WO2021142789A1

WO2021142789A1 - Angular velocity measurement mechanism, method and apparatus, and movable platform and storage medium

Info

Publication number: WO2021142789A1
Application number: PCT/CN2020/072826
Authority: WO
Inventors: 岳哲; 陈子寒
Original assignee: 深圳市大疆创新科技有限公司
Priority date: 2020-01-17
Filing date: 2020-01-17
Publication date: 2021-07-22
Also published as: CN112204405A

Abstract

An angular velocity measurement mechanism, comprising: a gyroscope assembly (101) provided on an object to be detected and used for measuring a first angular velocity of said object in a preset direction; a plurality of accelerometers (102) distributed at different positions of said object and used for measuring linear accelerations of said object in at least one direction at different positions; and a processor (103) communicationally connected to the gyroscope assembly (101) and the plurality of accelerometers (102) and used for determining a target angular velocity of said object in the preset direction according to the first angular velocity of said object in the preset direction and the linear accelerations of said object in at least one direction at different positions. The measurement mechanism is simple in structure, easy to realize and low in cost, and effectively reduces the noise carried by the target angular velocity. Also disclosed are an angular velocity measurement method and apparatus, and a movable platform and a storage medium.

Description

Angular velocity measuring mechanism, method, device, movable platform and storage medium

Technical field

The embodiments of the present invention relate to the technical field of data processing, and in particular, to an angular velocity measurement mechanism, method, device, movable platform, and storage medium.

Background technique

With the rapid development of science and technology, the application of mobile platforms has become more and more extensive. For example, PTZ can assist in professional shooting; drones can assist in power inspections, agricultural irrigation, and professional aerial photography. When controlling a movable platform such as a gimbal and drone, a gyroscope is usually used to measure the angular velocity of the movable platform, and then the angular velocity is provided as feedback information to the closed-loop motion control system to realize the control of the Human-machine motion control.

However, since the angular velocity output by the gyroscope often contains noise, when the closed-loop motion control system controls the movement of the gimbal and UAV based on this angular velocity, the noise of the angular velocity will directly affect the performance of the closed-loop motion control system. And, the greater the noise, the greater the control error, and the worse the control performance.

Summary of the invention

The embodiments of the present invention provide an angular velocity measurement mechanism, method, device, movable platform, and storage medium, which are used to solve the problem of noise in the acquired angular velocity in the prior art, which will increase the operation control process based on the angular velocity. The resulting error reduces the problem of control performance.

The first aspect of the present invention is to provide an angular velocity measuring mechanism, including:

The gyroscope component is arranged on the object to be detected and used to measure the first angular velocity of the object to be detected in a preset direction;

A plurality of accelerometers, distributed at different positions of the object to be detected, and used to measure the linear acceleration of the object to be detected in at least one direction at different positions;

The processor is in communication connection with the gyroscope component and a plurality of the accelerometers, and is used to obtain the first angular velocity of the object to be detected in a preset direction and at least one direction of the object to be detected in different positions According to the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions, it is determined that the object to be detected is in the preset direction The target angular velocity.

The second aspect of the present invention is to provide an angular velocity measuring mechanism, including:

The gyroscope component is set on the object to be detected;

Multiple accelerometers distributed at different positions of the object to be detected;

Wherein, the gyroscope component and a plurality of accelerometers are used to cooperate to determine the target angular velocity of the object to be detected in a preset direction.

The third aspect of the present invention is to provide an angular velocity measurement method, including:

Obtain the first angular velocity of the object to be detected in the preset direction through the gyroscope component;

Acquiring linear accelerations of the object to be detected in at least one direction at different positions by using multiple accelerometers;

The target angular velocity of the object to be detected in the preset direction is determined according to the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions.

The fourth aspect of the present invention is to provide an angular velocity measuring device, including:

Memory, used to store computer programs;

The processor is configured to run a computer program stored in the memory to realize:

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 third aspect. The angular velocity measurement method described.

The sixth aspect of the present invention is to provide a photographing device, including:

Device body

The angular velocity measuring mechanism according to the first aspect or the second aspect is mounted on the main body of the device.

The seventh aspect of the present invention is to provide a pan-tilt, including:

PTZ main body;

The photographing device according to the sixth aspect is arranged on the main body of the pan/tilt.

The eighth aspect of the present invention is to provide a photographing device, including:

Device body

The angular velocity measuring device described in the fourth aspect is mounted on the main body of the device.

The ninth aspect of the present invention is to provide a pan-tilt, including:

PTZ main body;

The photographing device described in the eighth aspect is arranged on the main body of the pan/tilt head.

The tenth aspect of the present invention is to provide a movable platform, including:

Platform subject

The angular velocity measuring mechanism according to the first aspect or the second aspect is installed on the platform main body.

The eleventh aspect of the present invention is to provide a movable platform, including:

Platform subject

The angular velocity measuring device described in the fourth aspect is installed on the main body of the platform.

In the angular velocity measurement mechanism, method, device, movable platform and storage medium provided by the embodiments of the present invention, the first angular velocity of the object to be detected in a preset direction is obtained through a gyroscope component, and the object to be detected is obtained in different directions through multiple accelerometers. The linear acceleration in at least one direction at the position, and then the first angular velocity and linear acceleration are analyzed and processed by the processor to obtain the target angular velocity of the object to be detected in the preset direction, which effectively reduces the noise carried by the target angular velocity , Thereby reducing the control error of controlling the object to be detected based on the target angular velocity, and improving the stability and accuracy of the control of the object to be detected. In addition, the angular velocity measurement mechanism is simple in structure, easy to implement, and low in cost, which further improves the practicability of the measurement mechanism.

Description of the drawings

The drawings described here are used to provide a further understanding of the application and constitute a part of the application. The exemplary embodiments and descriptions of the application are used to explain the application, and do not constitute an improper limitation of the application. In the attached picture:

Fig. 1 is a structural schematic diagram 1 of an angular velocity measuring mechanism provided by an embodiment of the present invention;

Fig. 2 is a second structural diagram of an angular velocity measuring mechanism provided by an embodiment of the present invention;

FIG. 3 is a third structural diagram of an angular velocity measurement mechanism provided by an embodiment of the present invention;

4 is a schematic diagram of the distribution of multiple accelerometers provided by an embodiment of the present invention;

5 is a schematic flowchart of an angular velocity measurement method provided by an embodiment of the present invention;

Fig. 6 is the determination of the object to be detected according to the first angular velocity of the object to be detected in a preset direction and the linear acceleration of the object to be detected in at least one direction at different positions provided in the embodiment of Fig. 5 Schematic diagram of the flow of the target angular velocity in the preset direction;

FIG. 7 is a schematic flowchart of determining the angular acceleration of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions provided in the embodiment of FIG. 6;

FIG. 8 is a schematic flowchart of another angular velocity measurement method provided by an embodiment of the present invention;

FIG. 9 is a process of determining the target angular velocity of the object to be detected in the preset direction according to the first angular velocity and the angular acceleration of the object to be detected in the preset direction provided by the embodiment of FIG. 6 Schematic diagram

FIG. 10 is a schematic flowchart of yet another method for measuring angular velocity according to an embodiment of the present invention;

11 is a schematic flowchart of an angular velocity measurement method provided by an application embodiment of the present invention;

FIG. 12 is a schematic structural diagram of an angular velocity measurement device provided by an embodiment of the present invention;

FIG. 13 is a schematic structural diagram of a photographing device provided by an embodiment of the present invention;

FIG. 14 is a schematic structural diagram of a pan-tilt according to an embodiment of the present invention;

FIG. 15 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention.

Detailed ways

In order to make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work shall fall within the protection scope of the present invention.

Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the technical field of the present invention. The terms used in the specification of the present invention herein are only for the purpose of describing specific embodiments, and are not intended to limit the present invention.

In order to facilitate the understanding of the technical solutions in this embodiment, the related art will be described below:

In the motion control of movable platforms such as unmanned aerial vehicles, unmanned vehicles, unmanned ships, and mobile robots, or in the control of the PTZ mounted on the movable platform (the PTZ is used to support the load, To achieve the effect of stabilization), it is usually necessary to use a gyroscope to measure the angular velocity of a movable platform or pan/tilt, and then provide the angular velocity as feedback information to the closed-loop motion control system to achieve motion control of the UAV or pan/tilt. However, since the angular velocity output by the gyroscope often contains noise, when the closed-loop motion control system controls the motion of the drone or gimbal based on the angular velocity, the angular velocity noise will directly affect the performance of the closed-loop motion control system, and, The greater the noise, the greater the control error and the worse the control performance. In order to solve the above technical problems, it is necessary to use a sensor with less noise. However, the cost of such a sensor is often higher and the volume is larger, which is not conducive to the arrangement or structural design of the sensor.

Fig. 1 is a structural schematic diagram 1 of an angular velocity measuring mechanism provided by an embodiment of the present invention; referring to Fig. 1, this embodiment provides an angular velocity measuring mechanism 100, which can greatly reduce the measured angular velocity The noise, thereby improving the accuracy of angular velocity measurement. Specifically, the measurement mechanism 100 may include:

The gyroscope assembly 101 is arranged on the object to be detected, and is used to measure the first angular velocity of the object to be detected in a preset direction;

A plurality of accelerometers 102 are distributed at different positions of the object to be detected, and are used to measure the linear acceleration of the object to be detected in at least one direction at different positions;

The processor 103 is in communication connection with the gyroscope assembly 101 and the multiple accelerometers 102, and is used to obtain the first angular velocity of the object to be detected in a preset direction and the linear acceleration of the object to be detected in at least one direction at different positions, The target angular velocity of the object to be detected in the preset direction is determined according to the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions.

Among them, the object to be detected can refer to any device that needs to detect angular velocity. This embodiment does not limit the specific shape structure and structure type of the object to be detected. Those skilled in the art can perform the detection of the object to be detected according to specific application scenarios and application requirements. Setting, for example, the object to be detected may refer to a camera, a camera set on a pan/tilt, a pan/tilt, a drone, an unmanned vehicle, an unmanned boat, etc.

After the object to be detected is determined, the first angular velocity of the object to be detected in a preset direction can be measured by the gyroscope assembly 101 arranged on the object to be detected, where the preset direction includes at least one of the following: a preset X axis Direction, preset Y-axis direction, preset Z-axis direction. In specific implementation, after determining the object to be detected, a preset coordinate system can be established based on the object to be detected, and the preset coordinate system can include a preset X-axis direction, a preset Y-axis direction, and a preset Z-axis direction . Then, the first angular velocity of the object to be detected in the preset direction can be detected by the gyroscope component 101 arranged on the object to be detected. It can be understood that this embodiment does not limit the specific shape and structure of the gyroscope assembly 101, and those skilled in the art can set the specific structure of the gyroscope assembly 101 according to specific application requirements and design requirements, and the obtained The number of the first angular velocity can be one or more. For example, only the first angular velocity of the object to be detected in the preset X-axis direction can be measured; or, the object to be detected can also be measured in the preset X-axis direction. And the first angular velocity in the Y-axis direction and so on.

In some examples, as shown in FIG. 2, when the preset direction includes three measurement directions (that is, the preset X-axis direction, the preset Y-axis direction, and the preset Z-axis direction), the gyroscope assembly 101 It can be a three-axis gyroscope 101a. At this time, the three-axis gyroscope 101a can detect the first angular velocity of the object to be detected in the three measurement directions, including the first angular velocity in the preset X-axis direction and the first angular velocity in the preset X-axis direction. The first angular velocity in the Y-axis direction and the first angular velocity in the preset Z-axis direction.

In other examples, as shown in FIG. 3, when the preset direction includes three measurement directions, the gyroscope assembly 101 may also include three single-axis gyroscopes 101b, and each single-axis gyroscope 101b is used to obtain one measurement. The first angular velocity in the direction. For example, the gyroscope assembly 101 disposed on the object to be detected includes a single-axis gyroscope A, a single-axis gyroscope B, and a single-axis gyroscope C, where the single-axis gyroscope A can detect that the object to be detected is in a preset The first angular velocity in the X-axis direction, the single-axis gyroscope B can detect the first angular velocity of the object to be detected in the preset Y-axis direction, and the single-axis gyroscope C can detect the object to be detected in the preset Z-axis direction The first angular velocity.

Further, when the gyroscope assembly 101 includes three single-axis gyroscopes 101b, in order to ensure the consistency and accuracy of detecting the first angular velocity at the same position by the gyroscope assembly 101, the three single-axis gyroscopes 101b The distance between any two single-axis gyroscopes 101b is less than the preset threshold. It is simply understood that the three single-axis gyroscopes 101b can be located at the same position of the object to be detected as much as possible.

In other examples, when the preset direction includes one or two measurement directions, the gyroscope assembly 101 may also be a three-axis gyroscope 101a. At this time, the three-axis gyroscope 101a can detect the object to be detected in three measurement directions. The first angular velocity on the first angular velocity includes the first angular velocity in the preset X-axis direction, the first angular velocity in the preset Y-axis direction, and the first angular velocity in the preset Z-axis direction. Select the first angular velocity that needs data processing among the three measured first angular velocities. Alternatively, when the preset direction includes one or two measurement directions, the gyroscope assembly 101 may also be one or two single-axis gyroscopes 101b, and each single-axis gyroscope 101b is used to obtain the first angular velocity in one measurement direction. ; So as to effectively realize the accurate measurement of the first angular velocity.

In addition, this embodiment does not limit the specific number of multiple accelerometers 102, and those skilled in the art can set it according to specific application requirements and design requirements. As shown in Figures 1 to 3, multiple accelerometers 102 can be There are three. Of course, the number of accelerometers 102 is not limited to the number defined in the figure, and it can also be four, five, six, seven, eight, nine, and so on. Multiple accelerometers 102 can be distributed at different positions of the object to be detected, so as to measure the linear acceleration of the object to be detected in at least one direction at different positions. That is, multiple accelerometers 102 can measure the object to be detected in different positions. The linear acceleration in one direction or more than one direction at the location. Wherein, the at least one direction includes at least one of the following: a preset X-axis direction, a preset Y-axis direction, and a preset Z-axis direction.

For example, when at least one direction includes the preset X-axis direction, the multiple accelerometers 102 may measure the linear acceleration of the object to be detected in the preset X-axis direction at different positions; including the preset X-axis direction in at least one direction. In the X-axis direction and the Y-axis direction, the multiple accelerometers 102 can measure the linear acceleration of the object to be detected in the preset X-axis direction and the preset Y-axis direction at different positions; at least one direction includes the preset X-axis direction and the preset Y-axis direction. When the X-axis direction, the preset Y-axis direction and the preset Z-axis direction are set, multiple accelerometers 102 can measure the preset X-axis direction and the preset Y-axis direction at different positions of the object to be detected. And the preset linear acceleration in the Z-axis direction.

In addition, this embodiment does not limit the specific structure, number, and location of the multiple accelerometers 102, and those skilled in the art can set them according to specific application requirements and design requirements. In some examples, the accelerometer 102 may include Three-axis accelerometer 102, the number of three-axis accelerometer 102 is three, and the three three-axis accelerometer 102 can be set at three different positions, used to measure at least the object to be detected at three different positions Linear acceleration in one direction.

As shown in Figure 4, three different positions including position A, position B, and position C are taken as examples for description. It can be understood that the above position A, position B, and position C are not limited to those identified in the above figure. Location, those skilled in the art can also set location A, location B, and location C in other locations according to specific application requirements and design requirements.

When three different positions include position A, position B, and position C, a three-axis accelerometer 102 can be set at each of the above-mentioned positions. At this time, the number of three-axis accelerometer 102 is three, so that The linear acceleration of the object to be detected in at least one direction at position A, position B, and position C is measured.

In other examples, in order to ensure the stability and reliability of linear acceleration measurement, when multiple accelerometers 102 are arranged, the positions of the multiple accelerometers 102 may form a preset plane. In addition, the locations of multiple accelerometers 102 may form an isosceles triangle, or the locations of multiple accelerometers 102 may also form an equilateral triangle. Further, in the coordinate system of the object to be detected, the preset plane and the coordinate plane in the coordinate system are parallel or perpendicular to each other.

Specifically, taking the object to be detected as the photographing device as an example, a preset coordinate system can be established based on the photographing device, where the direction parallel or coincident with the optical axis can be the X-axis direction, and the direction parallel to the X-axis direction to the left can be The Y-axis direction and the vertical upward direction may be the Z-axis direction, and the position of the preset origin in the coordinate system may be changed as long as the above relationship is met.

Further, when the multiple accelerometers 102 are three three-axis accelerometers 102, the three three-axis accelerometers 102 can be arranged at three different positions on the camera, and the three different positions can be the shell of the camera. Three different positions on the body, as shown in Fig. 4, in the preset coordinate system XYZ, the position A, the position B and the position C where the three three-axis accelerometers 102 are located constitute a preset plane P, in which, Position A, position B, and position C can form an isosceles triangle or an equilateral triangle, and the aforementioned preset plane P can be parallel to the XY plane in the coordinate system, or it can also be considered that the preset plane P and the coordinates The XZ planes in the system are perpendicular to each other. Through the three-axis accelerometer 102 of the above layout, not only the linear acceleration in at least one direction at position A, position B, and position C can be accurately obtained, but also the analysis and processing based on the obtained linear acceleration can be facilitated, thereby improving The quality and efficiency of obtaining the target angular velocity are improved.

In still other examples, the accelerometer 102 may also include a single-axis accelerometer 102. The number of single-axis accelerometers 102 is nine. The nine single-axis accelerometers 102 can also be set at three different positions for measurement. The linear acceleration of the object to be detected in at least one direction at three different positions. Further, every three single-axis accelerometers 102 can be set at the same position, and the positions of the nine single-axis accelerometers 102 form a preset plane.

Similarly, taking the object to be detected as a photographing device as an example, when the multiple accelerometers 102 include nine single-axis accelerometers 102, the nine single-axis accelerometers 102 can be set at three different positions on the photographing device. The three different positions can be three different positions on the housing of the camera. As shown in FIG. 4, position A, position B, and position C where the nine three-axis accelerometers 102 are located constitute a preset plane P, where , Three single-axis accelerometers 102 can be set at position A, and each single-axis accelerometer 102 can measure the linear acceleration of the object to be detected in one direction; similarly, three single-axis accelerometers can be set at position B 102, each single-axis accelerometer 102 can measure the linear acceleration of the object to be detected in one direction; three single-axis accelerometers 102 can be set at position C, and each single-axis accelerometer 102 can measure the object to be detected in one direction The linear acceleration on the surface. It should be noted that when three single-axis accelerometers 102 are set at the same position, the distance between any two single-axis accelerometers 102 among the three single-axis accelerometers 102 is less than the preset threshold, so that the three single-axis accelerometers 102 The axial accelerometer 102 can be located at the same position of the object to be detected as much as possible, thereby improving the accuracy and precision of acquiring the linear acceleration.

It should be noted that the positions set by the multiple accelerometers 102 are not limited to the three positions listed above, and may also be other positions. For example, multiple accelerometers 102 may be set on the object to be detected. 4 positions, 5 positions or 6 positions, etc., those skilled in the art can set according to specific application requirements and design requirements, as long as the positions of multiple accelerometers 102 can be ensured to form a regular shape as much as possible (for example: Square, rectangle, regular pentagon, regular hexagon, etc.), so as to analyze and process the linear acceleration obtained by the accelerometer 102.

Further, after obtaining the first angular velocity of the object to be detected in the preset direction through the gyroscope component 101 and the multiple accelerometers 102 obtaining the linear acceleration of the object to be detected in at least one direction at different positions, the processor 103 The first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions can be acquired, and then the above-mentioned first angular velocity and linear acceleration can be analyzed and processed to determine the object to be detected. The target angular velocity of the object in the preset direction is detected, thereby effectively reducing the noise of the target angular velocity, thereby improving the accuracy and reliability of the target angular velocity acquisition. It should be noted that the preset direction in which the obtained target angular velocity is located is different or partially different from at least one direction in which the linear acceleration is located and the preset direction in which the first angular velocity is located.

In other examples, the gyroscope assembly 101 and the multiple accelerometers 102 included in the angular velocity measurement mechanism 100 in the foregoing embodiment may be replaced by three inertial measurement units (IMUs). Specifically, the angular velocity measurement The mechanism 100 may include three IMUs and a processor 103, wherein the three IMUs are respectively connected to the processor 103 in communication, each IMU may include three single-axis accelerometers and three single-axis gyroscopes, and three IMUs It can be set at three different positions of the object to be detected to realize the measurement of the first angular velocity of the object to be detected in the preset direction by the single-axis gyroscope included in the IMU, and the single-axis accelerometer included in the IMU to measure the first angular velocity of the object to be detected. The linear acceleration of the object in at least one direction at different positions is detected. In specific applications, those skilled in the art can choose angular velocity measurement mechanisms 100 of different structures according to specific application requirements, as long as the angular velocity measurement mechanism 100 can ensure that the angular velocity measurement mechanism 100 can stably and effectively achieve angular velocity measurement, which will not be repeated here.

The angular velocity measurement mechanism 100 provided in this embodiment obtains the first angular velocity of the object to be detected in a preset direction through the gyroscope assembly 101, and obtains the line of the object to be detected in at least one direction at different positions through a plurality of accelerometers 102 Then, the processor 103 analyzes and processes the first angular velocity and linear acceleration to obtain the target angular velocity of the object to be detected in the preset direction, which effectively reduces the noise carried by the target angular velocity, thereby reducing the processing based on the target angular velocity. The control error in the control of the object to be detected improves the stability and accuracy of the control of the object to be detected. In addition, the angular velocity measuring mechanism 100 is simple in structure, easy to implement, and low in cost, which further improves the practicability of the measuring mechanism 100.

On the basis of the foregoing embodiment, with continued reference to FIGS. 1-4, in the processor 103 according to the first angular velocity of the object to be detected in a preset direction and the line of the object to be detected in at least one direction at different positions Acceleration, when determining the target angular velocity of the object to be detected in the preset direction, the processor 103 is specifically configured to:

Determine the angular acceleration of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions;

According to the first angular velocity and angular acceleration of the object to be detected in the preset direction, the target angular velocity of the object to be detected in the preset direction is determined.

Wherein, after the processor 103 obtains the linear acceleration of the object to be detected in at least one direction at different positions, the linear acceleration can be analyzed and processed, so that the angular acceleration of the object to be detected in the preset direction can be determined. Specifically, when the processor 103 determines the target angular velocity of the object to be detected in the preset direction according to the first angular velocity and angular acceleration of the object to be detected in the preset direction, the processor 103 is specifically configured to:

Acquire the linear acceleration of the preset origin in at least one direction in the coordinate system of the object to be detected;

Determine the first distance between the different positions where the multiple accelerometers 102 are located;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the first distance, determine the object to be detected The angular acceleration of the object in a preset direction.

Specifically, after the object to be detected is determined, a coordinate system can be established based on the object to be detected, the coordinate system includes a preset origin, and the post-processor 103 can obtain the linear acceleration of the preset origin in at least one direction. It can be understood that the above at least one direction may include at least one of the following: a preset X-axis direction, a preset Y-axis direction, and a preset Z-axis direction, and the other preset directions are other coordinate axes that are different from at least one direction. direction. For example, when at least one direction includes the preset X-axis direction, other preset directions include the preset Y-axis direction and the preset Z-axis direction; at least one direction includes the preset X-axis direction and the preset Z-axis direction When, the other preset directions include the preset Y-axis direction.

In addition, in the coordinate system of the object to be detected, different positions where multiple accelerometers 102 are located can be identified, and then the first distance between the different positions can be determined. For example, when multiple accelerometers 102 are set at position A, position B, and position C in the coordinate system, the processor 103 may obtain the first distance between position A and position B, and position A and position C. The first distance between the first distance, the first distance between the position B and the position C.

After acquiring the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the first distance, The linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the first distance can be analyzed and identified, To determine the angular acceleration of the object to be detected in the preset direction.

For example, the preset direction includes the Y-axis direction; other preset directions include the X-axis direction and the Z-axis direction, and at least one direction includes the Z-axis direction; The first position and the second position set in the negative direction of the X-axis; at this time, the processor 103 according to the linear acceleration of the object to be detected in at least one direction at different positions, and the position of the object to be detected in other preset directions When the first angular velocity, the linear acceleration of the preset origin in at least one direction and the first distance determine the angular acceleration of the object to be detected in the preset direction, the processor 103 is specifically configured to:

According to the linear acceleration of the object to be detected in the Z-axis direction at the first position, the linear acceleration of the object to be detected in the Z-axis direction at the second position, the first distance between the second position and the first position, and the Detect the first angular velocity of the object in the X-axis direction and the Z-axis direction, and determine the angular acceleration of the object to be detected in the Y-axis direction.

Specifically, taking the first position as position A, the second position as position B, and the third position as position C as an example, as shown in FIG. 4, the following can be obtained through the gyroscope assembly 101 and multiple accelerometers 102: The linear acceleration a _{Az of the} object to be detected in the Z-axis direction at position A, the linear acceleration a _{Bz of the} _{object to be detected in the Z-axis direction at position B, and the first angular velocity w X of the} object to be detected in the X-axis direction _{, The first angular velocity w Z of the} object to be detected in the Z-axis direction _{, and then the first distance L AB} between the position B and the position A can be determined, and then, the processor 103 can calculate the linear acceleration a _Az and the linear acceleration a _Bz , the first distance L _AB , the first angular velocity w _X and the first angular velocity w _Z are processed to determine the angular acceleration of the object to be detected in the Y-axis direction

specific,

In this embodiment, the processor 103 determines the first distance between the different positions where the multiple accelerometers 102 are located by acquiring the linear acceleration of the preset origin in at least one direction, and then determines the first distance between the different positions of the multiple accelerometers 102 according to the at least The linear acceleration in one direction, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the first distance to determine the angular acceleration of the object to be detected in the preset direction, This effectively guarantees the accuracy and reliability of acquiring the angular acceleration of the object to be detected in the preset direction, and further improves the accuracy of determining the target angular velocity based on the angular acceleration.

On the basis of the foregoing embodiment, with continued reference to FIGS. 1-4, another way to determine the angular acceleration of the object to be detected in the preset direction is to obtain the linear acceleration of the preset origin in at least one direction. After that, the processor 103 is also used for:

Determine the second distance between the different positions where the multiple accelerometers 102 are located and the preset origin;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the second distance, determine the object to be detected The angular acceleration of the object in a preset direction.

Specifically, after the object to be detected is determined, a coordinate system can be established based on the object to be detected. The coordinate system includes a preset origin. In the coordinate system of the object to be detected, different positions where multiple accelerometers 102 are located can be identified. Then the second distance between the different position and the preset origin is determined. For example, when the preset origin is position O, and multiple accelerometers 102 are set at positions A, B, and C in the coordinate system, the processor 103 can obtain the second position between position A and position O. Distance, second distance between position B and position 0, second distance between position C and position O.

After acquiring the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the second distance, The linear acceleration of the detection object in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the second distance can be analyzed and identified, To determine the angular acceleration of the object to be detected in the preset direction.

In some examples, the preset direction includes the X-axis direction; the other preset directions include the Y-axis direction and the Z-axis direction, and at least one direction includes the Z-axis direction; the different positions of the multiple accelerometers 102 include the Y-axis direction. The third position; at this time, the processor 103 according to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, and the preset origin in at least one direction When determining the angular acceleration of the object to be detected in the preset direction, the processor 103 is specifically configured to:

According to the linear acceleration in the Z-axis direction of the object to be detected at the third position, the linear acceleration in the Z-axis direction of the preset origin, the second distance between the third position and the preset origin, and the object to be detected in Y The first angular velocity in the axial direction and the Z-axis direction determines the angular acceleration of the object to be detected in the X-axis direction.

Specifically, continuing to refer to FIG. 4, the gyroscope assembly 101 and the multiple accelerometers 102 can obtain: the linear acceleration a _{Cz of the} object to be detected in the Z-axis direction at the position C, and the object to be detected at the position O The linear acceleration a _Oz _{in the Z-axis direction at, the first angular velocity w Y of the} object to be detected in the Y-axis direction, the first angular _{velocity w z of the} object to be detected in the Z-axis direction, and then the position C and the position O can be determined L _OC distance between the second, after the processor 103 of the above-described linear acceleration can be a _Cz, linear acceleration a _Oz, L _OC second distance, the first angular velocity and the first angular velocity w _Y w _Z processed to determine Angular acceleration of the object to be detected in the X-axis direction

specific,

In other examples, the preset direction includes the Z-axis direction; other preset directions include the X-axis direction and the Y-axis direction, and at least one direction includes the X-axis direction; and the different positions where the multiple accelerometers 102 are located include the Y-axis direction. At this time, the processor 103 is based on the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, and the preset origin is at least one When the linear acceleration in the direction and the second distance determine the angular acceleration of the object to be detected in the preset direction, the processor 103 is specifically configured to:

According to the linear acceleration of the object to be detected in the X-axis direction at the preset origin, the linear acceleration of the object to be detected in the X-axis direction at the third position, the second distance between the third position and the preset origin, and the Detect the first angular velocity of the object in the X-axis direction and the Y-axis direction, and determine the angular acceleration of the object to be detected in the Z-axis direction.

Specifically, continuing to refer to FIG. 4, the gyroscope assembly 101 and multiple accelerometers 102 can obtain: the linear acceleration a _{Ox of the} object to be detected in the X-axis direction at position O, and the object to be detected at position C line X-axis direction at the acceleration a _Cx, the object to be detected in the Y-axis direction _Y W first angular velocity, the angular velocity W of the first object to be detected in the _X-X axis direction, and position C can then be determined position O the distance between the second L _OC, then, processor 103 may be the above-described linear acceleration of a _Ox, linear acceleration a _Cx, L _OC second distance, the first angular velocity and the first angular velocity w _Y w _X processed to determine Angular acceleration of the object to be detected in the X-axis direction

specific,

It should be noted that the above-defined X-axis direction, Y-axis direction, Z-axis direction, position A, position B, and position C are only for the convenience of describing the implementation process of this embodiment. In specific implementation, the X-axis direction, Y-axis direction, and Y-axis direction The axis direction and the Z axis direction may not be based on the coordinate direction established by the object to be detected, but may also be other directions. Similarly, the positions of position A, position B, and position C may not be limited to being on the coordinate axis. The point can also be other position points in the coordinate system, but for position A, position B, and position C, when the positions of position A, position B, and position C are limited to be on the coordinate axis, it can be conveniently based on The angular velocity is measured and calculated for the positions of position A, position B and position C.

In this embodiment, the second distance between the different positions of the multiple accelerometers 102 and the preset origin is determined; and according to the linear acceleration of the object to be detected in at least one direction at different positions, the object to be detected is in other directions. The first angular velocity in the preset direction, the linear acceleration of the preset origin in at least one direction, and the second distance are used to determine the angular acceleration of the object to be detected in the preset direction. The angular acceleration of the object in the preset direction is detected, and the accuracy and reliability of the acquisition of the angular acceleration can be ensured, which further improves the flexibility and reliability of the measurement mechanism 100 in use.

On the basis of the foregoing embodiment, with continued reference to FIGS. 1-4, when the processor 103 obtains the linear acceleration of the preset origin in at least one direction, this embodiment does not limit the specific method of obtaining the linear acceleration. Those skilled in the art can make settings according to specific application requirements and design requirements. Preferably, when the processor 103 obtains the linear acceleration of the preset origin in at least one direction, the processor 103 is specifically configured to: The distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions determine the linear acceleration of the preset origin in at least one direction.

In some examples, at least one direction includes the X-axis direction; the different positions where the multiple accelerometers 102 are located may include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis; in this case, When the processor 103 determines the linear acceleration of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, the processor 103 specifically uses于: According to the linear acceleration of the object to be detected in the X-axis direction at the first position and the second position, the second distance between the second position and the preset origin, and the first position between the first position and the preset origin The second distance and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the X-axis direction.

Specifically, taking the first position as position A, the second position as position B, and the third position as position C as an example, as shown in FIG. 4, multiple accelerometers 102 can obtain: The linear acceleration a _Bx _{in the X-axis direction at B, the linear acceleration a Ax} in the X-axis direction of the object to be detected at position A _{, and then the second distance L OA} and position B between position A and position O can be determined _{The second distance L BO} between the position O and the position O _{, and the first distance L AB} between the position B and the position A. After that, the processor 103 can calculate the linear acceleration a _Bx , the linear acceleration a _Ax , and the first distance L _AB. , The second distance L _OA and the second distance L _BO are processed to determine the linear acceleration a _{Ox of the} preset origin in the X-axis direction, specifically, a _Ox =(a _Bx L _OA +a _Ax L _BO )/L _AB .

In other examples, at least one direction includes the Z-axis direction; the different positions where the multiple accelerometers 102 are located include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis; in this case, When the processor 103 determines the linear acceleration of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, the processor 103 specifically uses于: According to the linear acceleration of the object to be detected in the Z-axis direction at the first position and the second position, the second distance between the second position and the preset origin, the first position between the first position and the preset origin The second distance and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the Z-axis direction.

Specifically, continuing to refer to FIG. 4, multiple accelerometers 102 can be used to obtain: the linear acceleration a _{Bz of the} object to be detected in the Z-axis direction at position B, and the Z-axis direction of the object to be detected at position A. line acceleration on a _Az, then _OA may determine the second distance L between positions a and O, the distance L between the first second distance L _BO between the position B and the position O, position B and the position a _AB , and then, the processor 103 can process the aforementioned linear acceleration a _Bz , linear acceleration a _Az , the first distance L _AB , the second distance L _OA and the second distance L _BO to determine that the preset origin is in the Z-axis direction The linear acceleration a _{Oz on} , specifically, a _Oz =(a _Bz L _OA +a _Az L _BO )/L _AB .

In this embodiment, the linear acceleration of the preset origin in at least one direction is determined according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, thereby realizing the linear acceleration of the object to be detected in at least one direction. The accuracy and reliability of obtaining the linear acceleration in at least one direction at the preset origin further improves the accuracy of measuring the angular velocity.

On the basis of the foregoing embodiment, with continued reference to FIGS. 1-4, after the processor 103 obtains the first angular velocity and angular acceleration, the first angular velocity and angular acceleration can be analyzed and processed. Specifically, this embodiment The specific implementation of the analysis and processing of the first angular velocity and angular acceleration is not limited. Those skilled in the art can set it according to specific application requirements and design requirements. Preferably, the processor 103 presets according to the object to be detected. When the first angular velocity and angular acceleration in the direction determine the target angular velocity of the object to be detected in the preset direction, the processor 103 in this embodiment is specifically configured to:

High-pass filtering is performed on the angular acceleration of the object to be detected in the preset direction, and the filtered angular acceleration is integrated to obtain the second angular velocity of the object to be detected in the preset direction;

Performing low-pass filtering on the first angular velocity of the object to be detected in the preset direction to obtain the third angular velocity of the object to be detected in the preset direction;

The sum of the second angular velocity and the third angular velocity is determined as the target angular velocity of the object to be detected in the preset direction.

Wherein, the cut-off frequency of performing high-pass filtering on all angular accelerations is the same as the cut-off frequency of performing low-pass filtering on all first angular velocities. Specifically, the angular acceleration of the object to be detected in the preset direction is obtained by multiple accelerometers 102. At this time, the high-frequency part of the obtained angular acceleration is the effective data part. After the angular acceleration is obtained, the The angular acceleration is subjected to high-pass filtering, that is, the low-frequency part of the angular acceleration is filtered out, and then the filtered angular acceleration can be integrated, so that the second angular velocity of the object to be detected in the preset direction can be obtained.

Similarly, the first angular velocity of the object to be detected in the preset direction is obtained by the gyroscope component 101. At this time, the low-frequency part of the obtained first angular velocity is the effective data part. Therefore, after the first angular velocity is acquired, the first angular velocity can be low-pass filtered, that is, the high frequency part of the first angular velocity is filtered out, so that the third angular velocity of the object to be detected in the preset direction can be obtained.

After the second angular velocity and the third angular velocity are obtained, the sum of the second angular velocity and the third angular velocity can be determined as the target angular velocity of the object to be detected in the preset direction, because the target angular velocity is fused with the high-frequency filtering The second angular velocity and the third angular velocity after low-frequency filtering effectively reduce the noise information carried by the target angular velocity, thereby improving the accuracy and reliability of the acquisition of the target angular velocity.

For example, the angular acceleration of the object to be detected in the preset direction is a0, the first angular velocity of the object to be detected in the preset direction is W1, and the cutoff frequency for high-pass filtering of all angular accelerations is the same as that of all first angular accelerations. The cut-off frequency for low-pass filtering of the angular velocity is f. At this time, after the angular acceleration a0 is obtained, the high-pass filter with the above cut-off frequency can be used to perform high-pass filtering on the angular acceleration a0, so that the filtered angular acceleration can be obtained as a1 Then, the angular acceleration a1 can be integrated within a preset time period, so that the second angular velocity W2 of the object to be detected in the preset direction can be obtained. Similarly, after the first angular velocity W1 is obtained, the first angular velocity W1 can be low-pass filtered by the low-pass filter with the cut-off frequency, so that the third angular velocity W3 can be obtained, and then the second angular velocity and the third angular velocity can be combined. The sum value of is determined as the target angular velocity, that is, W=W2+W3, which effectively realizes that the target angular velocity can be accurately and effectively obtained, thereby improving the practicability of the measuring mechanism 100.

On the basis of the above-mentioned embodiment, referring to Figs. 1-4, when the object to be detected is a photographing device set on a pan-tilt and a driving motor is set on the pan-tilt, the processor 103 in this embodiment may also Used for:

Determine the control parameters corresponding to the drive motor according to the target angular velocity;

The driving motor is controlled according to the control parameters to realize the adjustment of the attitude of the pan/tilt.

Specifically, after the target angular velocity is acquired, the target angular velocity can be input into the preset closed-loop motion control system, so that the control parameters corresponding to the drive motor can be obtained, and then the drive motor on the pan/tilt can be controlled based on the control parameters. The control can further realize the adjustment of the pose of the pan/tilt through the drive motor, so as to adjust the pose of the camera, which can effectively ensure the stable and reliable operation of the camera installed on the pan/tilt.

In addition, this embodiment provides yet another angular velocity measurement mechanism, which can greatly reduce the noise of the measured angular velocity, thereby improving the accuracy of angular velocity measurement. Specifically, the measurement mechanism may include:

The gyroscope component is set on the object to be detected;

Multiple accelerometers, distributed in different positions of the object to be detected;

Wherein, the gyroscope component and multiple accelerometers are used to cooperate to determine the target angular velocity of the object to be detected in the preset direction.

In some examples, the gyroscope component is a three-axis gyroscope.

In some examples, the gyroscope assembly includes three single-axis gyroscopes, and the distance between any two single-axis gyroscopes among the three single-axis gyroscopes is less than a preset threshold.

In some examples, the accelerometer includes a three-axis accelerometer, the number of the three-axis accelerometer is three, and the three three-axis accelerometers are arranged at three different positions.

In some examples, the positions of the three three-axis accelerometers form a preset plane.

In some examples, the accelerometer includes a single-axis accelerometer, the number of single-axis accelerometers is nine, nine single-axis accelerometers are arranged at three different positions, and every three single-axis accelerometers are arranged at the same position.

In some examples, every three single-axis accelerometers are arranged at the same position, and the positions of the nine single-axis accelerometers form a preset plane.

In some examples, in the coordinate system of the object to be detected, the preset plane and the coordinate plane in the coordinate system are parallel or perpendicular to each other.

In some examples, the positions of multiple accelerometers form an isosceles triangle.

The specific structure, implementation principle, and implementation effect of the measurement mechanism in this embodiment are the same as the specific structure, implementation principle, and implementation effect of the measurement mechanism in the embodiment shown in FIGS. 1 to 4, and the parts that are not described in detail in this embodiment are Reference may be made to the related descriptions of the embodiments shown in FIG. 1 to FIG. 4, which are not repeated here.

Fig. 5 is a schematic flow chart 1 of an angular velocity measurement method provided by an embodiment of the present invention; referring to Fig. 5, this embodiment provides an angular velocity measurement method. The execution subject of the method may be an angular velocity measurement device. The measuring device can be implemented as software or a combination of software and hardware. In a specific application, the angular velocity measuring device can be a processor. Specifically, the method may include:

Step S501: Obtain the first angular velocity of the object to be detected in the preset direction through the gyroscope component;

Step S502: Obtain the linear acceleration of the object to be detected in at least one direction at different positions through multiple accelerometers;

Step S503: Determine the target angular velocity of the object to be detected in the preset direction according to the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions.

After the object to be detected is determined, the first angular velocity of the object to be detected in a preset direction can be measured by a gyroscope component arranged on the object to be detected, where the preset direction includes at least one of the following: a preset X-axis direction , The preset Y-axis direction, the preset Z-axis direction. In specific implementation, after determining the object to be detected, a preset coordinate system can be established based on the object to be detected, and the preset coordinate system can include a preset X-axis direction, a preset Y-axis direction, and a preset Z-axis direction . Then, the first angular velocity of the object to be detected in the preset direction can be detected by the gyroscope component arranged on the object to be detected. It is understandable that this embodiment does not limit the specific shape and structure of the gyroscope assembly 101, and those skilled in the art can set the specific structure of the gyroscope assembly according to specific application requirements and design requirements, and the obtained first The number of an angular velocity can be one or more. For example, only the first angular velocity of the object to be detected in the preset X-axis direction can be measured; or, the object to be detected can also be measured in the preset X-axis direction and The first angular velocity in the Y-axis direction and so on.

In some examples, as shown in FIG. 2, when the preset direction includes three measurement directions (that is, the preset X-axis direction, the preset Y-axis direction, and the preset Z-axis direction), the gyroscope component may It is a three-axis gyroscope. At this time, the three-axis gyroscope can detect the first angular velocity of the object to be detected in three measurement directions, including the first angular velocity in the preset X-axis direction and the preset Y-axis The first angular velocity in the direction and the first angular velocity in the preset Z-axis direction.

In other examples, as shown in Fig. 3, when the preset direction includes three measurement directions, the gyroscope assembly may also include three single-axis gyroscopes, and each single-axis gyroscope is used to obtain a measurement direction in one measurement direction. The first angular velocity. For example, the gyroscope component set on the object to be detected includes a single-axis gyroscope A, a single-axis gyroscope B, and a single-axis gyroscope C, where the single-axis gyroscope A can detect that the object to be detected is at a preset X The first angular velocity in the direction of the axis, the single-axis gyroscope B can detect the first angular velocity of the object to be detected in the preset Y-axis direction, and the single-axis gyroscope C can detect the first angular velocity of the object to be detected in the preset Z-axis direction. The first angular velocity.

Further, when the gyroscope assembly includes three single-axis gyroscopes, in order to ensure the consistency and accuracy of the first angular velocity detected by the gyroscope assembly at the same position, any two of the three single-axis gyroscopes The distance between the single-axis gyroscopes is less than the preset threshold. It is simply understood that the three single-axis gyroscopes can be located at the same position of the object to be detected as much as possible.

In other examples, when the preset direction includes one or two measurement directions, the gyroscope component may also be a three-axis gyroscope. At this time, the three-axis gyroscope can detect the second measurement of the object to be detected in the three measurement directions. An angular velocity, including the first angular velocity in the preset X-axis direction, the first angular velocity in the preset Y-axis direction, and the first angular velocity in the preset Z-axis direction, and then the measured Select the first angular velocity that needs data processing among the three first angular velocities. Or, when the preset direction includes one or two measurement directions, the gyroscope component can also be one or two single-axis gyroscopes, and each single-axis gyroscope is used to obtain the first angular velocity in one measurement direction; thus effective Realize the accurate measurement of the first angular velocity.

In addition, this embodiment does not limit the specific number of multiple accelerometers, and those skilled in the art can set it according to specific application requirements and design requirements. As shown in Figures 1 to 3, the number of accelerometers can be three. Of course, the number of multiple accelerometers 102 is not limited to the number defined in the figure, and it can also be 4, 5, 6, 7, 8, or 9, and so on. Multiple accelerometers can be distributed at different positions of the object to be detected, so as to measure the linear acceleration of the object to be detected at different positions in at least one direction, that is, multiple accelerometers can measure the object to be detected at different positions The linear acceleration in one direction or more than one direction. Wherein, the at least one direction includes at least one of the following: a preset X-axis direction, a preset Y-axis direction, and a preset Z-axis direction.

For example, when at least one direction includes the preset X-axis direction, multiple accelerometers can measure the linear acceleration of the object to be detected in the preset X-axis direction at different positions; including the preset X-axis direction in at least one direction. In the X-axis direction and the Y-axis direction, multiple accelerometers can measure the linear acceleration of the object to be detected in the preset X-axis direction and the preset Y-axis direction at different positions; including the preset linear acceleration in at least one direction. When the X-axis direction, the preset Y-axis direction and the preset Z-axis direction are used, multiple accelerometers can measure the preset X-axis direction, the preset Y-axis direction and the preset direction at different positions of the object to be detected. The linear acceleration in the Z-axis direction.

In addition, this embodiment does not limit the specific structure, number, and location of multiple accelerometers, and those skilled in the art can set them according to specific application requirements and design requirements. In some examples, the accelerometers may include three-axis accelerometers. Accelerometers, the number of three-axis accelerometers is three, and the three three-axis accelerometers can be set at three different positions to measure the line of the object to be detected in at least one direction at three different positions Acceleration.

When three different positions include position A, position B, and position C, a three-axis accelerometer can be set at each of the above-mentioned positions. At this time, the number of three-axis accelerometers is three, which can measure the The linear acceleration of the object in at least one direction of the position A, the position B, and the position C is detected.

In other examples, in order to ensure the stability and reliability of linear acceleration measurement, when multiple accelerometers are arranged, the position A where the multiple accelerometers are located can form a preset plane. In addition, the locations of multiple accelerometers can form an isosceles triangle, or the locations of multiple accelerometers can also form an equilateral triangle. Further, in the coordinate system of the object to be detected, the preset plane and the coordinate plane in the coordinate system are parallel or perpendicular to each other.

Specifically, taking the object to be detected as the photographing device as an example, a preset coordinate system can be established based on the photographing device, where the direction parallel or coincident with the optical axis can be the X-axis direction, and the direction parallel to the X-axis direction to the left can be The Y-axis direction and the vertical upward direction can be the Z-axis direction, so that a coordinate system is established based on the camera, and the position of the preset origin in the coordinate system can be changed, as long as the above relationship is met.

Further, when the multiple accelerometers are three three-axis accelerometers, the three three-axis accelerometers can be set at three different positions on the camera, and the three different positions can be three on the housing of the camera. As shown in Figure 4, in the preset coordinate system XYZ, the position A, position B, and position C where the three three-axis accelerometers are located constitute a preset plane P. Among them, position A and position B And position C can form an isosceles triangle or an equilateral triangle, and the above-mentioned preset plane P can be parallel to the XY plane in the coordinate system, or it can also be considered that the preset plane P and the XZ plane in the coordinate system Perpendicular to each other. Through the three-axis accelerometer with the above layout, not only the linear acceleration in at least one direction at position A, position B, and position C can be accurately obtained, but also the analysis and processing based on the obtained linear acceleration can be facilitated, thereby improving The quality and efficiency of obtaining the target angular velocity.

In still other examples, the accelerometer may also include a single-axis accelerometer. The number of single-axis accelerometers is nine. Nine single-axis accelerometers can also be set at three different positions to measure the location of the object to be detected. Linear acceleration in at least one direction at three different positions. Further, every three single-axis accelerometers can be set at the same position, and the positions of the nine single-axis accelerometers form a preset plane.

Similarly, taking the object to be detected as the photographing device as an example, when multiple accelerometers include nine single-axis accelerometers, the nine single-axis accelerometers can be set at three different positions on the photographing device. It can be three different positions on the housing of the camera. As shown in Figure 4, the position A, position B, and position C where the nine three-axis accelerometers are located constitute a preset plane P, where, at position A Three single-axis accelerometers can be set, each single-axis accelerometer can measure the linear acceleration of the object to be detected in one direction; similarly, three single-axis accelerometers can be set at position B, each single-axis accelerometer The linear acceleration of the object to be detected can be measured in one direction; three single-axis accelerometers can be set at position C, and each single-axis accelerometer can measure the linear acceleration of the object to be detected in one direction. It should be noted that when three single-axis accelerometers are set at the same position, the distance between any two single-axis accelerometers of the three single-axis accelerometers is less than the preset threshold, so that the three single-axis accelerometers can be Try to be located at the same position of the object to be detected, thereby improving the accuracy and precision of acquiring the linear acceleration.

It should be noted that the positions set by multiple accelerometers are not limited to the three positions listed above, but can also be other positions. For example, multiple accelerometers can be set on four of the objects to be detected. Position, 5 positions or 6 positions, etc., those skilled in the art can set according to specific application requirements and design requirements, as long as the positions of multiple accelerometers can be ensured to form a regular shape as much as possible (for example: square, rectangular) , Regular pentagon, regular hexagon, etc.) to facilitate the analysis and processing of the linear acceleration obtained by the accelerometer.

Further, after the first angular velocity of the object to be detected in the preset direction is obtained by the gyroscope component, and the linear acceleration of the object to be detected in at least one direction at different positions by multiple accelerometers, the above-mentioned first angular velocity may be measured. An angular velocity and linear acceleration are analyzed and processed to determine the target angular velocity of the object to be detected in a preset direction, thereby effectively reducing the noise of the target angular velocity, and thereby improving the accuracy and reliability of the acquisition of the target angular velocity. It should be noted that the preset direction in which the obtained target angular velocity is located is different or partially different from at least one direction in which the linear acceleration is located and the preset direction in which the first angular velocity is located.

It should be noted that the execution timing of step S501 and step S502 in the above method of this embodiment is not limited to the above-exemplified sequence, that is, step S501 can also be performed after step S502, or step S501 can be the same as step S502. For simultaneous execution, those skilled in the art can choose different execution modes according to specific application requirements.

In the angular velocity measurement method provided in this embodiment, the first angular velocity of the object to be detected in a preset direction is obtained through a gyroscope component, and the linear acceleration of the object to be detected in at least one direction at different positions is obtained through multiple accelerometers, and then The first angular velocity and linear acceleration are analyzed and processed, and the target angular velocity of the object to be detected in the preset direction is obtained, which effectively reduces the noise carried by the target angular velocity, thereby reducing the control error of controlling the object to be detected based on the target angular velocity , Improve the stability and accuracy of the control of the object to be detected. In addition, the angular velocity measurement method is simple, easy to implement, and low cost, which further improves the practicability of the measurement method.

FIG. 6 is a diagram of the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions, provided in the embodiment of FIG. 5, to determine the object to be detected in the preset direction Schematic diagram of the flow of the target angular velocity; on the basis of the foregoing embodiment, with continued reference to FIG. 6, this embodiment does not limit the specific implementation of determining the target angular velocity of the object to be detected in the preset direction. Those skilled in the art It can be set according to specific application requirements and design requirements. Preferably, in this embodiment, according to the first angular velocity of the object to be detected in a preset direction and the linear acceleration of the object to be detected in at least one direction at different positions , Determining the target angular velocity of the object to be detected in the preset direction may include:

Step S601: Determine the angular acceleration of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions.

Step S602: Determine the target angular velocity of the object to be detected in the preset direction according to the first angular velocity and angular acceleration of the object to be detected in the preset direction.

Among them, after acquiring the linear acceleration of the object to be detected in at least one direction at different positions, the linear acceleration can be analyzed and processed, so that the angular acceleration of the object to be detected in the preset direction can be determined. For details, refer to the appendix As shown in FIG. 7, according to the linear acceleration of the object to be detected in at least one direction at different positions, determining the angular acceleration of the object to be detected in a preset direction may include:

Step S701: Acquire the linear acceleration of the preset origin in at least one direction in the coordinate system of the object to be detected;

Step S702: Determine the first distance between different positions where multiple accelerometers are located;

Step S703: According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the first distance, Determine the angular acceleration of the object to be detected in the preset direction.

Specifically, after the object to be detected is determined, a coordinate system can be established based on the object to be detected, the coordinate system includes a preset origin, and then the linear acceleration of the preset origin in at least one direction can be obtained. It can be understood that the above at least one direction may include at least one of the following: a preset X-axis direction, a preset Y-axis direction, and a preset Z-axis direction, and the other preset directions are other coordinate axes that are different from at least one direction. direction. For example, when at least one direction includes the preset X-axis direction, other preset directions include the preset Y-axis direction and the preset Z-axis direction; at least one direction includes the preset X-axis direction and the preset Z-axis direction When, the other preset directions include the preset Y-axis direction.

In addition, in the coordinate system of the object to be detected, different positions where multiple accelerometers are located can be identified, and then the first distance between the different positions can be determined. For example, when multiple accelerometers are set at position A, position B, and position C in the coordinate system, the processor 103 may obtain the first distance between position A and position B, and the difference between position A and position C. The first distance between the first distance, the first distance between the position B and the position C.

In some examples, the preset direction includes the Y-axis direction; other preset directions include the X-axis direction and the Z-axis direction, and at least one direction includes the Z-axis direction; The first position and the second position set in the negative direction of the X-axis; at this time, according to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, Presetting the linear acceleration of the origin in at least one direction and the first distance, and determining the angular acceleration of the object to be detected in the preset direction may include:

Step S7031: According to the linear acceleration of the object to be detected in the Z-axis direction at the first position, the linear acceleration of the object to be detected in the Z-axis direction at the second position, the first position between the first position and the second position. The distance and the first angular velocity of the object to be detected in the X-axis direction and the first angular velocity in the Z-axis direction respectively determine the angular acceleration of the object to be detected in the Y-axis direction.

Specifically, taking the first position as position A, the second position as position B, and the third position as position C as an example, continue to refer to FIG. 4, which can be obtained through the gyroscope component and multiple accelerometers: The linear acceleration a _{Az of the} object in the Z-axis direction at position A, the linear acceleration a _{Bz of the} _{object to be detected in the Z-axis direction at position B, and the first angular velocity w x of the} object to be detected in the X-axis direction. _{The first angular velocity w Z of the} object in the Z-axis direction is detected _{, and then the first distance L AB} between the position B and the position A can be determined. After that, the processor 103 can determine the linear acceleration a _Az , the linear acceleration a _Bz , The first distance L _AB , the first angular velocity w _x and the first angular velocity w _Z are processed to determine the angular acceleration of the object to be detected in the Y-axis direction

specific,

It should be noted that the execution timing of step S701 and step S702 in the above method of this embodiment is not limited to the above-exemplified sequence, that is, step S701 can also be performed after step S702, or step S701 can be the same as step S702. For simultaneous execution, those skilled in the art can choose different execution modes according to specific application requirements.

On the basis of the above-mentioned embodiment, with reference to FIG. 8, this embodiment provides another way to determine the angular acceleration of the object to be detected in a preset direction. Specifically, after obtaining the preset origin at at least one After the linear acceleration in the direction, the method in this embodiment may further include:

Step S801: Determine the second distance between the different positions where the multiple accelerometers are located and the preset origin;

Step S802: According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the second distance, Determine the angular acceleration of the object to be detected in the preset direction.

Specifically, after the object to be detected is determined, a coordinate system can be established based on the object to be detected. The coordinate system includes a preset origin. In the coordinate system of the object to be detected, different positions of multiple accelerometers can be identified, and then Determine the second distance between the different positions and the preset origin. For example, when the preset origin is position O, and multiple accelerometers are set at position A, position B, and position C in the coordinate system, the second distance between position A and position O, and position B can be obtained. The second distance from position 0, the second distance between position C and position O.

In some examples, the preset direction includes the X-axis direction; other preset directions include the Y-axis direction and the Z-axis direction, and at least one direction includes the Z-axis direction; The third position; at this time, according to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and The second distance, determining the angular acceleration of the object to be detected in the preset direction may include:

Step S8021: According to the linear acceleration of the object to be detected in the Z axis direction at the third position, the linear acceleration of the preset origin in the Z axis direction, the second distance between the third position and the preset origin, and the object to be detected The first angular velocity in the Y-axis direction and the Z-axis direction respectively determine the angular acceleration of the object to be detected in the X-axis direction.

specific,

In other examples, the preset direction includes the Z-axis direction; other preset directions include the X-axis direction and the Y-axis direction, and at least one direction includes the X-axis direction; and the different positions of the multiple accelerometers include the Y-axis direction. The third position; at this time, according to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, and the linear acceleration of the preset origin in at least one direction And the second distance, determining the angular acceleration of the object to be detected in the preset direction may include:

Step S8022: According to the linear acceleration of the object to be detected in the X-axis direction at the preset origin, the linear acceleration of the object to be detected in the X-axis direction at the third position, and the second between the third position and the preset origin The distance and the first angular velocity of the object to be detected in the X-axis direction and the first angular velocity in the Y-axis direction respectively determine the angular acceleration of the object to be detected in the Z-axis direction.

specific,

It should be noted that the above-defined X-axis direction, Y-axis direction, Z-axis direction, position A, position B, and position C are only for the convenience of describing the implementation process of this embodiment. In specific implementation, the X-axis direction, Y-axis direction, and Y-axis direction The axis direction and the Z axis direction may not be based on the coordinate direction established by the object to be detected, but may also be other directions. Similarly, the positions of position A, position B, and position C may not be limited to being on the coordinate axis. The point can also be other position points in the coordinate system, but for position A, position B, and position C, when the positions of position A, position B, and position C are limited to the coordinate axis, it can be conveniently based on The angular velocity is measured and calculated for the positions of position A, position B and position C.

In this embodiment, the second distance between the different positions of the multiple accelerometers and the preset origin is determined; and according to the linear acceleration of the object to be detected in at least one direction at different positions, the object to be detected is in other presets. Set the first angular velocity in the direction, the linear acceleration of the preset origin in at least one direction, and the second distance to determine the angular acceleration of the object to be detected in the preset direction, which effectively realizes that the to-be-detected object can also be obtained by other methods. The angular acceleration of the object in the preset direction can ensure the accuracy and reliability of the angular acceleration acquisition, which further improves the flexibility and reliability of the measurement method.

In addition, this embodiment does not limit the specific implementation manner of obtaining the linear acceleration of the preset origin in at least one direction. Those skilled in the art can set it according to specific application requirements and design requirements. Preferably, this embodiment Obtaining the linear acceleration of the preset origin in at least one direction in may include:

Step S7011: Determine the linear acceleration of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions.

In some examples, at least one direction includes the X-axis direction; different positions of the multiple accelerometers may include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis; in this case, according to The first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, and determining the linear acceleration of the preset origin in at least one direction may include:

Step S70111: According to the linear acceleration of the object to be detected in the X-axis direction at the first position and the second position, the second distance between the second position and the preset origin, and the distance between the first position and the preset origin The second distance and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the X-axis direction.

In other examples, at least one direction includes the Z-axis direction; the different positions of the multiple accelerometers include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis; in this case, according to The first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, and determining the linear acceleration of the preset origin in at least one direction may include:

Step S70112: According to the linear acceleration in the Z-axis direction of the object to be detected at the first position and the second position, the second distance between the second position and the preset origin, and the distance between the first position and the preset origin The second distance and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the Z-axis direction.

Specifically, continuing to refer to FIG. 4, multiple accelerometers 102 can be used to obtain: the linear acceleration a _{Bz of the} object to be detected in the Z-axis direction at position B, and the Z-axis direction of the object to be detected at position A. line acceleration on a _Ax, then _OA may determine the second distance L between the position a and the position O, the distance L between the first second distance L between the position B and _BO position O, position B and the position a _AB , and then, the processor 103 can process the aforementioned linear acceleration a _Bz , linear acceleration a _Az , the first distance L _AB , the second distance L _OA and the second distance L _BO to determine that the preset origin is in the Z-axis direction The linear acceleration a _{Oz on} , specifically, a _Oz =(a _Bz L _OA +a _Az L _BO )/L _AB .

FIG. 9 is a process of determining the target angular velocity of the object to be detected in the preset direction according to the first angular velocity and the angular acceleration of the object to be detected in the preset direction provided by the embodiment of FIG. 6 Schematic diagram; on the basis of the foregoing embodiment, with continued reference to FIG. 9, this embodiment does not limit the specific implementation of determining the target angular velocity of the object to be detected in the preset direction, and those skilled in the art can refer to specific Application requirements and design requirements are set. Preferably, in this embodiment, according to the first angular velocity and angular acceleration of the object to be detected in the preset direction, determining the target angular velocity of the object to be detected in the preset direction may include:

Step S901: Perform high-pass filtering on the angular acceleration of the object to be detected in the preset direction, and perform integration processing on the filtered angular acceleration to obtain the second angular velocity of the object to be detected in the preset direction.

Step S902: Perform low-pass filtering on the first angular velocity of the object to be detected in the preset direction to obtain the third angular velocity of the object to be detected in the preset direction.

Step S903: Determine the sum of the second angular velocity and the third angular velocity as the target angular velocity of the object to be detected in the preset direction.

Wherein, the cut-off frequency of performing high-pass filtering on all angular accelerations is the same as the cut-off frequency of performing low-pass filtering on all first angular velocities.

It should be noted that the execution timing of step S901 and step S902 in the above method of this embodiment is not limited to the above-exemplified sequence. That is, step S901 can also be executed after step S902, or step S901 can be the same as step S902. For simultaneous execution, those skilled in the art can choose different execution modes according to specific application requirements.

Wherein, the cut-off frequency of performing high-pass filtering on all angular accelerations is the same as the cut-off frequency of performing low-pass filtering on all first angular velocities. Specifically, the angular acceleration of the object to be detected in the preset direction is obtained by multiple accelerometers. At this time, the high-frequency part of the obtained angular acceleration is the effective data part. After the angular acceleration is obtained, the angular acceleration can be The acceleration is high-pass filtered, that is, the low-frequency part of the angular acceleration is filtered out, and then the filtered angular acceleration can be integrated, so that the second angular velocity of the object to be detected in the preset direction can be obtained.

Similarly, the first angular velocity of the object to be detected in the preset direction is obtained by the gyroscope component. At this time, the low-frequency part of the obtained first angular velocity is the effective data part. Therefore, after the first angular velocity is acquired, the first angular velocity can be low-pass filtered, that is, the high frequency part of the first angular velocity is filtered out, so that the third angular velocity of the object to be detected in the preset direction can be obtained.

For example, the angular acceleration of the object to be detected in the preset direction is a0, the first angular velocity of the object to be detected in the preset direction is W1, and the cutoff frequency for high-pass filtering of all angular accelerations is the same as that of all first angular accelerations. The cut-off frequency for low-pass filtering of the angular velocity is f. At this time, after the angular acceleration a0 is obtained, the high-pass filter with the above cut-off frequency can be used to perform high-pass filtering on the angular acceleration a0, so that the filtered angular acceleration can be obtained as a1 Then, the angular acceleration a1 can be integrated within a preset time period, so that the second angular velocity W2 of the object to be detected in the preset direction can be obtained. Similarly, after the first angular velocity W1 is obtained, the first angular velocity W1 can be low-pass filtered by the low-pass filter with the cut-off frequency, so that the third angular velocity W3 can be obtained, and then the second angular velocity and the third angular velocity can be combined. The sum value of is determined as the target angular velocity, that is, W=W2+W3, which effectively realizes that the target angular velocity can be accurately and effectively obtained, thereby improving the practicability of the measurement method.

Figure 10 is a schematic flow chart of yet another angular velocity measurement method provided by an embodiment of the present invention; on the basis of any of the above embodiments, with continued reference to Figure 10, the object to be detected in this embodiment may be set in a cloud The camera on the stage, the pan/tilt is provided with a driving motor; at this time, the method in this example may also include:

Step S1001: Determine the control parameter corresponding to the drive motor according to the target angular velocity;

Step S1002: Control the driving motor according to the control parameters, so as to adjust the attitude of the pan-tilt.

For specific applications, referring to Fig. 11, this application embodiment provides an angular velocity measurement method. The execution subject of the measurement method may be an angular velocity measurement mechanism. The angular velocity measurement mechanism may be composed of three micro-electromechanical systems (Micro-Electro-Mechanical Systems). Electro-Mechanical System (MEMS) three-axis accelerometer and a MEMS three-axis gyroscope are combined. The angular velocity measurement mechanism is low in cost and can output angular velocity with low noise, which effectively solves the problem of using traditional gyroscopes. The problem of obtaining a noisy angular velocity. Specifically, the angular velocity measurement principle is: use three MEMS three-axis accelerometers to calculate the angular acceleration, and then integrate the calculated angular acceleration to obtain the angular velocity, and then calculate the angular velocity obtained by the above calculation and the angular velocity output by the MEMS gyroscope. Complementary filtering process to obtain the final output low noise angular velocity.

It should be noted that when arranging three MEMS three-axis accelerometers, three MEMS three-axis accelerometers can be arranged on three different positions of the object to be detected, and when any two three-axis accelerometers are The greater the distance of the setting position, the more beneficial it is to reduce the angular velocity noise output by the combined gyroscope. More preferably, three three-axis accelerometers can be arranged to form an equilateral triangle.

In the following, the realization principle of the measurement method "Rigid Body Kinematics Equation" will be explained. Specifically, the rigid body kinematics equation is:

Among them, a _Q|O is the acceleration at point Q on the rigid body in the inertial coordinate system OXYZ, a _P|O is the acceleration at point P on the rigid body in the inertial coordinate system OXYZ, and R _Q|P is between the point P and the point Q The position distance vector of, w is the rotational angular velocity of the rigid body,

Is the rotational angular acceleration of the rigid body.

In specific implementation, three MEMS accelerometers can be arranged at three fixed positions of the object to be detected (preset rigid body). After the structure of the object to be detected is determined, the relative positions can be obtained by comparing the three fixed positions of the accelerometers. Distance information R between two adjacent fixed positions. _{When the P point and the Q point are included in the three fixed positions, the R Q|P} in the above formula can be obtained according to the structural design parameters of the object to be detected.

For the convenience of description, the three accelerometers can be set to position A, position B, and position C respectively. As shown in Figure 4, in the ABC plane, the vertical line is drawn from position C to AB. Marked as O. It is assumed that the vector AB can be the X axis in the coordinate system, the vector OC is the Y axis in the coordinate system, and the vector OC*The direction of the vector AB is the Z axis in the coordinate system.

Further, by transforming the above rigid body kinematics equation, the angular acceleration obtained by the accelerometer can be obtained:

Among them, the calculation method of the acceleration at O is:

a _Ox =(a _Bx L _OA +a _Ax L _BO )/L _AB ;

a _Oz = (a _Bz L _OA + a _Az L _BO )/L _AB ;

In the above formula:

Are the angular accelerations of the object to be detected in the three axis directions (X-axis, Y-axis and Z-axis);

w _X , w _Y , w _Z : respectively the angular velocity of the object to be detected in the three axis directions (X axis, Y axis and Z axis);

a _Az is the linear acceleration of the accelerometer in the Z axis direction at A, a _Oz is the linear acceleration of the object to be detected in the Z axis direction, a _Cz is the accelerometer linear acceleration in the Z axis direction at C, a _Bz is the linear acceleration of the accelerometer in the Z-axis direction at B, a _Ox is the linear acceleration of the object to be detected in the X-axis direction, a _Ax is the accelerometer linear acceleration in the X-axis direction at A, a _Bx Is the linear acceleration of the accelerometer at B and the X axis, a _Bz is the linear acceleration of the accelerometer at B and the Z axis, a _Cx is the linear acceleration of the accelerometer at C and the X axis, and a _Cz is the acceleration Calculate the linear acceleration at C and the Z axis.

L _OA is the distance from O to A along the Y axis, L _BC is the distance from B to C _{along the X axis, L OC} is the distance from O to C _{along the X axis, and L BO} is the distance from O to C along the X axis. The distance from B to O.

To obtain the angular acceleration of the three axes

After that, a high-pass filter can be used to filter the above-mentioned angular accelerations (the high-pass filter can be represented by the transfer function G _HP (s)), and then the filtered angular accelerations can be integrated and calculated, that is, in the pre-processing Accumulate the angular acceleration after the filtering process in the set time period, so as to obtain the fusion angular velocity w _{HP in the} three axis directions. in,

Specifically, k is the attenuation parameter of the filter, and n is the order of the high-pass filter.

Similarly, after the angular velocity obtained by the MEMS gyroscope, the low-pass filter (G _LP (s)) can be used to filter the angular velocity obtained by the MEMS gyroscope, so as to obtain the gyroscope angular velocity w after low-pass filtering. _LP , in order to ensure that the amplitudes of the complementary filtered data at different frequencies remain unchanged, the cut-off frequencies of the low-pass filter and the high-pass filter are the same, that is, G _LP (s) = 1-G _HP (s).

After obtaining the fused angular velocity w _HP and the gyroscope angular velocity w _LP , the high-pass filtered fused angular velocity w _HP and the low-pass filtered MEMS gyroscope angular velocity w _LP can be added to get the final output in the preset direction The target angular velocity of w = w _HP + w _LP .

In this embodiment, due to the small size and low cost of the accelerometer and gyroscope, it has higher flexibility when arranging the accelerometer and gyroscope on the object to be detected; and, three MEMS three are used. Axis accelerometer and a MEMS three-axis gyroscope are combined to obtain an angular velocity measurement mechanism. The angular velocity obtained by the angular velocity measurement mechanism can greatly reduce the noise of the output angular velocity, and the measurement method is simple and easy to implement; in obtaining low noise After the angular velocity, the low-noise angular velocity can be input into the closed-loop motion control system. The angular velocity noise feedback from the sensor directly affects the control accuracy of the closed-loop motion control system. Because the angular velocity noise is small, the control accuracy is effectively improved. Big improvement.

Figure 12 is a schematic structural diagram of an angular velocity measurement device provided by an embodiment of the present invention; referring to Figure 12, this embodiment provides an angular velocity measurement device, which can perform the angular velocity measurement shown in Figure 5 above method. Specifically, the angular velocity measuring device may include:

The memory 12 is used to store computer programs;

The processor 11 is configured to run a computer program stored in the memory 12 to realize:

Wherein, the structure of the angular velocity measurement device may further include a communication interface 13 for the electronic device to communicate with other devices or a communication network.

In some instances, the processor 11 determines the target of the object to be detected in the preset direction according to the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions. In the case of angular velocity, the processor 11 is configured to: determine the angular acceleration of the object to be detected in the preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions; The first angular velocity and angular acceleration determine the target angular velocity of the object to be detected in the preset direction.

In some instances, when the processor 11 determines the angular acceleration of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions, the processor 11 is configured to: Under the coordinate system of the object, obtain the linear acceleration of the preset origin in at least one direction; determine the first distance between the different positions where multiple accelerometers are located; according to the line acceleration in at least one direction at different positions of the object to be detected The acceleration, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the first distance determine the angular acceleration of the object to be detected in the preset direction.

In some examples, the preset direction includes the Y-axis direction; other preset directions include the X-axis direction and the Z-axis direction, and at least one direction includes the Z-axis direction; The first position and the second position set in the negative direction of the X-axis; the processor 11 according to the linear acceleration of the object to be detected in at least one direction at different positions, and the first angular velocity of the object to be detected in other preset directions , The linear acceleration of the preset origin in at least one direction and the first distance, when determining the angular acceleration of the object to be detected in the preset direction, the processor 11 is configured to: according to the Z-axis direction of the object to be detected at the first position The linear acceleration of the object to be detected in the Z-axis direction at the second position, the first distance between the first position and the second position, the linear acceleration of the object to be detected in the X-axis direction and the Z-axis direction, respectively. The first angular velocity determines the angular acceleration of the object to be detected in the Y-axis direction.

In some instances, after acquiring the linear acceleration of the preset origin in at least one direction, the processor 11 is further configured to: determine the second distance between the different positions where the multiple accelerometers are located and the preset origin; Detect the linear acceleration of the object in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction, and the second distance, and determine that the object to be detected is at Angular acceleration in the preset direction.

In some examples, the preset direction includes the X-axis direction; other preset directions include the Y-axis direction and the Z-axis direction, and at least one direction includes the Z-axis direction; The third position; the linear acceleration of the object to be detected in at least one direction at different positions in the processor 11, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction And the second distance, when determining the angular acceleration of the object to be detected in the preset direction, the processor 11 is further configured to: according to the linear acceleration of the object to be detected in the Z-axis direction at the third position, the preset origin is at Z The linear acceleration in the axis direction, the second distance between the third position and the preset origin, and the first angular velocity of the object to be detected in the Y-axis direction and the Z-axis direction respectively, determine the angle of the object to be detected in the X-axis direction Acceleration.

In some examples, the preset direction includes the Z-axis direction; other preset directions include the X-axis direction and the Y-axis direction, and at least one direction includes the X-axis direction; The third position; the linear acceleration of the object to be detected in at least one direction at different positions in the processor 11, the first angular velocity of the object to be detected in other preset directions, the linear acceleration of the preset origin in at least one direction And the second distance, when determining the angular acceleration of the object to be detected in the preset direction, the processor 11 is further configured to: according to the linear acceleration of the object to be detected in the X-axis direction at the preset origin, the object to be detected is in the first The linear acceleration in the X-axis direction at the three positions, the second distance between the third position and the preset origin, and the first angular velocity of the object to be detected in the X-axis direction and the Y-axis direction respectively, determine that the object to be detected is in Z Angular acceleration in the axis direction.

In some instances, when the processor 11 obtains the linear acceleration of the preset origin in at least one direction, the processor 11 is further configured to: according to the first distance, the second distance, and at least one direction of the object to be detected at different positions Determine the linear acceleration of the preset origin in at least one direction.

In some examples, at least one direction includes the X-axis direction; the different positions where the multiple accelerometers are located include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis; in the processor 11 according to When the linear acceleration of the preset origin in at least one direction is determined by the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, the processor 11 is further configured to: Linear acceleration in the X-axis direction at the first position and the second position, the second distance between the second position and the preset origin, the second distance between the first position and the preset origin, and the first position The first distance from the second position determines the linear acceleration of the preset origin in the X-axis direction.

In some examples, at least one direction includes the Z-axis direction; the different positions of the multiple accelerometers include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis; in the processor 11 according to When the linear acceleration of the preset origin in at least one direction is determined by the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, the processor 11 is further configured to: The linear acceleration in the Z-axis direction at the first position and the second position, the second distance between the second position and the preset origin, the second distance between the first position and the preset origin, and the first position, respectively The first distance from the second position determines the linear acceleration of the preset origin in the Z-axis direction.

In some examples, when the processor 11 determines the target angular velocity of the object to be detected in the preset direction according to the first angular velocity and angular acceleration of the object to be detected in the preset direction, the processor 11 is also used to: The angular acceleration of the object in the preset direction is high-pass filtered, and the filtered angular acceleration is integrated to obtain the second angular velocity of the object to be detected in the preset direction; the first angular velocity of the object to be detected in the preset direction Low-pass filtering is performed to obtain the third angular velocity of the object to be detected in the preset direction; the sum of the second angular velocity and the third angular velocity is determined as the target angular velocity of the object to be detected in the preset direction.

In some examples, the cut-off frequency for high-pass filtering all angular accelerations is the same as the cut-off frequency for low-pass filtering all first angular velocities.

In some examples, the object to be detected is a camera set on a pan/tilt, and a drive motor is provided on the pan/tilt; the processor 11 is also used to: determine the control parameter corresponding to the drive motor according to the target angular velocity; Control the drive motor to adjust the attitude of the pan/tilt.

The device shown in FIG. 12 can execute the method of the embodiment shown in FIG. 5 to FIG. 11. For parts that are not described in detail in this embodiment, refer to the related description of the embodiment shown in FIG. 5 to FIG. 11. For the implementation process and technical effects of this technical solution, please refer to the description in the embodiment shown in Fig. 5 to Fig. 11, which will not be repeated here.

In addition, an embodiment of the present invention provides a computer-readable storage medium, which is characterized in that 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 above-mentioned Figure 5- Figure 11 shows the angular velocity measurement method.

FIG. 13 is a schematic structural diagram of a photographing device provided by an embodiment of the present invention; referring to FIG. 13, as shown in FIG. 13, this embodiment provides a photographing device 200, which may include:

Device main body 201;

The angular velocity measuring mechanism 100 in the embodiment of FIGS. 1 to 4 described above is mounted on the main body 201 of the device.

Specifically, the realization principle and realization effect of the angular velocity measurement mechanism 100 in the photographing device 200 in this embodiment are the same as the realization principle and realization effect of the device shown in Figs. Go into details again.

In addition, referring to FIG. 13, this embodiment provides another photographing device 200, and the photographing device 200 may include:

Device main body 201;

The angular velocity measuring mechanism 100 in the embodiment in FIG. 12 described above is mounted on the main body 201 of the device.

Specifically, the implementation principle and implementation effect of the angular velocity measurement mechanism 100 in the imaging device 200 in this embodiment are the same as the implementation principles and implementation effects of the device shown in FIG. 12. For details, reference may be made to the foregoing statements, which will not be repeated here.

FIG. 14 is a schematic structural diagram of a pan/tilt head provided by an embodiment of the present invention; referring to FIG. 14, as shown in FIG. 14, this embodiment provides a pan/tilt head 300, which may include:

PTZ main body 301;

The imaging device 200 shown in FIG. 13 is installed on the main body 301 of the pan/tilt head.

Specifically, the implementation principle and implementation effect of the camera 200 on the pan/tilt 300 in this embodiment are the same as the implementation principles and implementation effects of the device shown in FIG. 13. For details, please refer to the foregoing statements, and will not be repeated here.

FIG. 15 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention. Referring to FIG. 15, as shown in FIG. 15, this embodiment provides a movable platform 400. The movable platform 400 may include:

Platform main body 401;

The angular velocity measuring mechanism 100 in the embodiment of FIGS. 1 to 4 described above is installed on the platform main body 401.

Specifically, the realization principle and realization effect of the angular velocity measurement mechanism 100 in the movable platform 400 in this embodiment are the same as the realization principle and realization effect of the device shown in FIGS. 1 to 4 above. For details, please refer to the above statement. No longer.

In addition, referring to FIG. 15, this embodiment provides another movable platform 400, and the movable platform 400 may include:

Platform main body 401;

The angular velocity measuring mechanism 100 in the embodiment in FIG. 12 described above is installed on the platform main body 401.

Specifically, the implementation principle and implementation effect of the angular velocity measurement mechanism 100 in the movable platform 400 in this embodiment are the same as the implementation principles and implementation effects of the device shown in FIG. 12 above. For details, please refer to the above statements, and will not be repeated here. .

It can be understood that the movable platform 400 provided above may also include a pan-tilt, and the angular velocity measuring mechanism 100 described above may be installed on the platform main body 401 through the pan-tilt.

The technical solutions and technical features in each of the above embodiments can be singly or combined without conflict, as long as they do not exceed the cognitive scope of those skilled in the art, they all belong to equivalent embodiments within the protection scope of the present application.

In the several embodiments provided by the present invention, it should be understood that the disclosed pan-tilt and pan-tilt control method can be implemented in other ways. For example, the embodiments of the PTZ and handheld PTZ described above are only illustrative. For example, the division of the processor 103 or the memory is only a logical function division, and there may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be omitted or not implemented. In addition, the displayed or discussed mutual coupling or direct coupling or communication connection may be indirect coupling or communication connection between the memory or the processor 103 through some interfaces, 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.

In addition, 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.

If 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. Based on this understanding, the technical solution of the present invention essentially or the part that contributes to the existing technology 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 the computer processor 103 (processor) execute all or part of the steps of the method described in each embodiment of the 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.

The above are only the embodiments of the present invention, which do not limit the scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description and drawings of the present invention, or directly or indirectly applied to other related technologies In the same way, all fields are included in the scope of patent protection of the present invention.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions recorded in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the technical solutions of the embodiments of the present invention. scope.

Claims

An angular velocity measuring mechanism, characterized in that it comprises:

The gyroscope component is arranged on the object to be detected and used to measure the first angular velocity of the object to be detected in a preset direction;

A plurality of accelerometers, distributed at different positions of the object to be detected, and used to measure the linear acceleration of the object to be detected in at least one direction at different positions;

The processor is in communication connection with the gyroscope component and a plurality of the accelerometers, and is used to obtain the first angular velocity of the object to be detected in a preset direction and at least one direction of the object to be detected in different positions According to the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions, it is determined that the object to be detected is in the preset direction The target angular velocity.
The measurement mechanism according to claim 1, wherein the preset direction includes at least one of the following: a preset X-axis direction, a preset Y-axis direction, and a preset Z-axis direction.
The measurement mechanism according to claim 1, wherein the at least one direction includes at least one of the following: a preset X-axis direction, a preset Y-axis direction, and a preset Z-axis direction.
The measurement mechanism according to claim 2, wherein the preset direction includes three measurement directions, and the gyroscope assembly is a three-axis gyroscope.
The measurement mechanism according to claim 2, wherein the preset direction includes three measurement directions, the gyroscope assembly includes three single-axis gyroscopes, and each of the single-axis gyroscopes is used to obtain one The first angular velocity in the measurement direction.
The measurement mechanism according to claim 5, wherein the distance between any two single-axis gyroscopes among the three single-axis gyroscopes is less than a preset threshold.
The measurement mechanism according to claim 1, wherein the accelerometer comprises a three-axis accelerometer, the number of the three-axis accelerometer is three, and the three three-axis accelerometers are arranged in three different The position is used to measure the linear acceleration of the object to be detected in at least one direction at three different positions.
The measurement mechanism according to claim 7, wherein the positions of the three three-axis accelerometers form a preset plane.
The measurement mechanism according to claim 1, wherein the accelerometer comprises a single-axis accelerometer, the number of the single-axis accelerometer is nine, and the nine single-axis accelerometers are arranged in three different accelerometers. The position is used to measure the linear acceleration of the object to be detected in at least one direction at three different positions.
The measurement mechanism according to claim 9, wherein every three single-axis accelerometers are arranged at the same position, and the positions of the nine single-axis accelerometers form a preset plane.
The measurement mechanism according to any one of claims 7-10, wherein the positions where multiple accelerometers are located form an isosceles triangle.
The measurement mechanism according to claim 8 or 10, wherein in the coordinate system of the object to be detected, the preset plane and the coordinate plane in the coordinate system are parallel or perpendicular to each other.
The measurement mechanism according to any one of claims 1-10, wherein the processor is specifically configured to:

Determine the angular acceleration of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions;

Determine the target angular velocity of the object to be detected in the preset direction according to the first angular velocity and the angular acceleration of the object to be detected in the preset direction.
The measurement mechanism according to claim 13, wherein the processor is specifically configured to:

Obtaining the linear acceleration of the preset origin in at least one direction in the coordinate system of the object to be detected;

Determining the first distance between the different positions where the multiple accelerometers are located;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the first distance determine the angular acceleration of the object to be detected in a preset direction.
The measurement mechanism according to claim 14, wherein the preset direction includes a Y-axis direction; the other preset directions include an X-axis direction and a Z-axis direction, and at least one direction includes a Z-axis direction; multiple accelerations The different positions where the meter is located include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis; the processor is specifically used for:

According to the linear acceleration of the object to be detected in the Z-axis direction at the first position, the linear acceleration of the object to be detected in the Z-axis direction at the second position, the first position and the first position The first distance between the two positions and the first angular velocity of the object to be detected in the X-axis direction and the first angular velocity in the Z-axis direction respectively determine the angular acceleration of the object to be detected in the Y-axis direction.
The measurement mechanism according to claim 14, wherein after obtaining the linear acceleration of the preset origin in at least one direction, the processor is further configured to:

Determining a second distance between the different positions where the accelerometers are located and the preset origin;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the second distance determine the angular acceleration of the object to be detected in a preset direction.
The measurement mechanism according to claim 16, wherein the preset direction includes an X-axis direction; the other preset directions include a Y-axis direction and a Z-axis direction, at least one direction includes the Z-axis direction; multiple accelerations The different positions where the meter is located include a third position set in the Y-axis direction; the processor is configured to:

According to the linear acceleration in the Z-axis direction of the object to be detected at the third position, the linear acceleration in the Z-axis direction of the preset origin, and the difference between the third position and the preset origin The second distance and the first angular velocity of the object to be detected in the Y-axis direction and the Z-axis direction respectively determine the angular acceleration of the object to be detected in the X-axis direction.
The measurement mechanism according to claim 16, wherein the preset direction includes a Z-axis direction; the other preset directions include an X-axis direction and a Y-axis direction, and at least one direction includes the X-axis direction; multiple accelerations The different positions where the meter is located include a third position set in the Y-axis direction; the processor is configured to:

According to the linear acceleration of the object to be detected in the X-axis direction at the preset origin, the linear acceleration of the object to be detected in the X-axis direction at the third position, the third position and the preset origin The second distance between and the first angular velocity of the object to be detected in the X-axis direction and the first angular velocity in the Y-axis direction respectively determine the angular acceleration of the object to be detected in the Z-axis direction.
The measurement mechanism according to claim 16, wherein the processor is configured to:

Determine the linear acceleration of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions.
The measurement mechanism according to claim 19, wherein at least one direction includes the X-axis direction; the different positions of the multiple accelerometers include a first position set in the positive direction of the X-axis and a first position set in the negative direction of the X-axis. The second position; the processor is used to:

According to the linear acceleration in the X-axis direction of the object to be detected at the first position and the second position, the second distance between the second position and the preset origin, and the first position The second distance from the preset origin and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the X-axis direction.
The measurement mechanism according to claim 19, wherein at least one direction includes the Z-axis direction; the different positions of the multiple accelerometers include a first position set in the positive direction of the X-axis and a first position set in the negative direction of the X-axis. The second position; the processor is used to:

According to the linear acceleration in the Z-axis direction of the object to be detected at the first position and the second position, the second distance between the second position and the preset origin, and the first position The second distance from the preset origin and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the Z-axis direction.
The measurement mechanism according to claim 16, wherein the processor is configured to:

Performing high-pass filtering on the angular acceleration of the object to be detected in the preset direction, and performing integration processing on the filtered angular acceleration to obtain the second angular velocity of the object to be detected in the preset direction;

Performing low-pass filtering on the first angular velocity of the object to be detected in the preset direction to obtain the third angular velocity of the object to be detected in the preset direction;

The sum of the second angular velocity and the third angular velocity is determined as the target angular velocity of the object to be detected in a preset direction.
The measurement mechanism according to claim 22, wherein the cut-off frequency of the high-pass filtering of all angular accelerations is the same as the cut-off frequency of the low-pass filtering of all the first angular velocities.
The measurement mechanism according to claim 16, wherein the object to be detected is a photographing device set on a pan-tilt, and a driving motor is provided on the pan-tilt; and the processor is configured to:

Determining a control parameter corresponding to the drive motor according to the target angular velocity;

The driving motor is controlled according to the control parameter, so as to adjust the posture of the pan/tilt head.
An angular velocity measuring mechanism, characterized in that it comprises:

The gyroscope component is set on the object to be detected;

Multiple accelerometers distributed at different positions of the object to be detected;

Wherein, the gyroscope component and a plurality of accelerometers are used to cooperate to determine the target angular velocity of the object to be detected in a preset direction.
The measurement mechanism according to claim 25, wherein the gyroscope assembly is a three-axis gyroscope.
The measurement mechanism according to claim 25, wherein the gyroscope assembly includes three single-axis gyroscopes, and the distance between any two single-axis gyroscopes among the three single-axis gyroscopes is less than a preset threshold.
The measurement mechanism according to claim 25, wherein the accelerometer comprises a three-axis accelerometer, the number of the three-axis accelerometer is three, and the three three-axis accelerometers are arranged in three different Location.
The measurement mechanism according to claim 28, wherein the positions of the three three-axis accelerometers form a preset plane.
The measurement mechanism according to claim 25, wherein the accelerometer comprises a single-axis accelerometer, the number of the single-axis accelerometer is nine, and the nine single-axis accelerometers are arranged in three different accelerometers. At the location, every three single-axis accelerometers are set at the same location.
The measurement mechanism according to claim 30, wherein every three single-axis accelerometers are arranged at the same position, and the positions of the nine single-axis accelerometers form a preset plane.
The measurement mechanism according to claim 29 or 31, wherein in the coordinate system of the object to be detected, the preset plane and the coordinate plane in the coordinate system are parallel or perpendicular to each other.
The measurement mechanism according to any one of claims 25-31, wherein the positions of a plurality of accelerometers form an isosceles triangle.
An angular velocity measurement method, characterized in that it comprises:

Obtain the first angular velocity of the object to be detected in the preset direction through the gyroscope component;

Acquiring linear accelerations of the object to be detected in at least one direction at different positions by using multiple accelerometers;

The target angular velocity of the object to be detected in the preset direction is determined according to the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions.
34. The method according to claim 34, characterized in that the determination of the said object is based on the first angular velocity of the object to be detected in a preset direction and the linear acceleration of the object to be detected in at least one direction at different positions. The target angular velocity of the object to be detected in the preset direction, including:

Determine the angular acceleration of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions;

Determine the target angular velocity of the object to be detected in the preset direction according to the first angular velocity and the angular acceleration of the object to be detected in the preset direction.
The method according to claim 35, wherein determining the angular acceleration of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions comprises:

Obtaining the linear acceleration of the preset origin in at least one direction in the coordinate system of the object to be detected;

Determining the first distance between the different positions where the multiple accelerometers are located;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the first distance determine the angular acceleration of the object to be detected in a preset direction.
The method according to claim 36, wherein the preset direction includes a Y-axis direction; the other preset directions include an X-axis direction and a Z-axis direction, and at least one direction includes a Z-axis direction; multiple accelerometers The different positions include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the first distance determine the angular acceleration of the object to be detected in a preset direction, including:

According to the linear acceleration of the object to be detected in the Z-axis direction at the second position, the linear acceleration of the object to be detected in the Z-axis direction at the first position, the first position and the first position The first distance between the two positions and the first angular velocity of the object to be detected in the X-axis direction and the first angular velocity in the Z-axis direction respectively determine the angular acceleration of the object to be detected in the Y-axis direction.
The method according to claim 36, wherein after obtaining the linear acceleration of the preset origin in at least one direction, the method further comprises:

Determining a second distance between the different positions where the accelerometers are located and the preset origin;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the second distance determine the angular acceleration of the object to be detected in a preset direction.
The method according to claim 38, wherein the preset direction includes an X-axis direction; the other preset directions include a Y-axis direction and a Z-axis direction, and at least one direction includes a Z-axis direction; multiple accelerometers The different positions include the third position arranged in the Y-axis direction;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the second distance determine the angular acceleration of the object to be detected in a preset direction, including:

According to the linear acceleration in the Z-axis direction of the object to be detected at the third position, the linear acceleration in the Z-axis direction of the preset origin, and the difference between the third position and the preset origin The second distance and the first angular velocity of the object to be detected in the Y-axis direction and the Z-axis direction respectively determine the angular acceleration of the object to be detected in the X-axis direction.
The method of claim 38, wherein the preset direction includes a Z-axis direction; the other preset directions include an X-axis direction and a Y-axis direction, and at least one direction includes the X-axis direction; multiple accelerometers The different positions include the third position arranged in the Y-axis direction;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the second distance determine the angular acceleration of the object to be detected in a preset direction, including:

According to the linear acceleration of the object to be detected in the X-axis direction at the preset origin, the linear acceleration of the object to be detected in the X-axis direction at the third position, the third position and the preset origin The second distance between and the first angular velocity of the object to be detected in the X-axis direction and the first angular velocity in the Y-axis direction respectively determine the angular acceleration of the object to be detected in the Z-axis direction.
The method according to claim 38, wherein obtaining the linear acceleration of the preset origin in at least one direction comprises:

Determine the linear acceleration of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions.
The method according to claim 41, wherein at least one direction includes the X-axis direction; and the different positions where the multiple accelerometers are located include a first position set in the positive direction of the X-axis and a first position set in the negative direction of the X-axis. Two positions

Determine the linear acceleration of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, include:

According to the linear acceleration in the X-axis direction of the object to be detected at the first position and the second position, the second distance between the second position and the preset origin, and the first position The second distance from the preset origin and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the X-axis direction.
The method according to claim 41, wherein at least one direction includes the Z-axis direction; and the different positions where the multiple accelerometers are located include a first position set in the positive direction of the X-axis and a first position set in the negative direction of the X-axis. Two positions

Determine the linear acceleration of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions, include:

According to the linear acceleration in the Z-axis direction of the object to be detected at the first position and the second position, the second distance between the second position and the preset origin, and the first position The second distance from the preset origin and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the Z-axis direction.
35. The method according to claim 35, characterized in that, according to the first angular velocity and the angular acceleration of the object to be detected in a preset direction, the angular acceleration of the object to be detected in the preset direction is determined Target angular velocity, including:

Performing high-pass filtering on the angular acceleration of the object to be detected in a preset direction, and performing integration processing on the filtered angular acceleration to obtain the second angular velocity of the object to be detected in the preset direction;

Performing low-pass filtering on the first angular velocity of the object to be detected in a preset direction to obtain a third angular velocity of the object to be detected in the preset direction;

The sum of the second angular velocity and the third angular velocity is determined as the target angular velocity of the object to be detected in a preset direction.
The method according to claim 44, wherein the cut-off frequency for high-pass filtering all angular accelerations is the same as the cut-off frequency for low-pass filtering all first angular velocities.
The method according to any one of claims 34-45, wherein the object to be detected is a photographing device arranged on a pan/tilt, and a driving motor is arranged on the pan/tilt; the method further comprises:

Determining a control parameter corresponding to the drive motor according to the target angular velocity;

The driving motor is controlled according to the control parameter, so as to adjust the posture of the pan/tilt head.
An angular velocity measuring device, characterized in that it comprises:

Memory, used to store computer programs;

The processor is configured to run a computer program stored in the memory to realize:

Obtain the first angular velocity of the object to be detected in the preset direction through the gyroscope component;

Acquiring linear accelerations of the object to be detected in at least one direction at different positions by using multiple accelerometers;

The target angular velocity of the object to be detected in the preset direction is determined according to the first angular velocity of the object to be detected in the preset direction and the linear acceleration of the object to be detected in at least one direction at different positions.
The device according to claim 47, characterized in that, the processor 103 is based on the first angular velocity of the object to be detected in a preset direction and at least one direction of the object to be detected in different positions. Linear acceleration, when determining the target angular velocity of the object to be detected in a preset direction, the processor is configured to:

Determine the angular acceleration of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions;

Determine the target angular velocity of the object to be detected in the preset direction according to the first angular velocity and the angular acceleration of the object to be detected in the preset direction.
The device according to claim 48, wherein the processor determines the angle of the object to be detected in a preset direction according to the linear acceleration of the object to be detected in at least one direction at different positions. During acceleration, the processor is used to:

Obtaining the linear acceleration of the preset origin in at least one direction in the coordinate system of the object to be detected;

Determining the first distance between the different positions where the multiple accelerometers are located;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the first distance determine the angular acceleration of the object to be detected in a preset direction.
The device of claim 49, wherein the preset direction includes a Y-axis direction; the other preset directions include an X-axis direction and a Z-axis direction, and at least one direction includes a Z-axis direction; multiple accelerometers The different positions include a first position set in the positive direction of the X-axis and a second position set in the negative direction of the X-axis;

In the processor according to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, and the preset origin is at least one When the linear acceleration in the direction and the first distance determine the angular acceleration of the object to be detected in a preset direction, the processor is configured to:

According to the linear acceleration of the object to be detected in the Z-axis direction at the second position, the linear acceleration of the object to be detected in the Z-axis direction at the first position, the first position and the first position The first distance between the two positions and the first angular velocity of the object to be detected in the X-axis direction and the first angular velocity in the Z-axis direction respectively determine the angular acceleration of the object to be detected in the Y-axis direction.
The device according to claim 49, wherein after acquiring the linear acceleration of the preset origin in at least one direction, the processor is further configured to:

Determining a second distance between the different positions where the accelerometers are located and the preset origin;

According to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, the preset origin in at least one direction The linear acceleration and the second distance determine the angular acceleration of the object to be detected in a preset direction.
The device of claim 51, wherein the preset direction includes an X-axis direction; the other preset directions include a Y-axis direction and a Z-axis direction, and at least one direction includes the Z-axis direction; multiple accelerometers The different positions include the third position arranged in the Y-axis direction;

In the processor according to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, and the preset origin is at least one When the linear acceleration in the direction and the second distance determine the angular acceleration of the object to be detected in a preset direction, the processor is further configured to:

According to the linear acceleration in the Z-axis direction of the object to be detected at the third position, the linear acceleration in the Z-axis direction of the preset origin, and the difference between the third position and the preset origin The second distance and the first angular velocity of the object to be detected in the Y-axis direction and the Z-axis direction respectively determine the angular acceleration of the object to be detected in the X-axis direction.
The device of claim 51, wherein the preset direction includes a Z-axis direction; the other preset directions include an X-axis direction and a Y-axis direction, and at least one direction includes the X-axis direction; multiple accelerometers The different positions include the third position arranged in the Y-axis direction;

In the processor according to the linear acceleration of the object to be detected in at least one direction at different positions, the first angular velocity of the object to be detected in other preset directions, and the preset origin is at least one When the linear acceleration in the direction and the second distance determine the angular acceleration of the object to be detected in a preset direction, the processor is further configured to:

According to the linear acceleration of the object to be detected in the X-axis direction at the preset origin, the linear acceleration of the object to be detected in the X-axis direction at the third position, the third position and the preset origin The second distance between and the first angular velocity of the object to be detected in the X-axis direction and the first angular velocity in the Y-axis direction respectively determine the angular acceleration of the object to be detected in the Z-axis direction.
The device according to claim 51, wherein when the processor obtains the linear acceleration of the preset origin in at least one direction, the processor is further configured to:

Determine the linear acceleration of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions.
The device according to claim 54, wherein the at least one direction includes the X-axis direction; the different positions where the multiple accelerometers are located include a first position set in the positive direction of the X-axis and a first position set in the negative direction of the X-axis. Two positions

The processor determines the position of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions. During the linear acceleration, the processor is further configured to:

According to the linear acceleration in the X-axis direction of the object to be detected at the first position and the second position, the second distance between the second position and the preset origin, and the first position The second distance from the preset origin and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the X-axis direction.
The device according to claim 54, wherein the at least one direction includes the Z-axis direction; and the different positions where the multiple accelerometers are located include a first position set in the positive direction of the X-axis and a first position set in the negative direction of the X-axis. Two positions

The processor determines the position of the preset origin in at least one direction according to the first distance, the second distance, and the linear acceleration of the object to be detected in at least one direction at different positions. During the linear acceleration, the processor is further configured to:

According to the linear acceleration in the Z-axis direction of the object to be detected at the first position and the second position, the second distance between the second position and the preset origin, and the first position The second distance from the preset origin and the first distance between the first position and the second position determine the linear acceleration of the preset origin in the Z-axis direction.
The device according to claim 48, wherein the processor determines that the object to be detected is in a preset direction according to the first angular velocity and the angular acceleration of the object to be detected in a preset direction. When the target angular velocity in the direction, the processor is further configured to:

Performing high-pass filtering on the angular acceleration of the object to be detected in a preset direction, and performing integration processing on the filtered angular acceleration to obtain the second angular velocity of the object to be detected in the preset direction;

Performing low-pass filtering on the first angular velocity of the object to be detected in a preset direction to obtain a third angular velocity of the object to be detected in the preset direction;

The sum of the second angular velocity and the third angular velocity is determined as the target angular velocity of the object to be detected in a preset direction.
The device according to claim 57, wherein the cut-off frequency for high-pass filtering all angular accelerations is the same as the cut-off frequency for low-pass filtering all first angular velocities.
The device according to any one of claims 47-58, wherein the object to be detected is a photographing device set on a pan/tilt, and a drive motor is provided on the pan/tilt; the processor, and Used for:

Determining a control parameter corresponding to the drive motor according to the target angular velocity;

The driving motor is controlled according to the control parameter, so as to adjust the posture of the pan/tilt head.
A photographing device, characterized in that it comprises:

Device body

The angular velocity measuring mechanism according to any one of claims 1-33, mounted on the main body of the device.
A pan-tilt, characterized in that it comprises:

PTZ main body;

The photographing device according to claim 60, which is installed on the main body of the pan/tilt head.
A photographing device, characterized in that it comprises:

Device body

The angular velocity measuring device according to any one of claims 47-59, which is installed on the main body of the device.
A pan-tilt, characterized in that it comprises:

PTZ main body;

The photographing device according to claim 62, which is installed on the main body of the pan/tilt head.
A movable platform, characterized in that it comprises:

Platform subject

The angular velocity measuring mechanism of any one of claims 1-33 is installed on the platform main body.
A movable platform, characterized in that it comprises:

Platform subject

The angular velocity measuring device according to any one of claims 47-59, installed on the main body of the platform.
A computer-readable storage medium, wherein the storage medium is a computer-readable storage medium, the computer-readable storage medium stores program instructions, and the program instructions are used to implement any one of claims 34-46 The angular velocity measurement method described in the item.