm is the Jacobian inverse matrix algorithm.
A controller, characterized in that it comprises:

A processor and a memory, wherein a computer program is stored in the memory, and the processor executes the computer program stored in the memory to realize:

Confirm the measurement control deviation of the pan/tilt based on the target attitude of the pan/tilt and the measured attitude of the base;

Based on the situation that the measurement control deviation of the pan/tilt head is within a preset range, the multiple motors of the pan/tilt head are controlled to output specified torques to drive the multiple shaft arms of the pan/tilt head to rotate respectively.
The controller according to claim 16, wherein the processor executes a process of controlling a plurality of motors of the pan/tilt head to output a specified torque based on the condition that the measurement control deviation of the pan/tilt head is within a preset range, Specifically:

According to the measurement control deviation and the control deviation and following speed curve, it is determined that the measurement control deviation is within a preset range; wherein, the control deviation and following speed curve is the shaft arm following of any one of the plurality of shaft arms The relationship curve between the speed and the control deviation of the PTZ;

Determine the specified torque according to the shaft arm following speed corresponding to the measured control deviation;

The plurality of motors are controlled to output the specified torque.
The controller according to claim 17, wherein:

When the control deviation is within the preset range, the corresponding shaft arm following speed fluctuates smoothly; when the control deviation is outside the preset range, the corresponding shaft arm following speed and the control deviation are roughly in a positive correlation.
The controller according to claim 17, wherein the processor obtains the control deviation and following speed curve through the following process:

Obtain the control deviation and following speed curve pre-stored in the memory of the pan/tilt head; or obtain the control deviation and following speed curve in the control instruction received by the communication device of the pan/tilt head.
The controller according to claim 16, wherein the communication device of the pan/tilt head can communicate with the somatosensory controller, and the processor obtains the target posture of the pan/tilt head through the following process:

Receiving pan-tilt measurement data sent by the somatosensory controller;

Confirm the target posture of the pan/tilt based on the measurement data of the pan/tilt.
The controller according to claim 20, wherein the PTZ measurement data is angular velocity data of the PTZ, and the processor is further configured to:

Determine the target angular velocity of the pan/tilt according to the angular velocity data of the pan/tilt;

The target angular velocity of the pan/tilt is integrated to determine the target attitude of the pan/tilt.
The controller according to claim 16, wherein the communication device of the pan-tilt can communicate with terminal equipment, and the processor obtains the target posture of the pan-tilt through the following process:

Controlling the communication device to receive a control instruction sent by the terminal device, where the control instruction includes the target posture of the pan/tilt;

The target posture of the pan/tilt head is generated by the terminal device according to the motion trajectory of a control instruction, and the control instruction is received by a setting panel of the terminal device.
The controller according to claim 16, wherein the processor obtains the target posture of the pan/tilt head through the following process:

Receiving a setting instruction received by a control handle of the pan/tilt head, where the setting instruction includes the target posture of the pan/tilt head.
The controller according to claim 16, wherein the processor obtains the target posture of the pan/tilt head through the following process:

The actual posture of the control handle of the pan/tilt is received, and the actual posture of the control handle is used as the target posture of the pan/tilt.
The controller according to any one of claims 16 to 24, wherein the processor obtains the measured attitude of the base through the following process:

Acquiring the measured posture and joint angle of the base of the pan-tilt;

According to the measured posture of the base of the pan/tilt head and the joint angle, confirm the measured posture of the base; wherein the joint angle is the joint of the multiple axis arms of the pan/tilt head relative to the head The angle of the coordinate system.
The controller according to claim 25, wherein the pan/tilt head includes an inertial measurement unit, wherein the processor executes the process of acquiring the measured attitude and joint angle of the base of the pan/tilt head, which specifically includes:

Control the inertial measurement unit to obtain the measured posture and joint angle of the base of the pan/tilt.
The controller according to any one of claims 16 to 26, wherein, based on the situation that the measurement control deviation of the pan/tilt head is outside a preset range, the processor is further configured to:

Confirming the driving torque of the multiple motors according to the target posture of the pan/tilt;

The plurality of motors are controlled to output the driving torque.
The controller according to claim 27, wherein the processor executes the process of confirming the driving torque of the multiple motors according to the target posture of the pan/tilt head, which specifically includes:

Determining the position errors of the multiple axle arms according to the target posture of the pan/tilt;

Confirming the target angular velocity of the multiple shaft arms according to the position errors of the multiple shaft arms;

Based on the target angular velocities of the plurality of shaft arms and the measured angular velocities of the plurality of shaft arms, the driving torque of the plurality of motors is confirmed.
The controller according to claim 28, wherein the processor executes the process of determining the position errors of the plurality of axis arms according to the target posture of the pan/tilt head, which specifically includes:

Confirming the PTZ attitude error according to the target attitude of the PTZ and the measured attitude of the base of the PTZ;

The attitude error of the pan/tilt head is converted according to a preset algorithm to confirm the position error of the plurality of axle arms.
The controller according to claim 29, wherein:

The preset algorithm is the Jacobian inverse matrix algorithm.
A pan-tilt, characterized in that it comprises:

Multiple axle arms, including yaw axle arm, pitch axle arm and roll axle arm;

Multiple motors to drive the multiple shaft arms to rotate;

A base, which is connected to the yaw axis arm;

The controller is used for confirming the measurement control deviation of the pan/tilt head according to the target attitude of the pan/tilt head and the measurement attitude of the base; and controlling the measurement control deviation of the pan/tilt head based on the situation that the measurement control deviation of the pan/tilt The plurality of motors output designated torques to drive the plurality of shaft arms to rotate respectively.
The pan/tilt head of claim 31, wherein the controller executes the process of controlling the plurality of motors to output a specified torque based on the condition that the measurement control deviation of the pan/tilt head is within a preset range, which specifically includes:

According to the measurement control deviation and the control deviation and following speed curve, it is determined that the measurement control deviation is within a preset range; wherein, the control deviation and following speed curve is the shaft arm following of any one of the plurality of shaft arms The relationship curve between the speed and the control deviation of the pan/tilt;

Determine the specified torque according to the shaft arm following speed corresponding to the measured control deviation;

The plurality of motors are controlled to output the specified torque.
The pan/tilt according to claim 32, wherein:

When the control deviation is within the preset range, the corresponding shaft arm following speed fluctuates smoothly; when the control deviation is outside the preset range, the corresponding shaft arm following speed and the control deviation are roughly in a positive correlation.
The pan/tilt head according to claim 32, wherein the controller obtains the control deviation and following speed curve through the following process:

Obtain the control deviation and following speed curve pre-stored in the memory of the pan/tilt head; or obtain the control deviation and following speed curve in the control instruction received by the communication device of the pan/tilt head.
The pan/tilt head of claim 31, wherein the pan/tilt head comprises a communication device capable of communicating with a motion sensing controller, and the target posture of the pan/tilt head is obtained through the following process:

Receiving pan-tilt measurement data sent by the somatosensory controller;

Confirm the target posture of the pan/tilt based on the measurement data of the pan/tilt.
The pan/tilt head of claim 35, wherein the measurement data of the pan/tilt head is angular velocity data of the pan/tilt head, and the controller is further configured to:

Determine the target angular velocity of the pan/tilt according to the angular velocity data of the pan/tilt;

The target angular velocity of the pan/tilt is integrated to determine the target attitude of the pan/tilt.
The pan/tilt head according to claim 31, wherein the pan/tilt head comprises a communication device capable of communicating with terminal equipment, and the controller obtains the target posture of the pan/tilt head through the following process:

Controlling the communication device to receive a control instruction sent by the terminal device, where the control instruction includes the target posture of the pan/tilt;

The target posture of the pan/tilt head is generated by the terminal device according to the motion trajectory of a control instruction, and the control instruction is received by a setting panel of the terminal device.
The pan/tilt head according to claim 31, wherein the controller obtains the target posture of the pan/tilt head through the following process:

Acquire a setting instruction received by the control handle of the pan/tilt, where the setting instruction includes the target posture of the pan/tilt.
The pan/tilt head according to claim 31, wherein the controller obtains the target posture of the pan/tilt head through the following process:

The actual posture of the control handle of the pan/tilt is received, and the actual posture of the control handle is used as the target posture of the pan/tilt.
The pan/tilt head according to any one of claims 31 to 39, wherein the pan/tilt head further comprises:

An inertial measurement unit for acquiring the measured attitude and joint angle of the base of the pan/tilt head, and sending the measured attitude of the base of the pan/tilt head and the joint angle to the controller;

The controller is also used to confirm the measured attitude of the base according to the measured attitude of the base of the pan/tilt head and the joint angle; wherein, the joint angle is the relative The angle of the joint coordinate system of the gimbal.
The pan/tilt head according to any one of claims 31 to 40, characterized in that, based on the situation that the measurement control deviation of the pan/tilt head is outside a preset range, the controller is further configured to:

Confirming the driving torque of the multiple motors according to the target posture of the pan/tilt;

The plurality of motors are controlled to output the driving torque.
The pan/tilt head according to claim 41, wherein the controller executes the process of confirming the driving torque of the multiple motors according to the target posture of the pan/tilt head, which specifically includes:

Determining the position errors of the multiple axle arms according to the target posture of the pan/tilt;

Confirming the target angular velocity of the multiple shaft arms according to the position errors of the multiple shaft arms;

Based on the target angular velocities of the plurality of shaft arms and the measured angular velocities of the plurality of shaft arms, the driving torque of the plurality of motors is confirmed.
The pan/tilt head of claim 42, wherein the controller executes the process of determining the position errors of the plurality of axle arms according to the target posture of the pan/tilt head, which specifically includes:

Confirming the PTZ attitude error according to the target attitude of the PTZ and the measured attitude of the base of the PTZ;

The attitude error of the pan/tilt head is converted according to a preset algorithm to confirm the position error of the plurality of axle arms.
The pan/tilt according to claim 43, wherein:

The preset algorithm is the Jacobian inverse matrix algorithm.
An unmanned mobile platform, characterized in that the unmanned mobile platform comprises the pan/tilt according to any one of claims 31 to 44.
A computer-readable storage medium with a computer program stored thereon, wherein the computer program implements the steps of the pan-tilt control method according to any one of claims 1 to 15 when the computer program is executed by a processor.