WO2022021416A1 - Procédé, appareil et système de commande de moteur électrique et support d'informations lisible par ordinateur - Google Patents

Procédé, appareil et système de commande de moteur électrique et support d'informations lisible par ordinateur Download PDF

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Publication number
WO2022021416A1
WO2022021416A1 PCT/CN2020/106394 CN2020106394W WO2022021416A1 WO 2022021416 A1 WO2022021416 A1 WO 2022021416A1 CN 2020106394 W CN2020106394 W CN 2020106394W WO 2022021416 A1 WO2022021416 A1 WO 2022021416A1
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WO
WIPO (PCT)
Prior art keywords
motor
control
rotating device
motor control
push information
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Application number
PCT/CN2020/106394
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English (en)
Chinese (zh)
Inventor
王振动
李智勇
杨天豪
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to CN202080007151.3A priority Critical patent/CN113228618A/zh
Priority to PCT/CN2020/106394 priority patent/WO2022021416A1/fr
Publication of WO2022021416A1 publication Critical patent/WO2022021416A1/fr

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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand

Definitions

  • the present application relates to the technical field of motor control, and in particular, to a motor control method, device, system, and computer-readable storage medium.
  • each batch of motors has the exact same device identification, and when multiple motors are connected to the gimbal device at the same time , there are multiple identical device IDs in the communication network of the PTZ device. In this way, it is impossible to distinguish the motors by the same device identification, it is difficult to meet the user's control requirements for multiple motors, and the user experience is not good.
  • the embodiments of the present application provide a motor control method, device, system, and computer-readable storage medium, aiming to solve the problem that when multiple motors are externally connected to a PTZ device at the same time, other device nodes in the communication network cannot pass the The same device ID is used to distinguish motor problems.
  • an embodiment of the present application provides a motor control method, the motor includes a first motor or a second motor, and the first motor and the second motor have the same initial device identifier, which is the second motor.
  • the virtual device identification set by the motor is different from the initial device identification, and the method includes:
  • the motor control instruction includes a device identifier, and the device identifier is used to distinguish the recipient of the motor control instruction, and the recipient is the first motor or the second motor;
  • the device identifier in the motor control instruction is the same as the virtual device identifier, modify the device identifier in the motor control instruction to the initial device identifier, so as to update the motor control instruction, and report to the first
  • the second motor sends the updated motor control command.
  • an embodiment of the present application further provides a control device, where the control device is used to control a first motor or a second motor, and the first motor and the second motor have the same initial device identification, which is the same as the first motor and the second motor.
  • the virtual device identification set by the second motor is different from the initial device identification;
  • control device includes a memory and one or more processors
  • the memory for storing computer programs
  • the one or more processors are configured to execute the computer program, and when executing the computer program, implement the steps of the motor control method according to any one of the embodiments of the present application.
  • an embodiment of the present application further provides a shooting system, the shooting system includes a pan-tilt device, a shooting device mounted on the pan-tilt device, a rotation device, the above-mentioned control device, and the The first motor and the second motor connected to the gimbal device.
  • an embodiment of the present application further provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the method described in the present application. Provide any one of the steps of the motor control method.
  • the embodiments of the present application provide a motor control method, device, system, and computer-readable storage medium.
  • a motor control instruction if the device identifier in the motor control instruction is the same as the initial device identifier of the motor, the first motor is sent to the first motor.
  • Send a motor control command if the device ID in the motor control command is the same as the virtual device ID of the motor, modify the device ID in the motor control command to the initial device ID to update the motor control command, and send the update to the second motor Therefore, when multiple motors are connected to the gimbal device at the same time, other device nodes in the communication network cannot be distinguished by the same device ID, which improves the user experience.
  • FIG. 1 is a schematic structural diagram of a pan/tilt device implementing the motor control method provided by an embodiment of the present application
  • Fig. 2 is the connection schematic diagram of the pan/tilt device, the first motor, the second motor and the rotating device in the embodiment of the present application;
  • FIG. 3 is a schematic diagram of the connection of the pan/tilt device, the first motor, the second motor, the first rotating device and the second rotating device in the embodiment of the present application;
  • FIG. 4 is a schematic flowchart of steps of a motor control method provided by an embodiment of the present application.
  • FIG. 5 is a schematic flowchart of steps of another motor control method provided by an embodiment of the present application.
  • FIG. 6 is a schematic block diagram of the structure of a control device provided by an embodiment of the present application.
  • FIG. 7 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.
  • the device identifiers are used to distinguish each device accessing the network, which can be specifically divided into device identifiers corresponding to the sender and device identifiers corresponding to the receiver.
  • the device identification in the data packet sent by it is its own device identification, and it only receives data packets whose device identification is its own device identification in the data packet.
  • the software and hardware of each batch of motors are identical, so each batch of motors has the exact same device identification, and when multiple motors are connected to the gimbal device at the same time , there are multiple identical device IDs in the communication network of the PTZ device.
  • the motors cannot be distinguished by the same device IDs, and it is difficult to meet the user's control requirements for multiple motors. Bad user experience.
  • inventions of the present application provide a motor control method, device, system, and computer-readable storage medium.
  • the motor control method can be applied to a control device, and the control device is used to control a first motor connected to a photographing device.
  • the second motor so that the first motor can adjust the first shooting parameters of the shooting device, the second motor can adjust the second shooting parameters of the shooting device, the initial device identifiers of the first motor and the second motor are the same, the first motor and the
  • a virtual device identifier is set for the second motor, and the virtual device identifier set for the second motor is different from the initial device identifier, so that the first rotating device or the second rotating device in the communication network can be based on
  • the initial device identification and the virtual device identification distinguish the first motor and the second motor, which facilitates the user to control the two motors through the first rotating device or the second rotating device, and improves user experience.
  • the control apparatus may be applied to a pan/tilt device or a photographing device.
  • FIG. 1 is a schematic structural diagram of a pan/tilt device implementing the motor control method provided by the embodiment of the present application.
  • the pan/tilt device 100 includes a handle portion 101 and a pan/tilt head 102 disposed on the handle portion 101 .
  • the gimbal 102 is used for carrying a photographing device. It can be understood that the photographing device can be integrated with the gimbal 102 , and the photographing device is a smartphone, and of course other photographing devices, such as a single-lens reflex camera.
  • the pan/tilt 102 includes three-axis motors, which are a pitch (pitch) axis motor 1021, a roll (roll) axis motor 1022 and a yaw (yaw) axis motor 1023, which are used to adjust the motion of the photographing device mounted on the pan/tilt 102. Balance your stance for high-precision, stable shots anytime, anywhere.
  • the PTZ 102 is provided with an inertial measurement unit (Inertial measurement unit, IMU), for example, including at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the PTZ 102, so as to adjust the cloud according to the attitude The attitude of the stage 102 .
  • the handle portion 101 is also provided with an inertial measurement unit (Inertial measurement unit, IMU), for example including at least one of an accelerometer or a gyroscope, which can be used to measure the attitude and acceleration of the handle portion 101, etc., In order to adjust the posture of the pan/tilt head 102 according to the posture of the handle part 101 and the posture of the pan/tilt head 102 .
  • the handle portion 101 is further provided with an operation control key, so that the user can operate the operation control key to control the pan/tilt 102 or the photographing device mounted on the pan/tilt 102 .
  • the operation control key may be, for example, a key, a trigger, a knob or a rocker, etc., of course, other forms of physical keys are also included.
  • the joystick can be used to control the movement of the three rotation axes, and then control the movement of the gimbal 102 . It can be understood that the joystick can also be used for other functions, and the user can also select the shooting parameters that can be adjusted by the rotating device through the operation control key, so that the subsequent PTZ device can respond to the user's rotating operation on the rotating device to control the shooting. The device adjusts the shooting parameters.
  • the pan-tilt device 100 can be connected with the first motor, the second motor and the rotating device, and the connection between the pan-tilt device 100 and the rotating device can be wired or wireless. It is used to control the first motor or the second motor connected with the shooting device to adjust the first shooting parameter or the second shooting parameter of the shooting device.
  • the first motor is snap-connected with the zoom ring of the shooting device, so that when the first motor rotates, the zoom ring is driven to rotate to control the zoom parameters of the shooting device
  • the second motor is snap-connected with the follow focus ring of the shooting device, so that the first motor rotates
  • the first motor or the second motor can also be connected with the aperture ring of the shooting device to control other shooting parameters of the device.
  • the pan-tilt device 100 may be connected to the photographing device through a control line, so as to adjust the shooting parameters of the photographing device mounted on the pan-tilt 102 .
  • the control wire may be a shutter wire, and the type of the shutter wire is not limited here, for example, the shutter wire may be a Universal Serial Bus (Universal Serial Bus, USB).
  • FIG. 2 is a schematic diagram of the connection of the pan/tilt device, the first motor, the second motor and the rotating device in the embodiment of the present application.
  • the PTZ device includes a first interface 10 and a second interface 20
  • the first motor 30 is connected to the PTZ device 100 through the first interface 10
  • the second motor 40 is connected to the PTZ device through the second interface 20 .
  • the rotating device 50 is connected to the pan/tilt device 100 by wire, so that the rotating device 50 can control the first motor 30 to adjust the first shooting parameter of the shooting device, or control the second motor 40 to adjust the second shooting parameter of the shooting device.
  • the control mode of the rotating device 50 includes a first control mode and a second control mode, and the user can switch the control mode of the rotating device 50 by himself.
  • the rotating device 50 is used to control the first motor 30 to set the first shooting parameters of the shooting device
  • the rotating device 50 is used to control the second motor 40 Adjust the second shooting parameter of the shooting device.
  • the user can switch the control mode of the rotating device 50 through the operation buttons on the handle part 101 , and can also switch the control mode of the rotating device 50 through the display device on the handle part 101 .
  • the gimbal device 100 includes a first interface 10 and a second interface 20 , the first motor 30 is connected to the gimbal device 100 through the first interface 10 , and the second motor 40 is connected to the gimbal through the second interface 20
  • the device 100, the first rotating device 51 and the second rotating device 52 are connected to the pan-tilt device 100 by wired means.
  • the first rotating device 51 and the second rotating device 52 can also be connected to the pan-tilt device 100 by wireless means.
  • the first rotating device 51 is connected to the pan-tilt device 100 in a wired way
  • the second rotating device 52 is connected to the pan-tilt device 100 in a wireless way, so that the first rotating device 51 can control the first motor 30 to adjust the shooting device.
  • the second rotating device 52 can control the second motor 40 to adjust the second shooting parameter of the shooting device, or the first rotating device 51 can control the second motor 40 to adjust the second shooting parameter of the shooting device.
  • the rotating device 52 can control the first motor 30 to adjust the first shooting parameters of the shooting device.
  • the pan-tilt device 100 includes a processor, and the processor is used for processing input control instructions, or sending and receiving signals.
  • the processor may be provided inside the handle portion 101 .
  • the processor may be a central processing unit (Central Processing Unit, CPU), and the processor may also be other general-purpose processors, digital signal processors (Digital Signal Processors, DSP), application specific integrated circuits (application specific integrated circuits) circuit, ASIC), Field-Programmable Gate Array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.
  • a general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
  • pan-tilt device in FIG. 1 , FIG. 2 , and FIG. 3 and the above naming of the components of the pan-tilt device are only for the purpose of identification, and therefore do not limit the embodiments of the present application.
  • FIG. 4 is a schematic flowchart of steps of a motor control method provided by an embodiment of the present application.
  • the motor control method includes steps S101 to S103.
  • the initial device identifiers of the first motor and the second motor are the same.
  • a virtual device identifier is set for the second motor, or a virtual device identifier is set for the first motor.
  • the device ID is different from the virtual device ID, so that the rotating device connected with the PTZ device can distinguish the first motor and the second motor through the initial device ID and the virtual device ID, so as to control the first motor or the second motor to adjust the first motor of the shooting device.
  • Shooting parameters or second shooting parameters, the first shooting parameters include any one of follow focus parameters, zoom parameters and exposure parameters
  • the second shooting parameters include any one of follow focus parameters, zoom parameters and exposure parameters.
  • the first motor is snap-connected with the zoom ring of the shooting device, so that when the first motor rotates, the zoom ring is driven to rotate to control the zoom parameters of the shooting device
  • the second motor is snap-connected with the follow focus ring of the shooting device, so that the first motor rotates
  • the second motor drives the follow focus ring to rotate to control the follow focus parameters of the photographing device.
  • the first motor is connected with the follow focus ring of the photographing device, so that when the first motor rotates, the follow focus ring is driven to rotate to control the follow focus parameters of the photographing device
  • the second motor is connected with the zoom ring of the photographing device by snap connection, When the second motor rotates, the zoom ring is driven to rotate to control the zoom parameters of the photographing device.
  • the control device acquires the rotation information of the rotation device in response to the user's operation on the rotation device, and generates the motor control command according to the rotation information.
  • the rotating device acquires the rotation information of the rotating device in response to the user's operation, generates a motor control command according to the rotation information, and sends the motor control command to the control device, and the control device obtains the motor control command sent by the rotating device .
  • the rotating device is connected to the PTZ device through wired or wireless communication, the rotating device can be a dial wheel, a focus wheel, etc., the rotating information includes the rotation speed, position and angular velocity of the rotating device, and the motor control command includes the device identification.
  • the device identifier is used to distinguish the recipient of the motor control instruction, and the recipient of the motor control instruction may be the first motor or the second motor.
  • the rotating device has a first control mode and a second control mode.
  • the rotating device In the first control mode, the rotating device is used to control the first motor, and in the second control mode, the rotating device is used to control the second motor.
  • the motor, the motor control instruction can be generated based on the user's operation on the rotating device in the first control mode, the device identification in the motor control instruction is the same as the initial device identification, and the motor control instruction can also be in the second control mode.
  • the device ID in the motor control instruction is the same as the virtual device ID, which is generated based on the user's operation on the rotating device.
  • the rotating device in the first control mode, is used to control the second motor, and in the second control mode, the rotating device is used to control the first motor, and the motor control command may be based on the user in the first control mode.
  • the device identification in the motor control instruction is the same as the virtual device identification, and the motor control instruction can also be generated based on the user's operation on the rotating device in the second control mode.
  • the identification is the same as the original equipment identification.
  • the rotating device includes a first rotating device or a second rotating device, the first rotating device is used to control the first motor, and the second rotating device is used to control the second motor, and the motor control command may be based on the user's Generated by the operation of the first rotating device, the device identification in the motor control instruction is the same as the initial device identification, and the motor control instruction can also be generated based on the user's operation on the second rotating device, the device identification in the motor control instruction Same as virtual device ID.
  • One motor is controlled by one rotating device, and another motor is controlled by another rotating device, and there is no need to switch the control mode of the rotating device back and forth, which is convenient for the user to control the motor to adjust the shooting parameters of the shooting device, which greatly improves the user experience.
  • the first rotation device is used to control the second motor
  • the second rotation device is used to control the first motor
  • the motor control instruction may be generated based on the user's operation on the first rotation device
  • the motor control instruction The device identifier in the motor control instruction is the same as the virtual device identifier
  • the motor control instruction may also be generated based on the user's operation on the second rotating device
  • the device identifier in the motor control instruction is the same as the initial device identifier.
  • One motor is controlled by one rotating device, and another motor is controlled by another rotating device, and there is no need to switch the control mode of the rotating device back and forth, which is convenient for the user to control the motor to adjust the shooting parameters of the shooting device, which greatly improves the user experience.
  • the device ID set for the first motor is the initial device ID
  • the device ID set for the second motor is the virtual device ID
  • the initial device ID is different from the virtual device ID
  • the motor control instruction If the device ID of the motor control command is the same as the initial device ID, the motor control command is sent to the first motor, and if the device ID in the motor control command is the same as the virtual device ID, the device ID in the motor control command is modified to the initial device ID, to The motor control command is updated, and the updated motor control command is sent to the second motor.
  • the equipment identification set for the first motor is a virtual equipment identification
  • the equipment identification set for the second motor is an initial equipment identification
  • the original equipment identification is different from the virtual equipment identification
  • the motor control instruction If the device ID in the motor control command is the same as the initial device ID, the motor control command is sent to the second motor, and if the device ID in the motor control command is the same as the virtual device ID, the device ID in the motor control command is modified to the initial device ID, to update the motor control command, and send the updated motor control command to the first motor.
  • the first motor can be connected to the gimbal device through the first interface, and the second motor can be connected to the gimbal device through the second interface. Therefore, a motor control command can be sent to the first motor through the first interface, and also The updated motor control command may be sent to the second motor through the second interface.
  • the first motor can be connected to the gimbal device through the second interface, and the second motor can be connected to the gimbal device through the first interface. Therefore, the updated motor control command can be sent to the second motor through the first interface, and also Motor control commands may be sent to the first motor through the second interface.
  • the first motor push information sent by the first motor is obtained, wherein the first motor push information includes the initial equipment identification; the first motor including the initial equipment identification is pushed.
  • the information is sent to the rotating device.
  • the first motor push information sent by the first motor can be obtained through the first interface, and when the first motor is connected to the gimbal device through the second interface, The first motor push information sent by the first motor can be acquired through the second interface, where the first motor push information includes the initial device identifier of the first motor and the current state information of the first motor.
  • the second motor push information sent by the second motor is acquired, wherein the second motor push information includes the initial device identifier; the initial device in the second motor push information is obtained.
  • the identifier is modified to a virtual device identifier, so as to update the push information of the second motor, and send the updated push information of the second motor to the rotating device.
  • the second motor push information sent by the second motor can be obtained through the first interface
  • the second motor push information sent by the second motor can be acquired through the second interface, where the second motor push information includes the initial device identifier of the second motor and the current state information of the second motor.
  • the rotating device includes a first rotating device or a second rotating device, the first rotating device is used to control the first motor, and the second rotating device is used to control the second motor, and on this basis, the first motor is obtained.
  • the sent first motor push information wherein the first motor push information includes the initial device identification; the first motor push information including the initial device identification is sent to the first rotating device.
  • the first motor push information sent by the first motor can be obtained through the first interface
  • the first motor push information sent by the first motor can be acquired through the second interface, where the first motor push information includes the initial device identifier of the first motor and the current state information of the first motor.
  • the rotating device includes a first rotating device or a second rotating device, the first rotating device is used to control the first motor, the second rotating device is used to control the second motor, and on this basis, the second motor is obtained.
  • the device sends the updated push information of the second motor.
  • the second motor push information sent by the second motor can be obtained through the first interface
  • the second motor push information sent by the second motor can be acquired through the second interface, where the second motor push information includes the initial device identifier of the second motor and the current state information of the second motor.
  • the device identification can be set according to the connection relationship between the motor and the interface, for example, the device identification corresponding to the motor connected with the first interface is set as the initial device identification, and the device identification corresponding to the motor connected with the second interface is set. Set to the virtual device ID.
  • the motor control instruction is sent to the motor connected to the first interface through the first interface, and if the device identifier in the motor control instruction is the same as the virtual device identifier, then The device identification in the motor control instruction is modified to the initial device identification to update the motor control instruction, and the updated motor control instruction is sent to the motor connected to the second interface through the second interface.
  • the motor push information is obtained through the first interface, the motor push information is sent to the rotating device, and if the motor push information is obtained through the second interface, the The initial device identifier in the motor push information is modified to a virtual device identifier, so as to update the motor push information, and send the updated second motor push information to the rotating device.
  • the communication network of the PTZ device includes two rotating devices, the corresponding relationship between the interface and the rotating device can be further established. For example, the motor push information obtained through the first interface is sent to the first rotating device, and the motor push information obtained through the second interface is sent to the second rotating device.
  • the motor push information is sent to the first rotating device, and if the motor push information is obtained through the second interface, the initial device identifier in the motor push information is modified to a virtual device identifier to update the motor push information, and send the updated second motor push information to the second rotating device.
  • the device identifier corresponding to the motor connected to the first interface may also be set as the virtual device identifier, and the device identifier corresponding to the motor connected to the second interface may be set as the initial device identifier.
  • the motor push information obtained through the first interface may also be sent to the second rotating device, and the motor push information obtained through the second interface may be sent to the first rotating device, which will not be repeated here.
  • the motor control method by acquiring the motor control command, if the device identifier in the motor control command is the same as the initial device ID of the motor, then send the motor control command to the first motor, if the device in the motor control command If the ID is the same as the virtual device ID of the motor, the device ID in the motor control instruction is modified to the initial device ID to update the motor control command, and the updated motor control command is sent to the second motor, so as to solve the problem of multiple motors at the same time.
  • the motor problem cannot be distinguished by the same device ID, improving user experience.
  • FIG. 5 is a schematic flowchart of steps of another motor control method provided by an embodiment of the present application.
  • the motor control method includes steps S201 to S202.
  • the first motor connected with the pan-tilt device can be connected with the shooting device to adjust the first shooting parameters of the shooting device
  • the second motor connected with the pan-tilt device can be connected with the shooting device to adjust the second shooting parameters of the shooting device .
  • the first motor is snap-connected with the zoom ring of the shooting device, so that when the first motor rotates, the zoom ring is driven to rotate to control the zoom parameters of the shooting device
  • the second motor is snap-connected with the follow focus ring of the shooting device, so that the first motor rotates
  • the second motor drives the follow focus ring to rotate to control the follow focus parameters of the photographing device.
  • the first motor is connected with the follow focus ring of the photographing device, so that when the first motor rotates, the follow focus ring is driven to rotate to control the follow focus parameters of the photographing device
  • the second motor is connected with the zoom ring of the photographing device by snap connection, When the second motor rotates, the zoom ring is driven to rotate to control the zoom parameters of the photographing device.
  • the control mode of the rotating device is the first control mode
  • the current value of the first shooting parameter of the shooting device is obtained
  • the control mode of the rotating device is In the second control mode
  • the current value of the second shooting parameter of the shooting device is acquired.
  • the current value of the first shooting parameter and/or the current value of the second shooting parameter of the shooting device is acquired.
  • the first preset value range is related to the limit value of the first shooting parameter, that is, the minimum value and the maximum value
  • the second preset value range is related to the limit value of the second shooting parameter, that is, the minimum value and the maximum value.
  • the first endpoint value of the first preset value range is greater than or equal to the minimum value of the first shooting parameter
  • the second endpoint value of the first preset value range is less than or equal to the maximum value of the first shooting parameter
  • the second preset value The first endpoint value of the range is greater than or equal to the minimum value of the second shooting parameter
  • the second endpoint value of the second preset value range is less than or equal to the maximum value of the second shooting parameter.
  • a rotating device when a rotating device is connected to the pan/tilt device, if the control mode of the rotating device is the first control mode, when the current value of the first shooting parameter is not within the first preset value range, the increase The rotation damping of the rotating device is increased, and if the control mode of the rotating device is the second control mode, when the current value of the second shooting parameter is not within the second preset value range, the rotation damping of the rotating device is increased.
  • the rotating device is connected with the damping adjusting device, so the rotational damping of the rotating device can be increased by controlling the damping adjusting device.
  • the damping adjustment device includes at least one of a gripping device and a reversing motor
  • the gripping device can be arranged on the rotating shaft or the transmission gear of the rotating device, so that the tightening device can increase the rotating shaft or the transmission gear of the rotating device.
  • the frictional force of the gear can increase the rotational damping of the rotating device.
  • the transmission gear of the reversing motor can be engaged with the transmission gear of the rotating device, so that the reversing motor can apply reverse resistance to the rotating device to increase the rotation. Rotational damping of the device.
  • the damping adjusting device By controlling the damping adjusting device to increase the rotational damping of the rotating device, the rotational damping of the rotating device can be adjusted accurately.
  • the current value of the first shooting parameter or the second shooting parameter of the shooting device is obtained at preset time intervals; if the current value of the first shooting parameter is not within the first preset value range, or if the second If the current value of the shooting parameter is not within the second preset value range, the rotation damping of the rotating device is increased.
  • the preset time may be set based on an actual situation, which is not specifically limited in this embodiment of the present application.
  • the current value of the shooting parameter is obtained by setting the interval, and when the current value of the shooting parameter is not within the set value range, the rotation damping of the rotating device is increased, so that the subsequent user can perceive the rotating damping when rotating the rotating device.
  • Increase the relationship between the current value of the shooting parameter and the limit value is known, so that when the current value of the shooting parameter reaches the limit value, the rotation of the rotating device is stopped, which can prevent damage to the shooting equipment and improve user experience.
  • the current value of the first shooting parameter or the second shooting parameter of the shooting device is obtained in response to the user's rotating operation of the rotating device; if the current value of the first shooting parameter is not within the first preset value range , or if the current value of the second shooting parameter is not within the second preset value range, increase the rotation damping of the rotation device.
  • the rotational damping of the rotating device is increased, so that the user can perceive the increase in the rotational damping of the rotating device and know that The relationship between the current value of the shooting parameter and the limit value, so that when the current value of the shooting parameter reaches the limit value, the rotation of the rotating device is stopped, which can prevent damage to the shooting equipment and improve user experience.
  • the rotation device includes a first rotation device or a second rotation device, and if the current value of the first shooting parameter is not within the first preset value range, the rotation damping of the first rotation device is increased, and If the current value of the second shooting parameter is not within the second preset value range, the rotation damping of the second rotation device is increased.
  • the first rotating device is connected to the first damping adjusting device, and the second rotating device is connected to the second damping adjusting device. Therefore, the rotational damping of the first rotating device can be increased by controlling the first damping adjusting device, and the second rotating device can be controlled.
  • a damping adjusting device is used to increase the rotational damping of the second rotating device, the first damping adjusting device includes at least one of a gripping device and a reversing motor, and the second damping adjusting device includes at least one of a gripping device and a reversing motor item.
  • the way to increase the rotational damping of the rotating device may be: determining the difference between the current value of the first shooting parameter and the end value of the first preset value range, or the current value of the second shooting parameter and the first shooting parameter.
  • the difference between the end values of the two preset numerical ranges is to obtain the feedback control amount; according to the feedback control amount and the preset feedback coefficient, the rotation damping of the rotating device is increased.
  • the preset feedback coefficient is related to the value range of the first shooting parameter or the second shooting parameter. The larger the value range of the first shooting parameter or the second shooting parameter is, the smaller the preset feedback coefficient is.
  • the smaller the control amount the smaller the rotational damping of the rotating device.
  • Different shooting devices may have different value ranges of shooting parameters. By increasing the rotation damping of the rotating device according to the feedback control amount and the preset feedback coefficient, different shooting devices can correspond to the normalized rotating device. Operation feel.
  • the determination method of the feedback control amount may be: determining the first difference between the current value of the first shooting parameter and the first endpoint value of the first preset value range, and determining the first shooting parameter.
  • the second difference between the current value of , and the second endpoint value of the first preset value range; the smaller one of the absolute value of the first difference and the absolute value of the second difference is used as the feedback control amount. For example, if the current value of the first shooting parameter is 80, and the preset value range of the first shooting parameter is 20 to 75, the first endpoint value is 20, and the second endpoint value is 75. Therefore, the absolute value of the first difference If the value is 60 and the absolute value of the second difference is 5, the absolute value of the second difference is 5 as the feedback control amount.
  • the current value of the first shooting parameter is 15, and the preset value of the first shooting parameter The range is 20 to 75, then the first endpoint value is 20 and the second endpoint value is 75. Therefore, the absolute value of the first difference value is 5 and the absolute value of the second difference value is 60, then the first difference value is The absolute value of 5 is used as the feedback control amount.
  • the rotating device is connected to the damping adjusting device, and the way of increasing the rotational damping of the rotating device according to the feedback control amount and the preset feedback coefficient may be: determining the damping according to the feedback control amount and the preset feedback coefficient.
  • Adjust the operating parameters of the device that is, determine the product of the feedback control amount and the preset feedback coefficient, and use the product of the feedback control amount and the preset feedback coefficient as the operating parameter of the damping adjusting device; control the damping adjusting device to operate according to the operating parameter , to increase the rotational damping of the rotating device.
  • the feedback control amount can be converted into an operating parameter of the damping adjusting device through the feedback control amount and the preset feedback coefficient, so that the damping adjusting device operates based on the operating parameter to increase the rotational damping of the rotating device.
  • the rotation damping of the rotating device is increased if the current value of the first shooting parameter is not within the first preset value range, and the current value of the first shooting parameter does not reach the limit value of the first shooting parameter. Or if the current value of the second shooting parameter is not within the second preset value range, and the current value of the second shooting parameter does not reach the limit value of the second shooting parameter, the rotation damping of the rotating device is increased.
  • the rotation damping of the rotating device is increased to feedback the relationship between the current value of the shooting parameter and the limit value , it is convenient for the user to operate the rotating device, and when the current value of the shooting parameters reaches the limit value, the rotating device can be stopped from rotating, which can prevent the damage of the shooting equipment.
  • the rotating device if the current value of the first shooting parameter is not within the first preset value range, and the current value of the first shooting parameter reaches the limit value of the first shooting parameter, the rotating device is locked; If the current value of the shooting parameter is not within the second preset value range, and the current value of the second shooting parameter reaches the limit value of the second shooting parameter, the rotating device is locked. Wherein, the locked rotating device does not rotate with the user's operation. When the current value of the shooting parameter reaches the limit value of the shooting parameter, the rotating device is locked so that the rotating device does not rotate with the user's operation, which can prevent damage to the shooting equipment and improve user experience.
  • the preset feedback reminder text if the current value of the first shooting parameter is not within the first preset value range, or the current value of the second shooting parameter is not within the second preset value range, the preset feedback reminder text, Play preset feedback alert tones, control preset indicator light operation, and/or control rotating device vibration.
  • the preset feedback reminder text and the preset feedback reminder sound are used to remind the user of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, and the preset feedback reminder text and the preset feedback reminder sound can be set based on the actual situation , which is not specifically limited in the embodiments of the present application.
  • the manner of displaying the preset feedback reminder text may be: controlling the photographing device to display the preset feedback reminder text; and/or controlling the display screen on the rotating device to display the preset feedback reminder text.
  • controlling the display screen on the shooting device and/or the rotating device to display the preset feedback reminder text the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can be used in the shooting parameter.
  • the current value reaches the limit value, the rotation of the rotating device is stopped, which can prevent damage to the photographing equipment and improve user experience.
  • the manner of broadcasting the preset feedback reminder sound may be: controlling the photographing device to broadcast the preset feedback reminder sound; and/or controlling the rotating device to broadcast the preset feedback reminder sound.
  • controlling the shooting device and/or the rotating device to broadcast the preset feedback reminder sound the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can be used when the current value of the shooting parameter reaches the limit.
  • stop rotating the rotating device which can prevent damage to the shooting equipment and improve user experience.
  • the mode of controlling the operation of the preset indicator light may be: controlling the operation of the preset indicator light provided on the photographing device; and/or, controlling the operation of the preset indicator light provided on the rotating device to remind the user The relationship between the current value of the shooting parameter and the limit value of the shooting parameter.
  • controlling the operation of the preset indicator light the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can stop rotating the rotating device when the current value of the shooting parameter reaches the limit value. , which can prevent damage to the shooting equipment and improve the user experience.
  • the mode of controlling the operation of the preset indicator light may also be: determining the difference between the current value of the first shooting parameter and the end value of the first preset value range, or the current value of the second shooting parameter and the first shooting parameter.
  • the difference between the end values of the two preset numerical ranges is the feedback control quantity; the target flashing mode of the preset indicator light is determined according to the value range of the feedback control quantity; the preset indicator light is controlled to flash according to the target flashing mode.
  • the mapping relationship between the value range of the feedback control variable and the flashing mode of the preset indicator light can be based on the actual situation set, which is not specifically limited in this embodiment of the present application.
  • the mode of controlling the vibration of the rotating device may be: determining the difference between the current value of the first shooting parameter and the end value of the first preset value range, or the current value of the second shooting parameter and the second preset value.
  • the difference between the end values of the numerical range is used to obtain the feedback control amount; according to the feedback control amount and the preset feedback coefficient, the vibrator in the rotating device is controlled to operate to make the rotating device vibrate, that is, the product of the feedback control amount and the preset feedback coefficient is determined.
  • the product of the feedback control amount and the preset feedback coefficient is used as the operating parameter of the vibrator, and the operation of the vibrator in the rotating device is controlled based on the operating parameter, so that the rotating device vibrates.
  • the feedback control amount is positively correlated with the vibration intensity of the rotating device, that is, the larger the feedback control amount, the stronger the vibration intensity of the rotating device, and the smaller the feedback control amount, the weaker the vibration intensity of the rotating device.
  • the rotation damping of the rotating device is increased. , and control the vibration of the rotating device.
  • the user can be reminded of the relationship between the current value of the shooting parameter and the limit value of the shooting parameter, which is convenient for the user to operate the rotating device, and can be used when the current value of the shooting parameter reaches the limit value. , stop rotating the rotating device, which can prevent damage to the shooting equipment and improve user experience.
  • the operation feedback method of the rotating device provided by the above-mentioned embodiment, by acquiring the current value of the first shooting parameter or the second shooting parameter of the shooting device, if the current value of the first shooting parameter is not within the first preset value range, or the first shooting parameter If the current value of the second shooting parameter is not within the second preset value range, the rotation damping of the rotating device is increased, so that when the user rotates the rotating device, the rotating device can feedback the difference between the current value of the shooting parameter and the limit value. relationship, it is convenient for the user to perceive whether the shooting parameters of the shooting device reach the limit value, which greatly improves the user experience.
  • the embodiment of the present application further provides a control device, the control device is used to control the first motor or the second motor, the initial device identifiers of the first motor and the second motor are the same, and the virtual device identifier set for the second motor is the same as the initial device identifier. Device IDs are different. Please refer to FIG. 6 .
  • FIG. 6 is a schematic structural block diagram of a control apparatus provided by an embodiment of the present application.
  • the control device 300 includes one or more processors 301 and a memory 302, and the one or more processors 301 and the memory 302 are connected through a bus 303, such as an I2C (Inter-integrated Circuit) bus .
  • a bus 303 such as an I2C (Inter-integrated Circuit) bus .
  • processors 301 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP), etc.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 302 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 301 is used for running the computer program stored in the memory 302, and implements the following steps when executing the computer program:
  • the motor control instruction includes a device identifier, and the device identifier is used to distinguish the recipient of the motor control instruction, and the recipient is the first motor or the second motor;
  • the device identifier in the motor control instruction is the same as the virtual device identifier, modify the device identifier in the motor control instruction to the initial device identifier, so as to update the motor control instruction, and report to the first
  • the second motor sends the updated motor control command.
  • the first motor can be connected to the gimbal device through a first interface
  • the second motor can be connected to the gimbal device through a second interface
  • the sending the motor control command to the first motor includes:
  • the sending the updated motor control instruction to the second motor includes:
  • the motor control instruction is generated based on a user's operation on a rotating device, and the rotating device is connected to the PTZ device in a wired or wireless manner.
  • the rotating device includes a first rotating device or a second rotating device, the first rotating device is used to control the first motor, and the second rotating device is used to control the second motor .
  • the motor control instruction is generated based on a user's operation on the first rotating device, and the device identification in the motor control instruction is the same as the initial device identification.
  • the motor control instruction is generated based on a user's operation on the second rotating device, and the device identifier in the motor control instruction is the same as the virtual device identifier.
  • the one or more processors are further configured to implement the following steps:
  • the one or more processors are further configured to implement the following steps:
  • the rotating device has a first control mode and a second control mode. In the first control mode, the rotating device is used to control the first motor, and in the second control mode Next, the rotating device is used to control the second motor.
  • the motor control instruction is generated based on a user's operation of the rotating device in the first control mode, and the device identifier in the motor control instruction is the same as the initial device identifier.
  • the motor control instruction is generated based on a user's operation on the rotating device in the second control mode, and the device identifier in the motor control instruction is the same as the virtual device identifier.
  • the one or more processors are further configured to implement the following steps:
  • the one or more processors are further configured to implement the following steps:
  • the first motor can be connected to a photographing device to adjust a first photographing parameter of the photographing device
  • the second motor can be connected to the photographing device to adjust a second photographing of the photographing device parameter
  • the one or more processors are further configured to implement the following steps:
  • the first preset value range is related to the minimum value and the maximum value of the first shooting parameter
  • the second preset value range is related to the minimum value and the maximum value of the second shooting parameter. related.
  • FIG. 7 is a schematic structural block diagram of a photographing system provided by an embodiment of the present application.
  • the shooting system 400 includes a pan-tilt device 410 , a shooting device 420 mounted on the pan-tilt device 410 , a rotation device 430 , a control device 440 as provided in any of the descriptions of the present application, and a pan-tilt device 420 .
  • the first motor 450 and the second motor 460 are connected.
  • the first motor 450 can be connected to the photographing device 420 to adjust the first photographing parameters of the photographing device 420
  • the second motor 460 can be connected to the photographing device 420 to adjust the second photographing parameters of the photographing device 420 .
  • the pan-tilt device 410 includes a handle portion, and the rotating device 430 is disposed on the handle portion and is electrically connected to the pan-tilt device 410 . It can be understood that, the rotating device 430 can also be connected to the PTZ device 410 in a wireless manner.
  • the pan/tilt device 410 may be connected to the photographing device 420 through a control line to adjust the photographing parameters of the photographing device 420 mounted on the pan/tilt 102 .
  • the control wire may be a shutter wire, and the type of the shutter wire is not limited here, for example, the shutter wire may be a Universal Serial Bus (Universal Serial Bus, USB).
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and the computer program includes program instructions, and the processor executes the program instructions to realize the provision of the above embodiments.
  • the steps of the motor control method are described in detail below.
  • the computer-readable storage medium may be an internal storage unit of the control apparatus or the PTZ device described in any of the foregoing embodiments, for example, a hard disk or memory of the control apparatus or the PTZ device.
  • the computer-readable storage medium may also be an external storage device of the control device or the PTZ device, for example, a plug-in hard disk, a smart memory card (Smart Media Card, SMC) equipped on the control device or the PTZ device. , Secure Digital (SD) card, flash memory card (Flash Card), etc.
  • SD Secure Digital
  • flash memory card Flash Card

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Multimedia (AREA)
  • Signal Processing (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Multiple Motors (AREA)
  • Studio Devices (AREA)

Abstract

L'invention concerne un procédé, un appareil (300) et un système (400) de commande de moteur électrique, et un support d'informations lisible par ordinateur. Le procédé consiste à : acquérir une instruction de commande de moteur électrique, l'instruction de commande de moteur électrique comprenant un identifiant de dispositif (S101) ; si l'identifiant de dispositif est identique à un identifiant de dispositif initial, envoyer l'instruction de commande de moteur électrique à un premier moteur électrique (30, 450) (S102) ; et si l'identifiant de dispositif est identique à un identifiant de dispositif virtuel, modifier l'identifiant de dispositif de l'instruction de commande de moteur électrique pour qu'il s'agisse de l'identifiant de dispositif initial, puis envoyer l'instruction de commande de moteur électrique à un second moteur électrique (40, 460) (S103).
PCT/CN2020/106394 2020-07-31 2020-07-31 Procédé, appareil et système de commande de moteur électrique et support d'informations lisible par ordinateur WO2022021416A1 (fr)

Priority Applications (2)

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CN202080007151.3A CN113228618A (zh) 2020-07-31 2020-07-31 电机控制方法、装置、系统及计算机可读存储介质
PCT/CN2020/106394 WO2022021416A1 (fr) 2020-07-31 2020-07-31 Procédé, appareil et système de commande de moteur électrique et support d'informations lisible par ordinateur

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PCT/CN2020/106394 WO2022021416A1 (fr) 2020-07-31 2020-07-31 Procédé, appareil et système de commande de moteur électrique et support d'informations lisible par ordinateur

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JPH0457039A (ja) * 1990-06-27 1992-02-24 Minolta Camera Co Ltd パルスエンコーダー信号処理回路
CN1530784A (zh) * 2003-03-17 2004-09-22 发那科株式会社 数值控制装置
CN103472844A (zh) * 2013-09-24 2013-12-25 慈溪迈思特电子科技有限公司 基于电子标签自校正的移动平台定位系统
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