WO2021026779A1 - Procédé et dispositif de commande de tête de berceau, tête de berceau et support de stockage - Google Patents

Procédé et dispositif de commande de tête de berceau, tête de berceau et support de stockage Download PDF

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Publication number
WO2021026779A1
WO2021026779A1 PCT/CN2019/100433 CN2019100433W WO2021026779A1 WO 2021026779 A1 WO2021026779 A1 WO 2021026779A1 CN 2019100433 W CN2019100433 W CN 2019100433W WO 2021026779 A1 WO2021026779 A1 WO 2021026779A1
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WIPO (PCT)
Prior art keywords
motor
pan
tilt
support
angular velocity
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PCT/CN2019/100433
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English (en)
Chinese (zh)
Inventor
卢国政
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深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN201980034068.2A priority Critical patent/CN112272806A/zh
Priority to PCT/CN2019/100433 priority patent/WO2021026779A1/fr
Publication of WO2021026779A1 publication Critical patent/WO2021026779A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the invention relates to the field of control, and in particular to a pan-tilt control method, device, pan-tilt and storage medium.
  • a point that exists but does not exist is called a singularity (or singularity).
  • a singular point can mean that the end of the robotic arm loses a certain degree of freedom in a certain direction when the robot arm is in a certain combination of joint positions.
  • the invention provides a pan/tilt control method, device, pan/tilt and storage medium, which are used to solve the problems in the prior art that the stability of the pan/tilt control is affected by the neighborhood of singular points, and it is difficult to achieve accurate posture control.
  • the first aspect of the present invention is to provide a pan-tilt control method, the pan-tilt at least includes a first support, a second support and a third support for connecting a load connected in sequence; the method includes:
  • the single-axis control component and the dual-axis control component are calculated according to the target end attitude and the measured end attitude; wherein the single-axis control component is related to the first support, and the dual-axis control component is related to the second support and The third bracket is related;
  • the first bracket is controlled according to the single-axis control component
  • the second bracket and the third bracket are controlled according to the dual-axis control component.
  • the second aspect of the present invention is to provide a control device for a pan/tilt head, the pan/tilt head at least includes a first bracket, a second bracket and a third bracket for connecting a load, which are connected in sequence; the control device includes:
  • Memory used to store computer programs
  • the processor is configured to run a computer program stored in the memory to realize: detecting whether the pan/tilt is located in the neighborhood of a preset singularity; when the pan/tilt is located in the neighborhood of the singularity, acquiring the information of the pan/tilt
  • the target end posture and the measurement end posture; the single-axis control component and the dual-axis control component are calculated according to the target end posture and the measured end posture; wherein, the single-axis control component is related to the first bracket, and the dual-axis control
  • the component is related to the second support and the third support; the first support is controlled according to the single-axis control component, and the second support and the third support are controlled according to the dual-axis control component.
  • the third aspect of the present invention is to provide a pan-tilt control device, the pan-tilt at least includes a first support, a second support and a third support for connecting a load connected in sequence; the control device includes:
  • the detection module is used to detect whether the pan/tilt is located in the neighborhood of a preset singularity
  • An acquiring module configured to acquire the target end attitude and measurement end attitude of the pan/tilt when the pan/tilt is located in the neighborhood of the singularity
  • the calculation module is used to calculate a single-axis control component and a dual-axis control component according to the target end posture and the measured end posture; wherein the single-axis control component is related to the first bracket, and the dual-axis control component is related to the The second bracket is related to the third bracket;
  • the control module is configured to control the first bracket according to the single-axis control component, and control the second bracket and the third bracket according to the dual-axis control component.
  • the fourth aspect of the present invention is to provide a pan/tilt head, which is characterized in that it includes at least:
  • control device is used to control the first bracket, the second bracket, and the third bracket.
  • the fifth aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the first aspect.
  • the described PTZ control method is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used in the first aspect.
  • the pan/tilt control method, device, pan/tilt and storage medium provided by the present invention, when the pan/tilt is located in the vicinity of a singular point, the target end attitude of the pan/tilt is acquired and the measured end attitude is determined according to the target end attitude Calculate the single-axis control component and the dual-axis control component with the measurement end attitude, and realize the decoupling of the three brackets into a first bracket and a dual-axis bracket.
  • the dual-axis bracket includes a second bracket and a third bracket. , And use the single-axis control component and the dual-axis control component to decouple the movement of the first bracket, the second bracket, and the third bracket.
  • Fig. 1 is a schematic diagram of controlling the PTZ provided in the prior art
  • FIG. 2 is a schematic flowchart of a method for controlling a pan-tilt according to an embodiment of the present invention
  • FIG. 3 is a schematic diagram of a pan-tilt not in the neighborhood of a singular point according to an embodiment of the present invention
  • FIG. 4 is a schematic diagram of a pan-tilt located in the neighborhood of a singular point according to an embodiment of the present invention
  • FIG. 5 is a schematic flow chart of calculating a single-axis control component according to the target end pose and the measured end pose provided by an embodiment of the present invention
  • FIG. 6 is a schematic diagram of an algorithm for calculating a single-axis control component based on the target end attitude and the measured end attitude provided by an embodiment of the present invention
  • FIG. 7 is a schematic diagram of controlling the target joint angle to the first bracket according to an embodiment of the present invention.
  • FIG. 8 is a schematic flow chart of calculating a dual-axis control component according to the target end pose and the measured end pose provided by an embodiment of the present invention
  • FIG. 9 is a schematic flowchart of determining the dual-axis control component based on the target end attitude, the measured end attitude, and the end angular velocity according to an embodiment of the present invention
  • FIG. 10 is a schematic flowchart of determining the dual-axis control component according to the attitude control error and the terminal angular velocity according to an embodiment of the present invention
  • Figure 11 is an embodiment of the present invention for the attitude control error and the end angular velocity, removing the components related to the first support from the attitude control error and the end angular velocity, and generating the second support and the third support Schematic diagram of the flow of related local attitude control error and local end angular velocity;
  • FIG. 12 is a schematic diagram of controlling the second bracket and the third bracket according to the dual-axis control component according to an embodiment of the present invention
  • FIG. 13 is a schematic diagram of a process of detecting whether the PTZ is located in the neighborhood of a singularity according to an embodiment of the present invention
  • FIG. 14 is a schematic flowchart of another method for controlling a pan/tilt head according to an embodiment of the present invention.
  • 15 is a schematic flowchart of another method for controlling a pan/tilt head according to an embodiment of the present invention.
  • 16 is a schematic flowchart of determining at least one smooth transition signal according to the first driving signal and the second driving signal according to an embodiment of the present invention
  • FIG. 17 is a schematic flowchart of obtaining a weighting coefficient corresponding to the first driving signal according to an embodiment of the present invention.
  • FIG. 18 is a schematic flowchart of a method for controlling a pan/tilt head provided by an application embodiment of the present invention.
  • FIG. 19 is a schematic structural diagram of a pan-tilt control device provided by an embodiment of the present invention.
  • FIG. 20 is a schematic structural diagram of a pan-tilt control device provided by an embodiment of the present invention.
  • FIG. 21 is a schematic structural diagram 1 of a pan-tilt according to an embodiment of the present invention.
  • FIG. 22 is a second structural diagram of a pan-tilt according to an embodiment of the present invention.
  • FIG. 23 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.
  • the three-axis attitude closed-loop controller of the pan/tilt is generally a position loop-speed loop dual-loop controller.
  • R tar is the end (camera) target attitude
  • R eb is the end (camera) measurement (fusion) attitude
  • ⁇ R is the attitude control error
  • C p is the position loop controller
  • C v is the speed loop controller
  • J -1 is the Jacobian inverse matrix
  • P is the controlled object (motor )
  • ⁇ b is the terminal angular velocity
  • Fusion is an inertial measurement unit (IMU) for data fusion; through the above-mentioned end target posture R tar and end angular velocity, dual-loop closed-loop control of the pan/tilt can be realized.
  • IMU inertial measurement unit
  • the Jacobian matrix corresponding to the gimbal describes the nonlinear mapping relationship between the angular velocity of each joint and the velocity in the end body coordinate system of the gimbal.
  • the Jacobian inverse matrix is usually used to map the position loop error and angular velocity to the joint angle space, that is, satisfy the formula
  • the control quantity under the body coordinate system is changed to the control quantity of each motor.
  • each motor will obtain the output torque required to realize the attitude control.
  • J is the Jacobian matrix.
  • the prior art proposes the following solutions: (a) Design structural limits in the neighborhood of singular points. (b) Design software limit in the neighborhood of singularity, or design to avoid trajectory to avoid singularity. (c) Redundant connecting rod design, the singularity is designed in the very useful area.
  • FIG. 2 is a schematic flow chart of a method for controlling a pan/tilt head provided by an embodiment of the present invention; in order to solve the problem that the stability of the pan/tilt control is affected by the neighborhood of singular points in the prior art, it is difficult to achieve accurate attitude control.
  • this embodiment provides a pan/tilt control method, wherein the pan/tilt may at least include a first support, a second support, and a third support for connecting a load, the load may be a camera , Video camera or any other device with shooting function.
  • the main body of the control method is the pan/tilt control device.
  • control device can be implemented as software or a combination of software and hardware; when the control device executes the control method, it can be implemented in the pan/tilt relative to When the neighborhood of the singular point is in different states, different control strategies are adopted to control the first bracket, the second bracket and the third bracket in the pan-tilt. Specifically, the method includes:
  • the pan/tilt head also includes a first motor 107, a second motor 108, and a third motor 109. One end of the first motor 107 is connected to the first bracket 101 through a rotating member 104.
  • the rotating member 104 is used to enable the first bracket 101 to rotate relative to the first motor 107, so that the pan/tilt can be switched between the storage state and the use state; and the other end of the first motor 107 is connected to the carrier 10,
  • the second motor 108 is arranged on the first support 101 for driving the second support 102 to rotate relative to the first support 101;
  • the third motor 109 is disposed on the second support 102 and is used to drive the third support 103 to rotate relative to the second support 102.
  • the pan/tilt is located in the neighborhood of the singular point: when the pan/tilt is at the singular point, the axis of the first motor 107, the axis of the second motor 108 and the axis of the third motor 109 are on the same plane , That is, the yaw axis, roll axis, and pitch axis of the pan/tilt are located on the same plane, and the second motor 108 is located at the preset joint angle; when the pan/tilt is in the neighborhood of the singular point, the first The axis of the motor 107, the axis of the second motor 108, and the axis of the third motor 109 are located or close to being on the same plane, that is, the yaw axis, roll axis and pitch axis of the pan/tilt are located or approximately on the same plane, so The second motor 108 is located within the preset joint angle range.
  • pan/tilt is an orthogonal pan/tilt or a non-orthogonal pan/tilt, as long as the axis of the first motor 107, the axis of the second motor 108, and the axis of the third motor 109 are on the same plane, it can be regarded as the pan/tilt. At a singularity.
  • the singular point neighborhood refers to an angular area located near the singular point.
  • the above-mentioned singular point can be calculated for the PTZ, and the specific range of the neighborhood can be set according to the needs of the user.
  • this embodiment does not limit the specific implementation of detecting whether the pan/tilt is located in the neighborhood of the singularity. Those skilled in the art can set it according to specific application requirements and design requirements. For example, the Jacques corresponding to the pan/tilt may be obtained.
  • the detecting whether the PTZ is located in the neighborhood of the singularity in this embodiment may include:
  • the joint angle of the second motor can be obtained through the angle sensor. After the joint angle of the second motor is obtained, the joint angle of the second motor can be compared with the angle range corresponding to the singular point neighborhood.
  • the joint angle of the second motor is within the angle range corresponding to the singular point neighborhood, where the angle range corresponding to the singular point neighborhood includes: at least two angular boundary values and The intermediate value of any angle between the two angle boundary values; the joint angle of the second motor is within the angle range corresponding to the singular point neighborhood.
  • the joint angle of the second motor is equal to any of the singular point neighborhoods
  • An intermediate value of the angle the joint angle of the second motor is equal to the boundary value of the angle corresponding to the neighborhood of the singular point.
  • the pan-tilt when the pan-tilt includes multiple supports, it can be detected whether the pan-tilt is located in the neighborhood of the singularity through the joint angles corresponding to the supports located in the middle part.
  • the pan/tilt includes a first support, a second support, a third support, and a fourth support for connecting the load, and a first motor for driving the first support to rotate relative to the carrier.
  • the second joint angle of the second motor and/or the third joint angle of the third motor can be obtained, and the second joint angle and/or the third joint angle can be used to detect whether the pan/tilt is located in the neighborhood of the singular point;
  • the second joint angle and/or the third joint angle are within the angle range corresponding to the singular point neighborhood, it is determined that the pan/tilt is located in the singular point neighborhood.
  • the second joint angle and/or the third joint angle are outside the angle range corresponding to the singular point neighborhood, it can be determined that the pan/tilt is outside the singular point neighborhood.
  • the target end posture and the measurement end posture of the gimbal can be obtained, where the target end posture can refer to the final posture that the load (camera) needs to reach on the gimbal, and the measurement end posture It can be a pointer to the current attitude measured by the load (camera) on the PTZ.
  • the end posture of the target can be specified by the user or input by the user, or the end posture of the target can be obtained by calculating the related parameters of the pan/tilt; while the end posture of the measurement can be obtained by detecting the load by the detection device, or, also It can be obtained by data fusion according to the inertial measurement unit (IMU) at the end.
  • IMU inertial measurement unit
  • an IMU can contain a three-axis accelerometer and a three-axis gyroscope, fusing the data of the three-axis accelerometer and the three-axis gyroscope, The end posture can be calculated.
  • an IMU may include a three-axis accelerometer, a three-axis gyroscope, and a three-axis magnetometer. By fusing the three-axis accelerometer, the three-axis gyroscope, and the three-axis magnetometer, the end posture can be calculated.
  • S3 Calculate the single-axis control component and the dual-axis control component according to the target end posture and the measured end posture; wherein the single-axis control component is related to the first support, and the dual-axis control component is related to the second support and the third support.
  • the target end attitude and the measurement end attitude can be analyzed and processed, so that the single-axis control component related to the first bracket and the dual-axis control component related to the second bracket and the third bracket can be obtained.
  • Axis control component it should be noted that for the first bracket, the second bracket and the third bracket, the single-axis control component is only related to the first bracket, and it is not related to the second and third brackets; the dual-axis control component is only related to the first bracket.
  • the second bracket is related to the third bracket, which is not related to the first bracket.
  • S4 Control the first bracket according to the single-axis control component, and control the second bracket and the third bracket according to the dual-axis control component.
  • the first support can be controlled according to the single-axis control component.
  • the second support and the third support can be controlled according to the dual-axis control component.
  • the existing three-axis attitude closed-loop controller is equivalently decoupled into two controllers. One controller is used to control the first support, and the other is used to control the second support and the third support.
  • the second bracket and the third bracket can be equivalent to a dual-axis gimbal, and the corresponding Jacobian matrix dimension is reduced to two-dimensional, which solves the problem of the singularity of the three-dimensional Jacobian matrix and avoids the singularity of the gimbal.
  • the neighborhood affects the stability of the control of the PTZ, which effectively ensures the precise control of the PTZ attitude.
  • the pan/tilt control method provided in this embodiment detects whether the pan/tilt is located in the neighborhood of the singular point.
  • the target end attitude and the measurement end attitude of the pan/tilt are acquired, and the target end attitude and the measurement end
  • the single-axis control component and the dual-axis control component of the attitude calculation realize the decoupling of the three brackets into a first bracket and a dual-axis bracket.
  • the dual-axis bracket includes the second bracket and the third bracket, and they are respectively
  • the single-axis control component and the dual-axis control component are used to decouple the movement of the first bracket, the second bracket, and the third bracket, which not only effectively realizes that when the pan/tilt is located in the neighborhood of the singular point, it can ensure the attitude of the pan/tilt. It is stable, and also expands the range of attitude control of the PTZ, further improves the practicability of the method, and is beneficial to market promotion and application.
  • Fig. 5 is a schematic diagram of a flow chart for calculating a single-axis control component based on the target end posture and a measured end posture provided by an embodiment of the present invention
  • Fig. 6 is an algorithm for calculating a single-axis control component based on the target end posture and the measured end posture provided by an embodiment of the present invention Schematic diagram; on the basis of the above embodiment, continue to refer to Figures 5 to 6, this embodiment does not limit the specific implementation of calculating the single-axis control component based on the target end posture and the measured end posture.
  • the single-axis control component can be obtained through the motor on the pan/tilt.
  • the motor on the pan/tilt may include the first motor 107.
  • a second motor 108 and a third motor 109 One end of the first motor 107 is connected to the first support 101, and the other end is connected to the carrier 10 for driving the first support 101 to rotate relative to the carrier 10;
  • the second motor 108 is arranged on the first bracket 101, and is used to drive the second bracket 102 to rotate relative to the first bracket 101;
  • the third motor 109 is arranged on the second bracket 102, It is used to drive the third bracket 103 to rotate relative to the second bracket 102.
  • calculating the single-axis control component based on the target end attitude and the measured end attitude may include:
  • the angle detection device can be used to detect the angle of the joint where the first motor is located, so that the first measured joint angle corresponding to the first motor can be obtained.
  • the angle detection device is used to separately detect the joint and the joint where the second motor is located. The angle detection is performed on the joint where the third motor is located, so that the second joint angle corresponding to the second motor and the third joint angle corresponding to the third motor can be obtained.
  • the Newton iterative algorithm is a method of numerical calculation in the inverse kinematics solution technology, and the inverse kinematics solution is used to calculate the joint angle corresponding to the end pose.
  • inverse kinematics has analytical solutions, but for complex non-orthogonal configurations or considering the non-orthogonal errors introduced by orthogonal configurations during assembly, general There is no unified inverse kinematics analytical solution for connecting rod configuration.
  • the solution can usually be calculated by numerical methods, such as Newton's iterative algorithm.
  • the initial value of the iterative joint angle can be set to the three joint angle measurement values at the moment of entering the singular control neighborhood.
  • the three joint angle measurements can refer to the first measured joint angle corresponding to the joint where the first motor is located.
  • the Newton iterative algorithm uses the Jacobian matrix. Since the Jacobian matrix is invertible except for the neighborhood of singular points, the newton iterative algorithm can be used to determine the target joint angle corresponding to the first motor.
  • the iteration step size ⁇ when entering the singular point neighborhood makes the Jacobian matrix always converge in other regions except the singular point neighborhood; among them, when the iteration step size ⁇ is adjusted, the closer the singular point is, The smaller the iteration step size is to adjust the iteration step size.
  • the first axis and the first axis of the first motor, the second motor and the third motor at the preset initial positions can be obtained.
  • the second axis and the third axis, where the preset initial position may refer to the position where the motor joint angle of the first motor, the second motor and the third motor is 0°.
  • the first axis and the second axis Both the and the third axis can be vectors representing information. Then, the forward kinematics formula and the parameters obtained above are used to calculate the measured joint posture corresponding to the measured joint angle ⁇ .
  • R j is the measured joint posture corresponding to the first motor, the second motor and the third motor.
  • the measured joint posture is the difference between the end posture and the handle posture.
  • the measured joint posture can be the difference between the end posture and the handle posture. Difference.
  • ⁇ 1 is the axis of the first motor at the preset initial position (in the body coordinate system)
  • ⁇ 2 is the axis of the second motor at the preset initial position (in the body coordinate system)
  • ⁇ 3 is the third motor Preset the axis of the initial position (under the body coordinate system), Is the axial antisymmetric matrix of the first motor at the preset initial position (under the body coordinate system), Is the axial antisymmetric matrix of the second motor at the preset initial position (under the body coordinate system), Is the axial antisymmetric matrix of the third motor at the preset initial position (under the body coordinate system);
  • ⁇ 1 , ⁇ 2 and ⁇ 3 are the first motor corresponding to the first motor, the second motor and the third motor.
  • the joint angle can refer to the three joint angle measurement values at the moment of entering the neighborhood of the singular point (respectively with the first One motor, the second motor and the third motor correspond).
  • the joint angle can be measured by sensors such as Hall sensors and magnetic encoders.
  • the measured joint posture R j After the measured joint posture R j is obtained, the measured joint posture R j and the measured end posture (measurement camera posture) R eb can be used to calculate the handle measurement posture R h .
  • R h is the measured posture of the handle
  • Reb is the measured end posture
  • R j -1 is the inverse matrix of the measured joint posture.
  • the measured posture of the handle may be calculated by fusion of a vision sensor or an IMU and a compass.
  • R h is the measured attitude of the handle
  • the iterative target end pose can be calculated Iterative attitude error ⁇ R (k) from the target end attitude R tar .
  • ⁇ R (k) is the iterative attitude error
  • R tar is the target end attitude
  • ⁇ (k) is the iterative joint angle error corresponding to the target joint angle
  • ⁇ (k) is the axis angle representation of the iterative attitude error.
  • the iterative target joint angle may include the first target joint angle corresponding to the first motor The second target joint angle corresponding to the second motor And the third target joint angle corresponding to the third motor
  • ⁇ is the iteration step coefficient
  • ⁇ (k) is the iteration joint angle error
  • the iterative convergence speed is fast. Normally, only one iteration is performed in each control cycle to obtain the target joint angle corresponding to the first motor.
  • the target joint angle can be determined as a single-axis control component, so that the first bracket can be closed-loop controlled according to the target joint angle, as shown in Figure 7, after the target joint angle ⁇ tar1 is obtained ,
  • the target joint angle ⁇ tar1 can be input to the position loop controller C p , so that the position information d corresponding to the target joint angle ⁇ tar1 can be obtained, and then the controlled object P (first motor) can be performed using the position information d
  • the measured joint angle ⁇ 1 corresponding to the first motor can be obtained, and then the measured joint angle ⁇ 1 and the target joint angle ⁇ tar1 are used to control the first motor again, so as to realize the use of the target joint angle through the first motor.
  • the first bracket performs closed-loop control.
  • Obtaining the single-axis control component in the above manner effectively guarantees the accuracy and reliability of the acquisition of the single-axis control component, thereby improving the stability and reliability of the control of the first bracket based on the single-axis control component.
  • Figure 8 is a schematic diagram of a flow chart for calculating a dual-axis control component based on the target end pose and the measured end pose provided by an embodiment of the present invention; on the basis of the foregoing embodiment, with continued reference to Figure 8, the present embodiment is
  • the specific implementation of the calculation of the dual-axis control component and the measurement of the terminal posture are not limited, and those skilled in the art can set it according to specific application requirements and design requirements.
  • Calculation of dual-axis control components can include:
  • the angle detection of the end (camera) of the pan-tilt can be performed by an angular velocity sensor, so that the end angular velocity of the pan-tilt can be obtained.
  • S35 Determine the dual-axis control component according to the target end attitude, the measured end attitude and the end angular velocity.
  • the target terminal attitude, the measured terminal attitude and the terminal angular velocity can be used to determine the dual-axis control component.
  • the dual-axis control component can be determined according to the target terminal attitude, the measured terminal attitude and the terminal angular velocity.
  • Control components can include:
  • S351 Determine the attitude control error of the PTZ according to the target end attitude and the measured end attitude.
  • the target end posture and the measurement end posture can be compared, so that the attitude control error of the pan/tilt can be determined.
  • the attitude control error can be the difference between the target end attitude and the measured end attitude; or the attitude control error can also be the ratio of the measured end attitude to the target end attitude; or the attitude control error can also be (target end attitude -Measuring the ratio of the end posture of the target) to the end posture of the target; specifically, those skilled in the art can use different methods to determine the attitude control error of the PTZ according to different design requirements, which will not be repeated here.
  • S352 Determine the dual-axis control component according to the attitude control error and the terminal angular velocity.
  • determining the dual-axis control component according to the attitude control error and the terminal angular velocity in this embodiment may include:
  • the local end angular velocity can include:
  • S35211 Map the attitude control error and the end angular velocity to the joint angle space, and obtain the joint angle control error and the joint angular velocity corresponding to the first motor, the second motor, and the third motor.
  • S35213 Map the local joint angle control error and the local joint angular velocity back to the body coordinate system to obtain the local attitude control error and the local end angular velocity related to the second bracket and the third bracket.
  • the movement of the first bracket needs to be decoupled from the movement of the second bracket and the third bracket.
  • the movement of the first bracket, the movement of the second bracket and the movement of the third bracket are regarded as three-dimensional movement, the movement of the second bracket and the movement of the third bracket need to be decoupled from the three-dimensional movement.
  • the attitude control error ⁇ R and the end angular velocity ⁇ b are respectively mapped to the joint angle space to obtain the joint angle control error ⁇ e and the joint angular velocity
  • the joint angle control error ⁇ e and the joint angular velocity need to be Joint angle control error in the direction of the motor shaft of the first motor And joint angular velocity Set to zero to obtain the local joint angle control error in the axial direction of the second motor and the axial direction of the third motor And local joint angular velocity which is:
  • the structure can be regarded as a two-link structure, and the three-dimensional attitude control also becomes a two-dimensional attitude control.
  • Jacobian matrix Also reduced to two-dimensional, there is no singularity:
  • the position loop input is the attitude control error after decoupling
  • the velocity loop feedback is the body angular velocity after decoupling
  • the mapping relationship from the body coordinate system to the joint angle space is changed to a two-dimensional Jacobian inverse matrix
  • the local attitude control error and the local end angular velocity are obtained through the above method, which effectively realizes the decoupling of the movement of the first bracket, the movement of the second bracket, and the movement of the third bracket, so as to obtain the connection between the second bracket and the third bracket.
  • the local attitude control error and the local terminal angular velocity related to the support further improve the stability and reliability of the attitude control of the movement of the second support and the third support.
  • S3522 Determine the dual-axis control component according to the local attitude control error and the local end angular velocity.
  • the biaxial control component can be determined according to the local attitude control error and the local terminal angular velocity. Specifically, one possible way is to determine the local attitude control error and the local terminal angular velocity. It is a dual-axis control component; alternatively, the local attitude control error and local end angular velocity can be analyzed and processed, and the dual-axis control component can be determined according to the analysis and processing results.
  • the second support and the third support can be controlled according to the local attitude control error and the local end angular velocity.
  • the control of the second bracket and the third bracket according to the dual-axis control component at this time may include the following processes: (1) After acquiring the target end (camera) attitude R tar and measuring (fusion) end after (camera) pose R eb, can be obtained according to the target posture terminal R tar and R eb posture measuring tip attitude control error ⁇ R, then for attitude control error ⁇ R, obtain the local attitude control error Local attitude control error Input to the position loop controller C p to obtain the target end angular velocity, and map the target end angular velocity to the joint angular space through the Jacobian inverse matrix to obtain the target joint angular velocity;
  • steps S34-S35 and steps S31-S33 in this embodiment is not limited to the order shown by the serial number, that is, steps S34-S35 can also be executed before steps S31-S33. Alternatively, steps S34-S35 can also be executed simultaneously with steps S31-S33.
  • the two-axis control component (that is, the local attitude control error And local end angular velocity ), which effectively guarantees the accuracy and reliability of the acquisition of the dual-axis control component, thereby improving the stability and reliability of the control of the movement posture of the second bracket and the third bracket based on the dual-axis control component.
  • Figure 14 is a schematic flow chart of another method for controlling a pan/tilt head provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, referring to FIG. 14, after determining that the pan/tilt head is located outside the neighborhood of a singular point, in this embodiment
  • the method can also include:
  • S201 Calculate the three-axis control component according to the target end posture of the load and the measured end posture, where the three-axis control component is related to the first support, the second support, and the third support.
  • S202 Control the first support, the second support and the third support according to the three-axis control components.
  • the first bracket, the second bracket, and the third bracket can be controlled by the aforementioned three-axis attitude closed-loop controller.
  • the first bracket and the second bracket are controlled according to the three-axis control components. Controlling with the third bracket can include the following processes:
  • terminal (camera) pose R eb in access to the target terminal (the camera) pose R tar and measuring (fusion) can be obtained pose the target terminal posture R tar and measuring tip attitude R eb control error [delta] R, and will pose
  • the control error ⁇ R is input to the position loop controller C p to obtain the target end angular velocity, and the target end angular velocity is mapped to the joint angular space through the Jacobian inverse matrix to obtain the target joint angular velocity;
  • Fig. 15 is a schematic flow chart of yet another method for controlling a pan/tilt head provided by an embodiment of the present invention; on the basis of any of the above embodiments, referring to Fig. 15, the method in this embodiment may further include:
  • the state where the pan/tilt is located in the neighborhood of the singular point is called the pan/tilt in the singular point control mode
  • the state where the pan/tilt is located outside the neighborhood of the singular point is called the pan/tilt in the three-axis control mode
  • the pan/tilt can be in different control modes, and the different control modes of the pan/tilt can be switched, for example: the pan/tilt is located in the neighborhood of the singularity at the current moment, and outside the neighborhood of the singularity at the previous moment , That is, the pan/tilt is switched from the three-axis control mode at the last moment to the singular point control mode at the current moment; or, the pan/tilt is located outside the singular point neighborhood at the current moment, and is located in the singular point neighborhood at the previous moment, that is, cloud
  • the station is switched from the singular point neighborhood mode at the previous moment to the three-axis control mode at the current moment.
  • the first driving signal of the pan-tilt at the previous moment and the second driving signal at the current moment can be obtained.
  • the driving signal where the first driving signal and the second driving signal can be in any of the following forms: control torque, rotational speed signal, voltage signal, current signal, and so on.
  • S302 Determine at least one smooth transition signal according to the first driving signal and the second driving signal.
  • the determination of at least one smooth transition signal by a driving signal and a second driving signal may include:
  • obtaining the weighting coefficient corresponding to the first driving signal may include:
  • S30211 Acquire the preset switching time and the switching time for performing the switching operation.
  • the switching time is the total time required for the pan/tilt to perform the control mode switching operation, and the switching time may be specified by the user or pre-configured by the user.
  • the switching time refers to the time that the pan/tilt head performs the control mode switching operation. For example: the switching time is 5min and the switching start time is 12:00, then the switching end time 12:05 corresponding to the switching start time 12:00 can be determined according to the switching time 5min, and the switching time is the switching start time 12: Either time between 00 and the switching end time 12:05.
  • ⁇ is the weighting coefficient
  • t 0 is the switching time
  • t is the switching time
  • the weighting coefficient and the switching time meet a linear relationship, and as the switching time changes continuously, the weighting coefficient will also change.
  • the relationship between the weighting coefficient and the switching time and the switching time in this embodiment is not limited to the above-exemplified formulas, and those skilled in the art can also according to different application scenarios, different control parameters and operating conditions,
  • the correspondence between the weighting coefficient and the switching time is determined to be other linear or non-linear mapping relations, which will not be repeated here.
  • S3022 Determine at least one smooth transition signal by using the weighting coefficient, the first driving signal and the second driving signal.
  • the following formula may be used to determine at least one smooth transition signal:
  • T is the smooth transition signal
  • ⁇ is the weighting coefficient
  • T former is the first driving signal
  • T latter is the second driving signal.
  • the pan/tilt can be driven to move based on the smooth transition signal. Specifically, the pan/tilt can be adjusted from the first drive signal and the smooth transition signal to the second drive signal. It should be noted that when driving the cloud During the movement of the platform, the first drive signal and the second drive signal change in real time, and the drive signal during the switching transition period is determined by the first drive signal and the second drive signal together; During the mode switching, the movement of the pan/tilt can be smoothly transitioned, thereby ensuring the stability and reliability of the pan/tilt.
  • the smooth processing of the gimbal switching back and forth between the three-axis control mode and the singular point control mode is effectively realized, so that the gimbal has no jitter during the switching process, thus ensuring the stability and reliability of the load work. It also ensures the stability and reliability of the pan-tilt work, and further improves the practicability of the method.
  • this application embodiment provides a pan/tilt control method.
  • the pan/tilt control method can be used to control the first bracket and the second bracket when the pan/tilt is located in the neighborhood of the singular point.
  • the first motor, the second motor and the third motor controlled by the support and the third support are decoupled into a first motor and a biaxial stabilizer (including: a second motor for controlling the second support and a
  • the three-axis attitude closed-loop controller for controlling the first motor, the second motor and the third motor can also be decoupled into two controllers.
  • the first controller is a joint angle closed loop controller for controlling the first motor.
  • the joint angle closed-loop controller when using the joint angle closed-loop controller to control the first motor, it is necessary to first solve it through inverse kinematics to calculate the target joint angle corresponding to the target end posture, and then use the target joint angle of the first motor and the measurement of the angle sensor
  • the joint angle performs closed-loop control of the joint angle of the first motor.
  • the other controller is a dual-axis attitude closed-loop controller for controlling the second motor and the third motor.
  • a dual-axis attitude closed-loop controller to control the second motor and the third motor, firstly, it is necessary to separate the attitude control error and the angular velocity component in the direction of the first motor, and keep the attitude control error and angular velocity in the second motor and The component in the third motor direction.
  • the structure of the second motor and the third motor can be equivalent to a two-axis stabilizer, thereby reducing the dimension of the Jacobian matrix to two dimensions, solving the problem of the singularity of the Jacobian matrix.
  • the position loop-speed loop posture closed-loop controller of the dimension is used to control the second motor and the third motor.
  • the PTZ control method includes the following steps:
  • Step1 Perform singularity judgment for the gimbal, obtain the joint angle of the second motor on the gimbal, and judge the control mode of the gimbal according to the joint angle of the second motor.
  • step2 When the joint angle of the second motor is within the angle range corresponding to the singular point neighborhood, determine that the gimbal is in singular point control mode; if the joint angle of the second motor is not within the angle range corresponding to the singular point neighborhood , It is determined that the pan/tilt is in three-axis control mode.
  • step31 When the pan/tilt is in the three-axis control mode, the three-axis control value used to control the first, second and third supports can be obtained. According to the three-axis control value, the first motor and the second The second motor and the third motor control the first support, the second support and the third support.
  • step32 When the gimbal is in the singular point control mode, calculate the target joint angles of the three motors corresponding to the target end posture through inverse kinematics, and obtain the target joint angle of the first motor from the target joint angle; at the same time; , Decoupling the movement of the first motor from the movement of the second motor and the third motor to obtain the local attitude control error and the local terminal angular velocity for controlling the second motor and the third motor.
  • Step4 According to the target joint angle, the first bracket is driven by the first motor for closed-loop control; according to the local attitude control error and the local end angular velocity, the second motor and the third motor are used to drive the second bracket and the third bracket for closed-loop control.
  • the method in this embodiment may further include:
  • Step11 Detect whether the control mode of the pan/tilt has been switched, and when it is determined that the control mode of the pan/tilt is switched, the switching process of the control mode of the pan/tilt can be smoothly processed.
  • Controlling the gimbal through the above-mentioned gimbal control method not only expands the range of gimbal attitude control; moreover, it can ensure the stable performance of the gimbal in the neighborhood of the singularity; specifically, it can make the gimbal under different motion conditions Down (such as pushing the rocker, turning the handle and pushing where to stop, etc.), the movement decoupling is realized, and the stability and reliability of the pan/tilt and load are further improved.
  • FIG. 19 is a schematic structural diagram of a pan/tilt control device provided by an embodiment of the present invention. referring to FIG. 19, this embodiment provides a pan/tilt control device that can perform the above-mentioned pan/tilt control The method, wherein the pan-tilt at least includes a first support, a second support, and a third support for connecting a load, which are sequentially connected; specifically, the pan-tilt control device includes:
  • the detection module 11 is used to detect whether the pan-tilt is located in a preset singularity neighborhood
  • the acquiring module 12 is used to acquire the target end attitude and the measurement end attitude of the pan/tilt when the pan/tilt is located in the neighborhood of the singularity;
  • the calculation module 13 is used to calculate the single-axis control component and the dual-axis control component according to the target end attitude and the measured end attitude; wherein the single-axis control component is related to the first support, and the dual-axis control component is related to the second support and the third support ;
  • the control module 14 is used to control the first support according to the single-axis control component, and to control the second support and the third support according to the dual-axis control component.
  • the device shown in FIG. 19 can also execute the methods of the embodiments shown in FIG. 1 to FIG. 17.
  • parts that are not described in detail in this embodiment please refer to the related descriptions of the embodiments shown in FIG. 1 to FIG. 17.
  • the implementation process and technical effects of this technical solution refer to the description in the embodiment shown in FIG. 1 to FIG. 17, and will not be repeated here.
  • the structure of the pan/tilt control device shown in FIG. 19 can be implemented as an electronic device, which can be various devices such as a mobile phone, a tablet computer, and a server.
  • the electronic device may include: one or more processors 21 and one or more memories 22.
  • the memory 22 is used to store a program that supports the electronic device to execute the pan/tilt control method provided in the embodiments shown in FIG. 1 to FIG. 17.
  • the pan/tilt at least includes a first bracket, a second bracket, and a load connected in sequence.
  • the processor 21 is configured to execute a program stored in the memory 22. specific,
  • the program includes one or more computer instructions, and when one or more computer instructions are executed by the processor 21, the following steps can be implemented:
  • the single-axis control component and the dual-axis control component are calculated by measuring the end attitude; the single-axis control component is related to the first support, and the dual-axis control component is related to the second support and the third support; the first support is performed according to the single-axis control component Control and control the second bracket and the third bracket according to the dual-axis control component.
  • the structure of the pan/tilt control device may further include a communication interface 23 for the electronic device to communicate with other devices or a communication network.
  • the pan/tilt head further includes: a first motor, a second motor, and a third motor, one end of the first motor is connected to the first support, and the other end is connected to the carrier, and is used to drive the first support Rotate relative to the carrier; the second motor is arranged on the first support, and is used to drive the second support to rotate relative to the first support; the third motor is arranged on the second support , Used to drive the third bracket to rotate relative to the second bracket; when the processor 21 calculates the single-axis control component according to the target end attitude and the measured end attitude, the processor 21 may be used to execute: Motor, second motor and third motor corresponding to the first measurement joint angle, second measurement joint angle and third measurement joint angle; according to the target end posture, measurement end posture, first measurement joint angle, and second measurement joint angle And the third measuring joint angle, using Newton iterative algorithm to determine the target joint angle corresponding to the first motor; determining the target joint angle as a single-axis control component.
  • the processor 21 when the processor 21 calculates the dual-axis control component according to the target end posture and the measured end posture, the processor 21 can be used to execute: obtain the end angular velocity of the pan/tilt; determine according to the target end posture, the measured end posture and the end angular velocity Two-axis control component.
  • the processor 21 may be used to execute: determine the attitude control error of the pan/tilt according to the target end posture and the measured end posture;
  • the two-axis control component is determined according to the attitude control error and the end angular velocity.
  • the processor 21 determines the dual-axis control component according to the attitude control error and the end angular velocity
  • the processor 21 can be used to execute: for the attitude control error and the end angular velocity, removing the attitude control error and the end angular velocity and the first bracket
  • the related components generate the local attitude control error and the local end angular velocity related to the second support and the third support; the dual-axis control component is determined according to the local attitude control error and the local end angular velocity.
  • the processor 21 removes the components related to the first support from the attitude control error and the end angular velocity, and generates the local attitude control error and the local end angular velocity related to the second support and the third support.
  • the processor 21 can be used to perform: map the attitude control error and the end angular velocity into the joint angle space, and obtain the joint angle control error and the joint angular velocity corresponding to the first motor, the second motor, and the third motor; Joint angle control error and joint angular velocity, set the joint angle control error and joint angular velocity in the axial direction of the first motor to zero, and obtain the local joint angle control error in the axial direction of the second motor and the third motor.
  • the local joint angular velocity; the local joint angle control error and the local joint angular velocity are mapped back to the body coordinate system to obtain the local attitude control error and the local end angular velocity related to the second bracket and the third bracket.
  • the processor 21 may be used to execute: obtain the joint angle of the second motor; When the angle is within the range, it is determined that the pan/tilt is located in the neighborhood of the singular point; or, when the joint angle of the second motor is within the corresponding angle range outside the neighborhood of the singularity, it is determined that the pan/tilt is located outside the neighborhood of the singularity.
  • the processor 21 may be used to execute: calculate the three-axis control component according to the target end posture of the load and the measured end posture, where the three-axis control component is related to the first support, The second support is related to the third support; the first support, the second support and the third support are controlled according to the three-axis control components.
  • the processor 21 is further configured to: if the pan/tilt is located in the neighborhood of the singular point at the current moment, it is located outside the neighborhood of the singularity at the previous moment; or, if the pan/tilt is located outside the neighborhood of the singular point at the current moment, at the previous moment When located in the neighborhood of the singular point, obtain the first drive signal of the pan/tilt at the previous moment and the second drive signal at the current moment; determine at least one smooth transition signal according to the first drive signal and the second drive signal; based on the smooth transition The signal drives the pan/tilt to move.
  • the processor 21 may be used to execute: obtain a weighting coefficient corresponding to the first driving signal; use the weighting coefficient, The first drive signal and the second drive signal determine at least one smooth transition signal.
  • the processor 21 when the processor 21 obtains the weighting coefficient corresponding to the first driving signal, the processor 21 may be used to perform: obtain the preset switching time and the switching time for the switching operation; determine according to the switching time and the switching time Weighting factor.
  • the device shown in FIG. 20 can execute the method of the embodiment shown in FIG. 1 to FIG. 17.
  • parts that are not described in detail in this embodiment refer to the related description of the embodiment shown in FIG. 1 to FIG. 17.
  • the implementation process and technical effects of this technical solution refer to the description in the embodiment shown in FIG. 1 to FIG. 17, and will not be repeated here.
  • an embodiment of the present invention provides a computer-readable storage medium, the storage medium is a computer-readable storage medium, and the computer-readable storage medium stores program instructions, and the program instructions are used to implement the cloud of FIG. 1 to FIG. Station control method.
  • FIG. 21 is a schematic structural diagram of a pan/tilt provided by an embodiment of the present invention
  • FIG. 22 is a schematic structural diagram of a pan/tilt provided by an embodiment of the present invention. Referring to FIGS. 21-22, this embodiment provides A pan/tilt 100, which includes at least
  • the control device is used to control the first bracket 101, the second bracket 102 and the third bracket 103.
  • the pan/tilt head 100 in this embodiment specifically includes a bracket part for carrying a load 200, and the bracket part is used to mount the load 200 on the handheld carrier 10 to allow the above
  • the handheld carrier 10 carries the above-mentioned load 200 for operation.
  • the load 200 may be an image acquisition device (for example, a photographing device), a heat source detection device, a life detection device, and the like.
  • the bracket part of the pan/tilt head 100 may include multiple brackets. Specifically, in the illustrated embodiment, the bracket part includes a first bracket 101, a second bracket 102, and a third bracket 103 that are sequentially connected; the first bracket 101 described above. It is used to rotatably connect the handheld carrier 10 so that the handheld pan/tilt 100 can be rotatably connected to the handheld carrier 10 through the first bracket 101.
  • the pan/tilt head 100 also includes a first motor 107, a second motor 108, and a third motor 109.
  • first motor 101 is connected to the first support 101, and the other end is connected to the carrier 10 for driving the
  • the first support 101 rotates relative to the carrier 10
  • the second motor 108 is arranged on the first support 101, and is used to drive the second support 102 to rotate relative to the first support 101
  • the three motors 109 are arranged on the second support 102 and are used to drive the third support 103 to rotate relative to the second support 102.
  • the third bracket 103 is connected to the clamping portion 105, and the clamping portion 105 is used to carry the load 200; it is understood that in other embodiments, the number of brackets included in the bracket portion may be one, two, or four. Or more.
  • the processor is further configured to: obtain the first measured joint angle and the second measured joint angle corresponding to the first motor, the second motor, and the third motor, respectively. Measure the joint angle and the third measurement joint angle; according to the target end posture, the measurement end posture, the first measurement joint angle, the second measurement joint angle and the third measurement joint angle, the Newton iterative algorithm is used to determine the relationship with the first motor The corresponding target joint angle; the target joint angle is determined as the single-axis control component.
  • the aforementioned handheld carrier 10 is used for the user to hold.
  • the above-mentioned load 200 is a photographing device.
  • the photographing device may be a camera, a video camera, a mobile phone, etc. for daily photography.
  • the aforementioned photographing device may also be in other forms, such as an ultrasonic imaging device, an infrared imaging device, and so on. The user can carry out photographing operations by carrying the load 200 on the handheld platform 100.
  • the processor is further configured to: obtain the terminal angular velocity of the pan/tilt; and determine the dual-axis control component according to the target terminal posture, the measured terminal posture, and the terminal angular velocity.
  • the processor is further configured to: determine the attitude control error of the pan/tilt according to the target end attitude and the measured end attitude; and determine the dual-axis control component according to the attitude control error and the end angular velocity.
  • the processor is further configured to: for the attitude control error and the end angular velocity, remove the components related to the first support in the attitude control error and the end angular velocity, and generate a connection with the second support
  • the local attitude control error and the local end angular velocity related to the third bracket is determined according to the local attitude control error and the local end angular velocity.
  • the processor is further configured to: map the attitude control error and the end angular velocity to the joint angle space to obtain joint angle control errors corresponding to the first motor, the second motor, and the third motor And the joint angular velocity; for the joint angle control error and the joint angular velocity, the joint angle control error and the joint angular velocity in the axial direction of the first motor are set to zero to obtain the axial and the joint angular velocity of the second motor.
  • the local joint angle control error and the local joint angular velocity in the axial direction of the third motor; the local joint angle control error and the local joint angular velocity are mapped back to the body coordinate system to obtain the local related to the second bracket and the third bracket Attitude control error and local end angular velocity.
  • the processor is further configured to: obtain the joint angle of the second motor; when the joint angle of the second motor is within the angle range corresponding to the singular point neighborhood, determine that the pan/tilt is located at the singularity Point neighborhood; or, when the joint angle of the second motor is within the angle range corresponding to the singular point neighborhood, it is determined that the pan/tilt is located outside the singular point neighborhood.
  • the processor is further configured to calculate a three-axis control component according to the target end attitude and the measured end attitude of the payload, wherein the three-axis control The components are related to the first support, the second support and the third support; the first support, the second support and the third support are controlled according to the three-axis control component.
  • the processor is further configured to: if the pan/tilt is located in the neighborhood of the singularity at the current moment, it was located outside the neighborhood of the singularity at the previous moment; or, if the pan/tilt is located near the singularity at the current moment Outside the domain, when the previous moment is in the neighborhood of the singularity, the first drive signal of the pan/tilt at the previous moment and the second drive signal of the current moment are acquired; according to the first drive signal and the second drive signal
  • the driving signal determines at least one smooth transition signal; based on the smooth transition signal, the pan/tilt is driven to move.
  • the processor is further configured to: obtain a weighting coefficient corresponding to the first driving signal; and use the weighting coefficient, the first driving signal, and the second driving signal to determine at least one smooth transition signal.
  • the processor is further configured to: obtain a preset switching time and a switching time for performing a switching operation; and determine the weighting coefficient according to the switching time and the switching time.
  • pan/tilt platform control device corresponding to FIG. 20.
  • details please refer to the foregoing statement content, and will not be repeated here.
  • FIG. 23 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention. referring to FIG. 23, it can be seen that another aspect of this embodiment provides a movable platform, and the movable platform is at least one of the following: none Human aerial vehicles, unmanned ships, unmanned vehicles; specifically, the movable platform includes:
  • the power system 302 is arranged on the body 301 and is used to provide power for the movable platform;
  • the pan-tilt 303 is installed on the body 301.
  • the related detection device for example: IMU
  • the method disclosed may be implemented in other ways.
  • the embodiments of the remote control device described above are merely illustrative.
  • the division of the modules or units is only a logical function division, and there may be other divisions in actual implementation, such as multiple units or components. Can be combined or integrated into another system, or some features can be ignored or not implemented.
  • the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection through some interfaces, remote control devices or units, and may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the objectives of the solutions of the embodiments.
  • the functional units in the various embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units may be integrated into one unit.
  • the above-mentioned integrated unit can be implemented in the form of hardware or software functional unit.
  • the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer readable storage medium.
  • the technical solution of the present invention essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , Including several instructions to make a computer processor (processor) execute all or part of the steps of the method described in each embodiment of the present invention.
  • the aforementioned storage media include: U disk, mobile hard disk, Read-Only Memory (ROM), Random Access Memory (RAM, Random Access Memory), magnetic disks or optical disks and other media that can store program codes.

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Abstract

La présente invention concerne un procédé et un dispositif de commande de tête de berceau, une tête de berceau et un support de stockage, la tête de berceau comprenant au moins un premier support (101), un deuxième support (102) et un troisième support (103) utilisés pour raccorder une charge, qui sont raccordés en séquence. Le procédé de commande de tête de berceau comprend les étapes consistant : à détecter si oui ou non la tête de berceau est située dans un voisinage de point singulier prédéfini (S1) ; lorsque la tête de berceau est située dans le voisinage de point singulier, à obtenir une attitude d'extrémité cible de la tête de berceau et à mesurer l'attitude d'extrémité (S2) ; à calculer un composant de commande à axe unique et un composant de commande à deux axes selon l'attitude d'extrémité cible et l'attitude d'extrémité mesurée, le composant de commande à axe unique se rapportant au premier support et le composant de commande à deux axes se rapportant au deuxième support et au troisième support (S3) ; et à commander le premier support selon le composant de commande à axe unique et à commander le deuxième support et le troisième support selon le composant de commande à deux axes (S4).
PCT/CN2019/100433 2019-08-13 2019-08-13 Procédé et dispositif de commande de tête de berceau, tête de berceau et support de stockage WO2021026779A1 (fr)

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CN201980034068.2A CN112272806A (zh) 2019-08-13 2019-08-13 云台控制方法、装置、云台和存储介质
PCT/CN2019/100433 WO2021026779A1 (fr) 2019-08-13 2019-08-13 Procédé et dispositif de commande de tête de berceau, tête de berceau et support de stockage

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Citations (5)

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