WO2022027579A1 - Procédé de détection pour cardan, cardan à stabilité améliorée, plateforme mobile et support de stockage - Google Patents

Procédé de détection pour cardan, cardan à stabilité améliorée, plateforme mobile et support de stockage Download PDF

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Publication number
WO2022027579A1
WO2022027579A1 PCT/CN2020/107791 CN2020107791W WO2022027579A1 WO 2022027579 A1 WO2022027579 A1 WO 2022027579A1 CN 2020107791 W CN2020107791 W CN 2020107791W WO 2022027579 A1 WO2022027579 A1 WO 2022027579A1
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WO
WIPO (PCT)
Prior art keywords
pan
tilt
state
component
angular velocity
Prior art date
Application number
PCT/CN2020/107791
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English (en)
Chinese (zh)
Inventor
王文杰
Original Assignee
深圳市大疆创新科技有限公司
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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 CN202080006194.XA priority Critical patent/CN113168192A/zh
Priority to PCT/CN2020/107791 priority patent/WO2022027579A1/fr
Publication of WO2022027579A1 publication Critical patent/WO2022027579A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • 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
    • F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
    • F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/16—Details concerning attachment of head-supporting legs, with or without actuation of locking members thereof
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • 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
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/02—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or attaching to, an object, e.g. tree, gate, window-frame, cycle
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head

Definitions

  • Embodiments of the present invention relate to the technical field of PTZ, and in particular, to a PTZ detection method, a stabilization PTZ, a movable platform and a storage medium.
  • the stabilizer When the stabilizer is working, the stabilizer can be adjusted between the mechanical axis locked state and the mechanical axis unlocked state through manual operation. There is no free rotation between the arms; when the mechanical axis is in the unlocked state, the stabilizer and the axis arm of the mechanical axis where it is located can freely rotate.
  • the mechanical axis or stabilizer When the mechanical axis is in the locked state, the stabilizer and the axis arm of the mechanical axis cannot rotate freely. At this time, if the control parameters of the controlled object, which is the combination of the stabilizer and the camera, are auto-tuned, the The following problems occur: the mechanical axis or stabilizer will hit the axis lock back and forth under the action of the excitation signal, which will reduce the service life of the gimbal and affect the safety of the user's load; , the mechanical shaft cannot be rotated to the preset position, so it is easy to make errors in the identification of the moment of inertia of the load such as the camera, resulting in the mismatch between the calculated control parameters and the load, which will affect the stabilization performance of the stabilizer.
  • Embodiments of the present invention provide a pan/tilt detection method, a stabilization pan/tilt, a movable platform, and a storage medium, which are used to solve the problem in the prior art that the service life of the pan/tilt will be reduced due to the mechanical axis being in a locked state. , and it is easy to cause the mismatch between the control parameters and the load, which will affect the stabilization performance of the stabilizer.
  • a first aspect of the present invention is to provide a method for detecting a pan/tilt, the pan/tilt includes a pan/tilt component, a motor for driving the pan/tilt component to rotate, and a locking mechanism for locking the pan/tilt component,
  • the method includes:
  • the attitude sensor is used for sensing the attitude information of the gimbal component
  • the detection state includes a locked state and an unlocked state.
  • a second aspect of the present invention is to provide a stabilization platform, comprising:
  • the pan/tilt part is used to mechanically couple and connect the photographing device
  • a motor used to drive the pan/tilt component to rotate, so as to adjust the posture of the photographing device, so as to enhance the stability of the photographing device;
  • a controller electrically connected to the motor, for controlling the motor
  • an attitude sensor connected in communication with the controller, for sensing the attitude information of the pan/tilt component
  • the controller acquires a state detection signal corresponding to the attitude sensor, and determines a detection state of the pan/tilt component according to the state detection signal, and the detection state includes a locked state and an unlocked state.
  • a third aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used in the first aspect.
  • a fourth aspect of the present invention is to provide a movable platform comprising:
  • the support piece is mechanically coupled and connected with the stabilization gimbal, and is used for supporting the stabilization gimbal.
  • a fifth aspect of the present invention is to provide a method for detecting a pan/tilt, the pan/tilt comprising a pan/tilt component, a motor for driving the pan/tilt component to rotate, and a locking mechanism for locking the pan/tilt component,
  • the method includes:
  • a sixth aspect of the present invention is to provide a stabilization pan/tilt head, comprising:
  • the pan/tilt part is used to mechanically couple and connect the photographing device
  • a motor used to drive the pan/tilt component to rotate, so as to adjust the posture of the photographing device, so as to enhance the stability of the photographing device;
  • a controller electrically connected to the motor, for controlling the motor
  • an attitude sensor connected in communication with the controller, for sensing the attitude information of the pan/tilt component
  • the controller obtains a self-tuning request for implementing the self-tuning operation on the pan/tilt; determines whether to perform the self-tuning operation on the pan/tilt based on the state of the pan/tilt components; When the pan/tilt component is in a locked state, the self-tuning operation on the pan/tilt is stopped.
  • a seventh aspect of the present invention is to provide a computer-readable storage medium, the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used in the fifth aspect.
  • An eighth aspect of the present invention is to provide a movable platform, comprising:
  • the support piece is mechanically coupled and connected with the stabilization gimbal, and is used for supporting the stabilization gimbal.
  • the detection state of the pan-tilt component is determined by the acquired state detection signal, wherein the detection state of the pan-tilt may include: Locked state and unlocked state, so that it is convenient to use different control strategies to control the gimbal based on different detection states of the gimbal components. Specifically, when the gimbal components are in the locked state, the self-tuning operation of the gimbal can be prohibited.
  • the stable and reliable operation of the PTZ improves the practicability of the method and is beneficial to the promotion and application of the market.
  • FIG. 1 is a schematic diagram of the principle of a stabilizer provided by an embodiment of the present invention
  • FIG. 2 is a schematic flowchart of a method for detecting a pan/tilt according to an embodiment of the present invention
  • FIG. 3 is a schematic flowchart of obtaining a state detection signal corresponding to an attitude sensor according to an embodiment of the present invention
  • FIG. 4 is a schematic flowchart of another pan/tilt detection method provided by an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of determining the detection state of the pan/tilt component based on the state detection signal according to an embodiment of the present invention
  • FIG. 6 is a schematic flowchart of determining the detection state of the pan/tilt component according to the angular velocity of the motor provided by an embodiment of the present invention
  • FIG. 7 is a schematic flowchart of determining the quantity of the angular velocity provided by an embodiment of the present invention.
  • FIG. 9 is a schematic flow chart 1 of determining the detection state of the pan/tilt component according to the total energy of the signal and the energy of the first harmonic component according to an embodiment of the present invention
  • FIG. 10 is a second schematic flowchart of determining the detection state of the pan/tilt component according to the total energy of the signal and the energy of the first harmonic component according to an embodiment of the present invention
  • FIG. 11 is a schematic flowchart of determining the detection state of the gimbal component according to the angular velocity of the motor according to an embodiment of the present invention
  • FIG. 12 is a schematic waveform diagram of the angular velocity of the motor when the motor component is in an unlocked state according to an application embodiment of the present invention
  • FIG. 13 is a schematic waveform diagram of the angular velocity of the motor when the motor component is in a locked state according to an application embodiment of the present invention
  • FIG. 14 is a schematic flowchart of another pan/tilt detection method provided by an embodiment of the present invention.
  • FIG. 15 is a schematic structural diagram of a stabilization gimbal according to an embodiment of the present invention.
  • 16 is a schematic structural diagram of another stabilization gimbal provided by an embodiment of the present invention.
  • FIG. 17 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • FIG. 18 is a schematic structural diagram of another movable platform provided by an embodiment of the present invention.
  • the working principle of the stabilizer is described with reference to FIG. 1 .
  • the actual posture of the camera device is detected first, and the actual posture is compared with the target posture to obtain Control deviation; then perform negative feedback control according to the control deviation, determine the motor torque in the stabilizer based on the control deviation, and then send the motor torque to the motor in the stabilizer to reduce the control deviation and ensure the actual posture and target of the camera equipment
  • the attitude deviation is as small as possible, so that the image captured by the camera device is as stable as possible, or the actual attitude of the camera device is as close to the target attitude as possible to shoot in the target attitude.
  • the stabilizer can be adapted to different loads, such as: various combinations of cameras and lenses, etc., and their differences in size and quality, as well as different installation positions and structural forces.
  • the states result in different dynamics model parameters and frequency response characteristics.
  • Control parameter self-tuning refers to the identification of the model parameters of the controlled object, which is the combination of the stabilizer and the camera, by the method of system identification, and the stabilizer is controlled according to the identified control parameters, so that the stabilizer can be adapted to different loads. Can achieve good control performance.
  • the stabilizer when the stabilizer is working, the stabilizer can be adjusted between the mechanical axis locked state and the mechanical axis unlocked state through manual operation.
  • the mechanical axis when the mechanical axis is in the locked state, the The rotor of the motor corresponding to the mechanical shaft is in a locked state, so that the above-mentioned mechanical shaft cannot rotate freely;
  • the mechanical shaft is in an unlocked state, that is, the rotor of the motor corresponding to the mechanical shaft used to control the stabilizer is in an unlocked state, so that the above-mentioned mechanical shaft is in an unlocked state.
  • the shaft arm of the mechanical shaft can rotate freely.
  • the rotor of the motor can be controlled to be in a locked state through manual operation, thereby controlling the mechanical axis of the stabilizer to be in a locked state, that is, The mechanical axis is stably in the preset target posture and cannot be changed.
  • the stabilizer can be folded and stored. At this time, by manually controlling the mechanical shaft of the stabilizer to lock in the folded state, the stabilizer can be prevented from changing from the folded state to the unfolded state, which is not conducive to the stability of the stabilizer. to carry out the storage operation.
  • the mechanical axis of the stabilizer can be controlled by manual operation to be locked in the current posture, so that the mechanical axis cannot be used. Perform free rotation, and when the switching conditions of the next scene are met, unlock the mechanical axis again, so that the mechanical axis can be rotated freely.
  • the present embodiment provides a detection method, device, movable platform and storage medium for a pan/tilt, wherein the detection method can detect a detection state of a pan/tilt component located on the pan/tilt, and the detection state may include: Locked state or unlocked state, specifically, the detection state of the pan-tilt component is determined by the acquired state detection signal, wherein the detection state of the pan-tilt can include a locked state and an unlocked state, so as to facilitate the realization of a pan-tilt-based component based
  • different control strategies are used to control the gimbal.
  • the self-tuning operation of the gimbal can be prohibited when the gimbal parts are in a locked state, thereby avoiding the possibility of interfering with other gimbal components due to the locked state.
  • the collision of components will reduce the service life of the stabilizer, and easily lead to the mismatch between the control parameters and the load, which will affect the stabilization performance of the stabilizer, which further ensures the stability and reliability of the gimbal and improves the practicality of the method. It is conducive to the promotion and application of the market.
  • FIG. 2 is a schematic flowchart of a method for detecting a pan/tilt according to an embodiment of the present invention; with reference to FIG. 2 , the present embodiment provides a detection method for a pan/tilt.
  • the pan/tilt may include pan/tilt components, a A motor for driving the rotation of the pan-tilt part and a locking mechanism for locking the pan-tilt part.
  • the gimbal it is divided by the number of gimbal components, and the gimbal may refer to at least one of the following: a single-axis gimbal (the number of gimbal parts is 1), a dual-axis gimbal (a gimbal The number of table parts is 2), the three-axis pan/tilt (the number of pan/tilt components is 3), and the multi-axis pan/tilt (the number of pan/tilt components is multiple), etc.; divided by the carrier of the locking mechanism, the pan/tilt It can include at least one of the following: a handheld gimbal, a vehicle-mounted gimbal, an airborne gimbal, and the like.
  • the gimbal parts can be used to represent different structures on the gimbal.
  • the gimbal parts can include at least the following: One: a first bracket located between two motors, a second bracket movably connected to the first bracket, a third bracket movably connected to the second bracket (for supporting the load), and so on.
  • the pan/tilt components included on the pan/tilt may be any one or more of the above-mentioned first bracket, second bracket, and third bracket, and the detection method in this embodiment may acquire any one or more pan/tilt components detection status.
  • the execution body of the method may be the detection device of the pan/tilt.
  • the detection device of the pan/tilt may be implemented as software or a combination of software and hardware.
  • the detection device of the pan/tilt may be implemented For a stabilization gimbal.
  • the detection method of the PTZ may include:
  • Step S201 Acquire a state detection signal corresponding to the attitude sensor, and the attitude sensor is used to sense the attitude information of the pan/tilt component.
  • the attitude sensor is used to sense the attitude information of the gimbal component.
  • the attitude sensor can be an inertial measurement unit IMU;
  • the state detection signal refers to a request signal used to determine the state detection of the gimbal component.
  • the state detection signal The corresponding waveform may include at least one of the following: sine wave, cosine wave, square wave, and triangle wave. Since cosine wave, square wave, and triangle wave can be obtained by fusion of sine waves, in order to improve the quality and efficiency of data processing, it is relatively
  • the waveform corresponding to the state detection signal may be a sine wave.
  • the state detection signal corresponding to the attitude sensor may refer to a drive signal used to drive the attitude sensor to perform a detection operation. At this time, after acquiring the state detection signal, the attitude sensor may detect based on the acquired state detection signal.
  • the state detection signal corresponding to the attitude sensor may refer to a signal output by the attitude sensor, and in this case, the state detection signal may include attitude information of the pan/tilt component sensed by the attitude sensor.
  • this embodiment does not limit the specific acquisition method of the state detection signal, and those skilled in the art can set it according to specific application requirements and design requirements.
  • the signal is executed, so that the detection device of the PTZ can directly acquire the state detection signal generated by executing the operation.
  • the state detection signal may be sent by other devices to the detection device of the gimbal, so that the detection device of the gimbal can obtain the state detection signal from the stabilizer.
  • acquiring the state detection signal corresponding to the attitude sensor may include:
  • Step S2011 Acquire a self-tuning request for implementing the self-tuning operation on the PTZ.
  • Step S2012 Determine the state detection signal according to the self-tuning request.
  • the self-tuning request is used to realize the self-tuning operation of the control parameters of the gimbal (including at least one of the following: the force information of the motor on the gimbal, the response speed to the load pose, and the configuration parameters of the filter on the gimbal).
  • the step disturbance experiment is performed with the control parameters of the gimbal, and the operation of setting the parameter value is calculated according to the running state of the gimbal.
  • the self-tuning request may be generated according to an operation performed by the user on the input of the stabilization gimbal. After the self-tuning request is obtained, the self-tuning request may be analyzed and processed to determine the state detection signal, among which one may be The implementation method is to directly determine the self-tuning request as the status detection signal; or, another feasible method is to generate a status detection signal according to the self-tuning request.
  • the detection duration of the detection state is less than the set duration of the auto-tuning operation.
  • this embodiment does not limit the detection duration of the detection state and the setting duration of the self-tuning operation, and those skilled in the art can set it according to specific application scenarios and application requirements. It can be carried out synchronously, and in order to ensure the stability and reliability of the self-tuning operation, the detection time of the detection state can be controlled to be shorter than the set time of the self-tuning operation. Specifically, the detection time of the detection state can be the set time of the self-tuning operation.
  • the detection time required to detect the state can be less than or equal to 0.4s, so as to achieve Therefore, it is possible to quickly and accurately detect the state of the gimbal in the early stage of the self-tuning operation, which greatly avoids damage to the stabilizer and load, and also facilitates the detection of the state of the gimbal based on the obtained parts.
  • the specific manner of obtaining the state detection signal corresponding to the attitude sensor in this embodiment is not limited to the above-defined manner, and those skilled in the art may also use other methods to obtain the state detection signal corresponding to the attitude sensor. , as long as the accuracy and reliability of acquiring the state detection signal can be ensured, and details are not repeated here.
  • Step S202 Determine the detection state of the pan/tilt component based on the state detection signal.
  • the status detection signal can be analyzed and processed to determine the detection status of the pan/tilt status, where the detection status may include a locked status and an unlocked status. Specifically, when the detection status of the pan/tilt component is In the locked state, the relative position between the gimbal part and other parts remains unchanged; when the detection state of the gimbal is unlocked, the relative position between the gimbal part and other parts can be changed.
  • this embodiment does not limit the specific implementation manner of determining the detection state of the pan/tilt components, and those skilled in the art can make settings according to specific application requirements and design requirements.
  • a detection state for identifying the pan/tilt components is preset. After obtaining the state detection signal, the state identification information for identifying the detection state of the pan-tilt component can be obtained, and the detection state of the pan-tilt component can be determined through the state identification information. For example: when the status identification information is "1", it is determined that the detection state of the pan-tilt component is a locked state; when the status identification information is "0", it is determined that the detection state of the pan-tilt component is an unlocked state.
  • those skilled in the art can also use other implementation manners to obtain the detection state of the pan/tilt component, as long as the detection state of the pan/tilt component can be accurately and effectively determined, which will not be repeated here.
  • the method in this embodiment further includes: when it is determined that the gimbal component is in an unlocked state, continuing to perform self-tuning on the gimbal based on the self-tuning request operation; or, when it is determined that the gimbal part is in a locked state, the self-tuning operation of the gimbal based on the self-tuning request is stopped.
  • the gimbal part When it is determined that the gimbal part is in an unlocked state, it means that the gimbal part on the gimbal can freely move with other parts at this time, and then the parameters of the gimbal can be self-tuned based on the pre-obtained self-tuning request. operation, so that the control parameters of the PTZ match the load set on the PTZ, which is beneficial to improve the stability and reliability of the control of the PTZ.
  • the gimbal parts When it is determined that the gimbal parts are in the locked state, it means that the positions of the gimbal parts on the gimbal and other parts remain relatively unchanged at this time, so that the gimbal parts cannot be controlled accurately and effectively. In order to avoid the gimbal parts If it collides with other parts, the self-tuning operation of the gimbal based on the self-tuning request can be stopped, thereby ensuring and improving the service life of the gimbal.
  • the method in this embodiment may further include: acquiring an execution operation for switching the detection state of the gimbal , switch the gimbal from the locked state to the unlocked state according to the execution operation, and then obtain the self-tuning request for realizing the self-tuning operation of the gimbal again, and perform the self-tuning operation on the gimbal based on the self-tuning request, so that the cloud
  • the control parameters of the platform match the load set on the gimbal, which is beneficial to improve the stability and reliability of the control of the gimbal.
  • the method in this embodiment may further include: when it is determined that the pan/tilt component is in a locked state, outputting a message for prompting that the pan/tilt component is in a locked state information.
  • a device for outputting information may be configured on the pan/tilt, and the device may include a voice module, a display module, an information sending module, etc.
  • the pan/tilt component when the pan/tilt component is in a locked state, it may be based on the fact that the pan/tilt component is locked.
  • the state generates corresponding prompt information, and the prompt information may include at least one of the following: voice information, text information, image information, identification information, and the like.
  • the voice prompt information 1 corresponding to "The PTZ part A is in the locked state" can be generated, and the voice prompt information 1 can be output through the voice module ;
  • text prompt information 2 and/or image information 3 can be generated, and the text prompt information 2 and/or image information 3 can be output through the display module;
  • the identification prompt information 4 can be generated, and the identification prompt information 4 can be displayed through the display module (for example: the green indicator light flashes to indicate that the gimbal part is not in the locked state, the red indicator light Blinking is used to indicate that the gimbal part is in a locked state) for output.
  • those skilled in the art can also output the information for prompting that the pan/tilt component is in the locked state in other ways, as long as the user can quickly learn from the output prompt information when it is determined that the pan/tilt component is in the locked state It suffices that the gimbal component is in a locked state, thereby facilitating timely and accurate control of the gimbal based on the locked state of the gimbal component, which will not be repeated here.
  • the locking mechanism is an intelligent (automatic or semi-automatic) locking mechanism, it can also be automatically unlocked, and then continue to perform the self-tuning operation, and the user can be unlocked while unlocking. Prompt unlocked; unlocking can also be triggered by the user.
  • the locking mechanism is an intelligent locking mechanism, the locking is used for locking or unlocking between the pan/tilt components and the motor, which can be triggered by the user non-contacting the pan/tilt, or by the user touching the buttons on the pan/tilt or touching the pan/tilt. Control screen, dial, etc. to achieve trigger operation.
  • the pan/tilt in this embodiment may be a pan/tilt in a folded state (that is, in a stowed state) or in a centered state (that is, a position where the joint angle is such as 0) ), that is, in these two states, there may be situations where the gimbal parts are locked.
  • the gimbal when the gimbal is in the folded state, there is overlap between the positions corresponding to at least two gimbal components of the gimbal; when the gimbal is in the centering state, the gimbal components of the gimbal are in an orthogonal position. .
  • the positional relationship between the gimbal components is not limited to the above description.
  • the state of the pan/tilt is not limited to the state described above, and those skilled in the art can also flexibly adjust according to specific application requirements and application scenarios, for example: cloud The platform is in a use state, or the PTZ is in a dormant state, etc., which will not be repeated here.
  • Application Scenario 1 for a certain PTZ, it can have a folded state and an unfolded state. After the shooting operation using the above-mentioned pan/tilt is completed, the pan/tilt can be stored. At this time, in order to reduce the space occupied by the gimbal, the gimbal can be adjusted from the unfolded state to the folded state, that is, the positions corresponding to at least two gimbal brackets on the gimbal overlap. In order to prevent the gimbal from changing from the folded state to the unfolded state and other situations that are not conducive to the storage operation of the gimbal, at this time, the gimbal bracket on the gimbal can be controlled to be in a locked state.
  • the detection state of the pan/tilt components on the pan/tilt may be in a locked state or an unlocked state. Therefore, in order to avoid the situation of reducing the service life of the gimbal and affecting the stabilization performance of the gimbal when the gimbal components are in the locked state, the gimbal can be checked for the state.
  • the received state detection signal is used to determine the detection state of the pan-tilt bracket, so that it is convenient to use different control strategies to control the pan-tilt bracket when the pan-tilt bracket is in different detection states.
  • Application Scenario 2 when the gimbal completes the task, the gimbal can be shut down or hibernated, so that the gimbal is in a shutdown or hibernation state.
  • the motor on the gimbal does not provide any driving force to the gimbal components, and can The gimbal bracket on the control gimbal is locked.
  • the detection state of the pan/tilt components on the pan/tilt may be in a locked state or an unlocked state. Therefore, in order to avoid the situation of reducing the service life of the gimbal and affecting the stabilization performance of the gimbal when the gimbal parts are in the locked state, you can control the gimbal first after the gimbal exits the shutdown state or hibernation state. It is in the middle state, and then the state detection of the gimbal is carried out. Specifically, the detection state of the gimbal bracket can be determined by the obtained state detection signal, so as to facilitate the realization of the gimbal bracket when it is in different detection states. Use different control strategies to control the PTZ.
  • the application scenario A is to shoot a still object through the gimbal
  • the application scenario B is to shoot a video image through the gimbal.
  • the gimbal components on the gimbal can be in the first preset posture.
  • the above-mentioned first preset posture can effectively realize the shooting of stationary objects.
  • you can The gimbal component on the control gimbal is in a locked state, that is, the gimbal component on the gimbal is locked in the first preset posture.
  • the change of the application scenario may affect the matching degree between the control parameters of the gimbal and the load set on the gimbal, and in order to ensure the video image To achieve the best shooting effect and quality, the gimbal component on the gimbal needs to be in the second preset attitude.
  • the gimbal can be self-tuning. Before performing the self-tuning operation, it is necessary to judge whether the gimbal can perform normal self-tuning based on the detection status of the gimbal components. Tuning operation, and then need to check the status of the gimbal components. Specifically, the detection status of the pan-tilt components is determined by the acquired status detection signals, so that it is convenient to implement different control strategies to control the self-tuning operation of the pan-tilt when the pan-tilt components are in different detection states. This further ensures the safety and reliability of the self-tuning operation of the PTZ.
  • the detection method of the pan/tilt determines the detection state of the pan/tilt components by using the acquired state detection signal, wherein the detection state of the pan/tilt may include a locked state and an unlocked state, so as to facilitate the realization of a pan/tilt based detection state.
  • Different detection states of the components use different control strategies to control the PTZ. Specifically, when the PTZ components are in the locked state, the self-tuning operation of the PTZ can be prohibited, thereby avoiding the possibility of conflicting with the PTZ due to the locked state of the PTZ components.
  • Fig. 4 is a schematic flowchart of another pan/tilt detection method provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, with continued reference to Fig. 4, after it is determined that the pan/tilt components are in a locked state, the present embodiment
  • the methods in can also include:
  • Step S401 Acquire control parameters corresponding to the pan/tilt components.
  • Step S402 Control the pan/tilt component based on the control parameters, so that the pan/tilt component rotates within a preset range, where the preset range is used to avoid the pan/tilt component from colliding with the locking mechanism in a locked state.
  • control parameters corresponding to the pan/tilt components may be obtained, and the control parameters may include the control parameters corresponding to the pan/tilt components.
  • the control parameters may be stored in a preset area, and after it is determined that the pan/tilt components are in a locked state, the control parameters corresponding to the pan/tilt components may be obtained by accessing the preset area.
  • the gimbal components can be controlled based on the control parameters.
  • the gimbal components can be controlled based on the angle range and angular velocity of the rotating joints, so that the gimbal components can be preset at the
  • the preset range is related to the control parameter.
  • the preset range is the rotation joint angle range; when the control parameter includes the angular velocity, the preset range can be the angular velocity.
  • the range corresponding to when the current value is adjusted to 0.
  • the pan-tilt component after it is determined that the pan-tilt component is in a locked state, by acquiring control parameters corresponding to the pan-tilt component, and then controlling the pan-tilt component based on the control parameters, the pan-tilt component can be effectively controlled within a preset range. It rotates, thereby avoiding the collision between the pan/tilt components and the locking mechanism in the locked state, thereby ensuring the service life of the pan/tilt and improving the safety and reliability of the pan/tilt use.
  • FIG. 5 is a schematic flowchart of determining the detection state of a pan/tilt component based on a state detection signal according to an embodiment of the present invention; on the basis of the above embodiment, with continued reference to FIG.
  • the specific implementation of the detection state is not limited, and those skilled in the art can set it according to specific application requirements and design requirements. Determine whether the gimbal part is locked.
  • determining the detection state of the pan/tilt component based on the state detection signal may include:
  • Step S501 Obtain the angular velocity of the motor based on the state detection signal.
  • Step S502 Determine the detection state of the pan/tilt component according to the angular velocity of the motor.
  • the gimbal is provided with an attitude sensor for detecting the angular velocity of the motor.
  • the attitude sensor may include an angular velocity sensor, a gyroscope, or an inertial measurement unit IMU, etc.
  • the embodiment of the present invention takes the attitude sensor as an IMU as an example for description.
  • the angular velocity of the motor obtained by the stabilization gimbal can be read based on the state detection signal, so as to determine the detection state of the gimbal component based on the angular velocity of the motor.
  • the number of angular velocities of the motor obtained can be one or more. In order to improve the accuracy of the gimbal detection, the number of angular velocities can be multiple. Multiple angular velocities within a period.
  • determining the detection state of the pan/tilt component according to the angular velocity of the motor may include:
  • Step S601 Determine the total energy of the signal and the energy of the first harmonic component corresponding to the state detection signal according to the angular velocity of the motor, and the total energy of the signal includes the energy of the first harmonic component.
  • Step S602 Determine the detection state of the pan/tilt component according to the total energy of the signal and the energy of the first harmonic component.
  • the input signal input by the controller to the motor and the measurement signal of the motor should be signals of the same frequency.
  • signals such as measurement error, noise, and other additional interference, so that there are signals in other frequency bands in the measurement signal of the motor.
  • the excitation frequency included in the obtained measurement signal should account for most of the excitation frequency, for example: the input signal is 10HZ
  • the input signal is 10HZ
  • the signal energy is 100% of the transmission signal, then, under normal circumstances, the obtained output signal can be a 10HZ signal energy of 90% of the transmission signal.
  • the movement range of the gimbal component will not be restricted.
  • the input signal to the motor is a sine wave signal
  • the measurement signal obtained by the motor will also be a sine wave signal, that is, the corresponding component of the excitation frequency in the measurement signal is relatively high.
  • the gimbal part is in the locked state, the movement range of the gimbal part is limited by the locking mechanism.
  • the input signal to the motor is a sine wave signal
  • the measurement signal obtained by the motor is no longer a sine wave signal. , the corresponding component of the excitation frequency in the measurement signal drops.
  • the detection state of the pan/tilt component can be judged by the above-mentioned characteristics of signal transmission.
  • the angular velocity of the motor can be analyzed and processed to determine the total energy of the signal and the energy of the first harmonic component corresponding to the state detection signal.
  • the total energy of the signal may include the energy of the first harmonic component
  • the energy of the first harmonic component The harmonic component energy may refer to the signal energy corresponding to the signal of the preset frequency of interest.
  • the total energy of the signal can include the energy of harmonic components of 10HZ, the energy of harmonic components of 20HZ, the energy of harmonic components of 30HZ, etc.
  • the energy of harmonic components of 20HZ That is, the energy of the first harmonic component
  • the energy of the harmonic component of 30HZ is the energy of the first harmonic component
  • the total signal energy is negatively correlated with the amount of angular velocity and positively correlated with the magnitude of the angular velocity.
  • the discrete-time Fourier series formula in Perseval's theorem (the total energy of the signal in the time domain is equal to the total energy of the signal in the frequency domain) can be used to determine the total energy of the signal and the first harmonic component. Energy formula. Specifically, after obtaining the angular velocity of the motor, the following formula can be used to obtain the total energy of the signal:
  • J total is the total energy of the signal
  • x[n] is the angular velocity of the motor
  • N is the number of the angular velocity of the motor.
  • the method in this embodiment may also include a specific implementation process for determining the number of angular velocities.
  • this implementation Examples of methods can also include:
  • Step S701 Obtain the set frequency and sampling frequency corresponding to the angular velocity.
  • Step S702 Determine the number of angular velocities according to the set frequency and the sampling frequency.
  • the preset frequency and sampling frequency corresponding to the angular velocity can be obtained.
  • the set frequency refers to the frequency of the motor output signal
  • the sampling frequency refers to the acquisition of the motor output signal. the corresponding operating frequency.
  • the set frequency and the sampling frequency can be analyzed and processed to determine the number of angular velocities.
  • determining the number of angular velocities may include: The ratio to the set frequency is determined as the amount of angular velocity.
  • the accuracy and reliability of determining the number of angular velocities are effectively ensured, and the further improved How accurately the total energy of the signal can be determined based on the amount of angular velocity and the angular velocity.
  • the energy of the first harmonic component is negatively correlated with the amount of the angular velocity, positively correlated with the magnitude of the angular velocity, and negatively correlated with the fundamental frequency corresponding to the angular velocity.
  • the energy of the first harmonic component can be obtained by using the following formula:
  • J 1st is the energy of the first harmonic component
  • x[n] is the angular velocity of the motor
  • N is the number of the angular velocity of the motor
  • w 0 is the fundamental frequency corresponding to the angular velocity.
  • the method in this embodiment may further include:
  • Step S801 Acquire a set frequency and a sampling frequency corresponding to the angular velocity.
  • Step S802 Determine the fundamental frequency according to the set frequency and the sampling frequency.
  • the set frequency and the adopted frequency corresponding to the angular velocity can be determined by using the mapping relationship between the angular velocity, the set frequency and the sampling frequency.
  • the set frequency and the sampling frequency corresponding to the angular velocity can be analyzed and processed to determine the fundamental frequency.
  • the fundamental frequency can be determined by the following formula:
  • w 0 is the fundamental frequency corresponding to the angular velocity
  • f is the set frequency corresponding to the motor
  • f s is the sampling frequency corresponding to the motor.
  • the accuracy and reliability of determining the base frequency can be effectively ensured, and the further improved To determine the energy of the first harmonic component based on the fundamental frequency and angular velocity.
  • a method that can determine the detection state of the pan/tilt component according to the total energy of the signal and the energy of the first harmonic component may include:
  • Step S901 Acquire first ratio information of the energy of the first harmonic component relative to the total energy of the signal.
  • Step S902 Determine the detection state of the pan/tilt component according to the first scale information.
  • determining the detection state of the pan-tilt component according to the first scale information may include: when the first scale information is greater than or equal to a first preset threshold, determining that the detection state of the pan-tilt component is an unlocked state; or , when the first ratio information is smaller than the first preset threshold, it is determined that the detection state of the pan/tilt component is a locked state.
  • a first preset threshold corresponding to the detection state of the gimbal component is preset, and the first preset threshold may be a minimum proportional limit value corresponding to the gimbal component in a locked state.
  • the first preset threshold is obtained After the ratio information, the first ratio information can be analyzed and compared with the first preset threshold. When the first ratio information is greater than or equal to the first preset threshold, it means that in the total energy of the signal at this time, the first harmonic component The proportion of energy is large, and the detection state of the gimbal component is determined to be unlocked.
  • the first proportion information is less than the first preset threshold, it means that in the total energy of the signal at this time, the proportion of the energy of the first harmonic component is small, and then it is determined that the detection state of the pan/tilt component is a locked state.
  • the energy of the first harmonic component and the total energy of the signal are determined by the angular velocity of the motor, and then the ratio between the energy of the first harmonic component and the total energy of the signal is used to determine the
  • the detection state effectively realizes the determination of the detection state of the pan/tilt components based on the angular velocity of the motor, further ensures the accuracy and reliability of determining the detection state of the pan/tilt components, and effectively improves the stability and reliability of the method.
  • Step 1001 Determine the DC component energy corresponding to the angular velocity of the motor, and the total energy of the signal includes the DC component energy.
  • the DC component energy corresponding to the angular velocity of the motor can be determined.
  • the DC component energy may be negatively correlated with the amount of angular velocity and positively correlated with the magnitude of the angular velocity.
  • the DC component energy corresponding to the angular velocity of the motor can be determined by the following formula:
  • J dc is the DC component energy corresponding to the angular velocity of the motor
  • x[n] is the angular velocity of the motor
  • N is the number of the angular velocity of the motor.
  • this embodiment provides another implementation of determining the detection state of the pan/tilt component according to the total energy of the signal and the energy of the first harmonic component.
  • methods which may include:
  • Step S1002 Determine the difference between the total energy of the signal and the energy of the DC component as the total non-DC energy.
  • Step S1003 Determine the detection state of the pan/tilt component according to the energy of the first harmonic component and the total non-DC energy.
  • the total non-DC energy can be determined according to the total energy of the signal and the energy of the DC component. Specifically, the total non-DC energy can be the difference between the total energy of the signal and the energy of the DC component. .
  • the detection state of the pan/tilt component can be determined according to the first harmonic component energy and the non-DC total energy. In some instances, determining the detection state of the pan/tilt component based on the first harmonic component energy and the non-DC total energy may include:
  • Step S10031 Acquire second ratio information of the energy of the first harmonic component relative to the total non-DC energy.
  • Step S10032 Determine the detection state of the pan/tilt component according to the second scale information.
  • determining the detection state of the pan-tilt component according to the second scale information may include: when the second scale information is greater than or equal to a second preset threshold, determining that the detection state of the pan-tilt component is an unlocked state; or , when the second ratio information is smaller than the second preset threshold, it is determined that the detection state of the pan/tilt component is a locked state.
  • a second preset threshold corresponding to the detection state of the gimbal component is preset, and the second preset threshold may be a minimum proportional limit value corresponding to the gimbal component in a locked state.
  • the second preset threshold is obtained After the ratio information, the second ratio information can be analyzed and compared with the second preset threshold. When the second ratio information is greater than or equal to the second preset threshold, it means that in the non-DC total energy at this time, the first harmonic The proportion of wave component energy is relatively large, and the detection state of the gimbal component is determined to be an unlocked state.
  • the second ratio information is less than the second preset threshold, it means that in the non-DC total energy at this time, the proportion of the energy of the first harmonic component is small, and then it is determined that the detection state of the pan/tilt component is a locked state.
  • the total energy of the signal corresponding to the first ratio information includes the DC component energy, and the DC component energy is easy to change with the change of the application scene or application conditions. , therefore, when analyzing and judging by using the first ratio information, the corresponding first preset threshold may change with the change of the application scenario or the application condition.
  • the total energy of the signal corresponding to the second ratio information does not include the DC component energy, so as to avoid the influence of the size of the second ratio information due to changes in application scenarios or application conditions.
  • the second preset threshold for analyzing and processing the second ratio information may be a preset configured fixed value.
  • the energy of the first harmonic component, the total energy of the signal, and the energy of the DC component corresponding to the angular velocity of the motor are determined by the angular velocity of the motor, and then the energy of the first harmonic component is compared with the energy of the non-DC component.
  • the ratio of the total energy to determine the detection state of the pan/tilt components effectively realizes the determination of the detection state of the pan/tilt components based on the angular velocity of the motor, and further ensures the accuracy and reliability of determining the detection state of the pan/tilt components.
  • the stability and reliability of the method are greatly improved.
  • FIG. 11 is a schematic flowchart of determining the detection state of the pan/tilt component according to the angular velocity of the motor according to an embodiment of the present invention; on the basis of the above embodiment, with continued reference to FIG. 11 , this embodiment provides another implementation of determining The way of detecting the state of the pan-tilt component, specifically, in this embodiment, determining the detection state of the pan-tilt component according to the angular velocity of the motor may include:
  • Step S1101 perform fitting processing on the angular velocity of the motor according to the waveform corresponding to the state detection signal to obtain a fitting waveform corresponding to the angular velocity of the motor.
  • Step S1102 Determine the detection state of the pan/tilt component according to the fitted waveform and the angular velocity of the motor.
  • the angular velocity of the motor can be fitted according to the waveform corresponding to the state detection signal, so that the fitted waveform corresponding to the angular velocity of the motor can be obtained.
  • the fitting waveform corresponding to the angular velocity is consistent with or approximate to the waveform corresponding to the state detection signal.
  • the waveform corresponding to the state detection signal is a sine wave
  • a fitting waveform of the sine wave corresponding to the angular velocity of the motor can be obtained.
  • the waveform corresponding to the state detection signal is a cosine wave
  • a fitting waveform of the cosine wave corresponding to the angular velocity of the motor can be obtained.
  • determining the detection state of the gimbal component may include:
  • Step S11021 In the fitting waveform, obtain the fitting angular velocity corresponding to the angular velocity.
  • Step S11022 Determine the angular velocity error between the angular velocity and the fitted angular velocity.
  • Step S11023 Determine the detection state of the pan/tilt component according to the angular velocity error.
  • the fitted waveform includes the fitted angular velocity corresponding to the angular velocity of the motor, that is, the angular velocity of a motor can correspond to a fitted angular velocity, and the fitted angular velocity can be the same as or different from the angular velocity of the motor. .
  • the angular velocity error between the angular velocity and the fitted angular velocity can be obtained. It can be understood that when the number of angular velocities of the motor is multiple, the number of angular velocity errors can also be Multiple; when the number of angular velocity of the motor is one, the number of angular velocity errors can be one.
  • determining the detection state of the gimbal component according to the angular velocity error may include: when a preset number of angular velocity errors is less than a preset error threshold, determining that the gimbal component is in an unlocked state; or, when a preset number of angular velocity errors are in an unlocked state; When it is greater than or equal to the preset error threshold, it is determined that the gimbal is in a locked state.
  • the number of angular velocity of the motor can be one or more.
  • the number of angular velocity errors can also be one; when the angular velocity of the motor is multiple, the number of angular velocity errors can also be multiple.
  • the multiple angular velocity errors can be analyzed and processed to determine that the gimbal is in a locked state.
  • the preset number may be a preset minimum number limit used to determine the detection state of the pan/tilt components.
  • This embodiment does not limit the specific numerical range of the preset number, and those skilled in the art can use it according to specific applications. Requirements and design requirements to set, for example: the preset number can be 3, 4, 5 or 8 and so on.
  • all angular velocity errors can be analyzed and compared with the preset error threshold. When there are angular velocity errors that meet the preset number and are smaller than the preset error threshold, it means that the output signal of the motor is passed through the motor at this time.
  • the waveform obtained by the fitting has a high similarity with the waveform corresponding to the state detection signal, so that it can be determined that the gimbal component is in an unlocked state; when there is a preset number of angular velocity errors greater than or equal to the preset error threshold, then It means that the waveform obtained by fitting the output signal of the motor has a low similarity with the waveform corresponding to the state detection signal, and it is determined that the gimbal is in an unlocked state.
  • the implementation of determining the detection state of the gimbal component according to the angular velocity error is not limited to the above-mentioned implementation.
  • Those skilled in the art can also adjust according to specific application requirements and design requirements, for example: the number of angular velocity errors When there are more than one, the average angular velocity error corresponding to the multiple angular velocity errors can be obtained, and then based on the average angular velocity error and the preset error threshold for analysis and comparison, when the average angular velocity error is greater than or equal to the preset error threshold, the cloud can be determined.
  • the detection state of the gimbal is an unlocked state; when the average angular velocity error is less than the preset error threshold, the detection state of the gimbal can be determined to be a locked state, which also achieves the accuracy and reliability of determining the detection state of the gimbal components, and further The flexibility and reliability of the method are improved.
  • this application embodiment provides a method for detecting a pan/tilt head.
  • the pan/tilt head includes a pan/tilt shaft arm, a stabilizer arranged on the pan/tilt shaft arm, and a motor for driving the pan/tilt shaft arm to rotate.
  • the number of the gimbal shaft arms may be one or more, and correspondingly, the number of stabilizers and motors may also be one or more.
  • an excitation signal can be generated according to the self-tuning request, and then the motor can output torque according to the excitation signal, where the excitation signal can be a certain A sine wave with a preset frequency, then the output signal of the motor measured by the inertial measurement unit should also be a sine wave corresponding to the preset frequency. Even considering the influence of measurement noise, errors, etc., in the measured output signal , the excitation frequency should account for the vast majority of the entire signal.
  • the gimbal shaft arm can have different states, when the gimbal shaft arm is in the locked state, the movement range of the gimbal shaft arm and the stabilizer is limited by the locking mechanism. At this time, the signal measured by the IMU is no longer sinusoidal Wave, in the measurement signal, the proportion of the component corresponding to the excitation frequency decreases. When the gimbal shaft arm is in an unlocked state, the movement range of the gimbal shaft arm and the stabilizer will not be restricted by the locking mechanism. At this time, the signal measured by the IMU is a sine wave. In the measurement signal, the excitation frequency corresponds to The proportion of ingredients accounts for the vast majority. Based on the relationship between the above signal characteristics and the state of the gimbal shaft arm, it can be determined whether the gimbal shaft arm is in the locked state according to the proportion of the component corresponding to the excitation frequency. Specifically, the method may include:
  • Step 1 Obtain the self-tuning request for realizing the self-tuning operation of the gimbal
  • Step 2 Generate a status detection signal according to the self-tuning request
  • Step 3 Obtain the angular velocity of the motor through the IMU set on the gimbal according to the state detection signal;
  • Step 4 Obtain the set frequency and sampling frequency corresponding to the angular velocity, and determine the fundamental frequency and the number of angular velocities according to the set frequency and sampling frequency.
  • the fundamental frequency can be determined by the following formula:
  • w 0 is the fundamental frequency corresponding to the angular velocity
  • f is the set frequency corresponding to the motor
  • f s is the sampling frequency corresponding to the motor.
  • Step 5 Obtain the total energy of the signal and the energy of the DC component according to the angular velocity and the quantity of the angular velocity. Specifically, the total energy of the signal can be obtained by the following formula:
  • J total is the total energy of the signal
  • x[n] is the angular velocity of the motor
  • N is the number of the angular velocity of the motor.
  • the DC component energy is obtained by the following formula:
  • J dc is the DC component energy corresponding to the angular velocity of the motor
  • x[n] is the angular velocity of the motor
  • N is the number of the angular velocity of the motor.
  • Step 6 Obtain the energy of the first harmonic component according to the angular velocity, the quantity of the angular velocity and the fundamental frequency. Specifically, it can be obtained by the following formula:
  • J 1st is the energy of the first harmonic component
  • x[n] is the angular velocity of the motor
  • N is the number of the angular velocity of the motor
  • w 0 is the fundamental frequency corresponding to the angular velocity.
  • Step 7 Determine the proportion of the energy of the first harmonic component to the total non-DC energy according to the energy of the first harmonic component, the total energy of the signal and the energy of the DC component: namely
  • Step 8 According to the proportion of the energy of the first harmonic component to the total non-DC energy, determine whether the pivot arm of the gimbal is in a locked state.
  • the proportion of the energy of the first harmonic component in the total non-DC energy is greater than the preset threshold, as shown in FIG. 12 , it is assumed that the energy of the first harmonic component accounts for 78% of the total non-DC energy, and the preset threshold is 60% , then it is determined that the gimbal shaft arm is in the locked state; when the proportion of the energy of the first harmonic component to the total non-DC energy is less than or equal to the preset threshold, as shown in Figure 13, it is assumed that the energy of the first harmonic component of the non-DC total energy station 47% of the energy, and the preset threshold is 60%, then it is determined that the gimbal arm is in an unlocked state.
  • Step 9 Determine whether to perform self-tuning operation on the gimbal according to the detection state of the gimbal shaft arm.
  • the self-tuning operation of the gimbal is stopped; when the pivot arm of the gimbal is in an unlocked state, the self-tuning operation of the gimbal is performed based on the self-tuning request.
  • the gimbal detection method provided in this application example can effectively realize that during the self-tuning operation of the control parameters of the gimbal, it can be judged that the shaft arm of the gimbal is excited by the change of the angular velocity of the motor measured by the IMU. Whether it is in a locked state under the excitation of the signal to avoid damage to the stabilizer and the load, after determining the state of the gimbal shaft arm, the self-tuning operation can be controlled based on different detection states, thus avoiding the problem of the gimbal shaft arm.
  • FIG. 14 is a schematic flowchart of another pan/tilt detection method provided by an embodiment of the present invention.
  • the present embodiment provides another pan/tilt detection method, and the pan/tilt may include pan/tilt components , a motor for driving the rotation of the pan-tilt parts and a locking mechanism for locking the pan-tilt parts.
  • the pan/tilt components can be used to represent different structures on the pan/tilt.
  • the pan/tilt components may include at least one of the following: A first bracket, a second bracket movably connected to the first bracket, a third bracket movably connected to the second bracket (for supporting a load), a base or a handle, and the like.
  • the number of pan/tilt components included on the pan/tilt may be one or more, and the detection method in this embodiment may acquire the detection status of any one or more pan/tilt components.
  • the execution body of the method may be the detection device of the pan/tilt.
  • the detection device of the pan/tilt may be implemented as software or a combination of software and hardware.
  • the detection device of the pan/tilt may be implemented as One to stabilize the gimbal.
  • the detection method of the PTZ may include:
  • Step S1401 Obtain a self-tuning request for implementing the self-tuning operation on the PTZ.
  • Step S1402 Based on the state of the pan/tilt components, determine whether to perform a self-tuning operation on the pan/tilt.
  • Step S1403 When the pan/tilt component is in a locked state, stop the self-tuning operation on the pan/tilt.
  • the self-tuning request is used to realize the self-tuning operation of the control parameters of the gimbal (including at least one of the following: the force information of the motor on the gimbal, the response speed to the load pose, and the configuration parameters of the filter on the gimbal).
  • the step disturbance experiment is performed with the control parameters of the gimbal, and the operation of setting the parameter value is calculated according to the running state of the gimbal.
  • the self-tuning request can be generated according to the user's operation on the stabilization gimbal. After the self-tuning request is obtained, the gimbal can be self-tuned based on the self-tuning request. After the self-tuning operation is performed on the gimbal During the process or before performing the self-tuning operation on the PTZ, it can be determined whether to perform the self-tuning operation on the PTZ based on the status of the PTZ components.
  • the state of the gimbal part may include a locked state and an unlocked state.
  • the specific implementation manner of detecting the state of the pan/tilt component in this embodiment is similar to the specific implementation manner of acquiring the detection state of the pan/tilt component in the above-mentioned embodiment. For details, reference may be made to the above statement, which will not be repeated here.
  • the method for detecting a pan/tilt determines whether to perform the self-tuning operation on the pan/tilt based on the state of the pan/tilt components by acquiring a self-tuning request for performing the self-tuning operation on the pan/tilt. ; Specifically, when the pan/tilt components are in a locked state, the self-tuning operation on the pan/tilt is stopped, which can effectively avoid the situation that normal self-tuning operations cannot be performed when the pan/tilt components are in a locked state. At the same time, it also avoids the collision between the pan/tilt parts and other components, thereby ensuring and improving the service life of the pan/tilt, further improving the stability and reliability of the method, which is beneficial to market promotion and application.
  • FIG. 15 is a schematic flowchart of a stabilization pan/tilt provided by an embodiment of the present invention.
  • the present embodiment provides a stabilization pan/tilt, wherein the stabilization pan/tilt includes pan/tilt components, a Due to the motor for driving the rotation of the pan/tilt components and the locking mechanism for locking the pan/tilt components, the stabilization pan/tilt in this embodiment can perform the detection method of the pan/tilt shown in FIG. 2 above.
  • the stabilization pan/tilt include:
  • the pan/tilt part 12 is used for mechanically coupling and connecting the photographing device 13;
  • the motor 14 is used to drive the pan/tilt component 12 to rotate to adjust the posture of the photographing device 13, thereby enhancing the stability of the photographing device 13;
  • the controller 11 is electrically connected to the motor 14 for controlling the motor 14;
  • the attitude sensor 15 is connected in communication with the controller, and is used for sensing the attitude information of the PTZ component 12,
  • the controller acquires the state detection signal corresponding to the attitude sensor 15, and determines the detection state of the pan/tilt component 12 according to the state detection signal, and the detection state includes a locked state and an unlocked state.
  • the controller 11 when acquiring the state detection signal corresponding to the attitude sensor 15 , the controller 11 is configured to: acquire a self-tuning request for implementing the self-tuning operation on the gimbal; and determine the state detection signal according to the self-tuning request.
  • the waveform corresponding to the state detection signal includes at least one of the following: sine wave, cosine wave, square wave, and triangle wave.
  • the controller 11 is further configured to: when it is determined that the gimbal component 12 is in an unlocked state, continue to perform the self-tuning operation on the gimbal based on the self-tuning request or, when it is determined that the pan/tilt component 12 is in a locked state, the self-tuning operation of the pan/tilt based on the self-tuning request is stopped.
  • the controller 11 is further configured to: acquire control parameters corresponding to the pan-tilt part 12; control the pan-tilt part 12 based on the control parameters, so that the pan-tilt The part 12 rotates within a preset range, wherein the preset range is used to avoid collision between the pan/tilt part 12 and the locking mechanism in a locked state.
  • the controller 11 is further configured to: when it is determined that the pan/tilt component 12 is in the locked state, output information for prompting the pan/tilt component 12 to be in the locked state.
  • the detection duration of the detection state is less than the set duration of the auto-tuning operation.
  • the controller 11 when determining the detection state of the pan/tilt unit 12 based on the state detection signal, is configured to: obtain the angular velocity of the motor 14 based on the state detection signal; determine the detection state of the pan/tilt unit 12 according to the angular velocity of the motor 14 state.
  • the controller 11 when determining the detection state of the pan/tilt head component 12 according to the angular velocity of the motor 14, the controller 11 is configured to: determine the total energy of the signal and the energy of the first harmonic component corresponding to the state detection signal according to the angular velocity of the motor 14, and the total energy of the signal The energy includes the energy of the first harmonic component; according to the total energy of the signal and the energy of the first harmonic component, the detection state of the pan/tilt component 12 is determined.
  • the total signal energy is negatively correlated with the amount of angular velocity and positively correlated with the magnitude of the angular velocity.
  • the energy of the first harmonic component is negatively correlated with the amount of angular velocity, positively correlated with the magnitude of the angular velocity, and negatively correlated with the fundamental frequency corresponding to the angular velocity.
  • the controller 11 is further configured to: acquire the set frequency and the sampling frequency corresponding to the angular velocity; and determine the fundamental frequency according to the set frequency and the sampling frequency.
  • the number of angular velocities is multiple.
  • the controller 11 is further configured to: acquire the set frequency and the sampling frequency corresponding to the angular velocity; and determine the quantity of the angular velocity according to the set frequency and the sampling frequency.
  • the controller 11 when determining the number of angular velocities according to the set frequency and the sampling frequency, the controller 11 is further configured to: determine the ratio of the sampling frequency to the set frequency as the number of angular velocities.
  • the controller 11 when determining the detection state of the pan/tilt component 12 according to the total energy of the signal and the energy of the first harmonic component, the controller 11 is further configured to: obtain first proportional information of the energy of the first harmonic component relative to the total energy of the signal ; According to the first scale information, the detection state of the pan/tilt component 12 is determined.
  • the controller 11 when determining the detection state of the pan/tilt unit 12 according to the first scale information, is further configured to: when the first scale information is greater than or equal to a first preset threshold, determine the pan/tilt unit 12 The detection state of the PTZ is an unlocked state; or, when the first ratio information is less than the first preset threshold, it is determined that the detection state of the pan/tilt component 12 is a locked state.
  • the controller 11 is further configured to: determine the DC component energy corresponding to the angular velocity of the motor 14, and the total signal energy includes the DC component energy;
  • the detection state includes: determining the difference between the signal total energy and the DC component energy as the non-DC total energy; determining the detection state of the pan/tilt component 12 according to the first harmonic component energy and the non-DC total energy.
  • the DC component energy is negatively correlated with the amount of angular velocity and positively correlated with the magnitude of the angular velocity.
  • the controller 11 when determining the detection state of the pan/tilt component 12 according to the energy of the first harmonic component and the total non-DC energy, is further configured to: obtain a second value of the energy of the first harmonic component relative to the total non-DC energy. Scale information; according to the second scale information, determine the detection state of the pan/tilt component 12 .
  • the controller 11 when determining the detection state of the pan-tilt component 12 according to the second scale information, is further configured to: when the second scale information is greater than or equal to the second preset threshold, determine the pan-tilt component 12 The detection state of 12 is an unlocked state; or, when the second ratio information is less than the second preset threshold, it is determined that the detection state of the pan/tilt component 12 is a locked state.
  • the controller 11 when determining the detection state of the gimbal component 12 according to the angular velocity of the motor 14, the controller 11 is further configured to: perform a fitting process on the angular velocity of the motor 14 according to the waveform corresponding to the state detection signal, and obtain a correlation with the motor 14.
  • the fitting waveform corresponding to the angular velocity of ; according to the fitting waveform and the angular velocity of the motor 14 , the detection state of the pan/tilt component 12 is determined.
  • the controller 11 when determining the detection state of the gimbal component 12 according to the fitting waveform and the angular velocity of the motor 14, is further configured to: obtain a fitting angular velocity corresponding to the angular velocity in the fitting waveform; determine the angular velocity The angular velocity error between the fitting angular velocity and the fitting angular velocity; according to the angular velocity error, the detection state of the gimbal component 12 is determined.
  • the controller 11 when determining the detection state of the pan-tilt unit 12 according to the angular velocity error, is further configured to: when a preset number of angular velocity errors are smaller than a preset error threshold, determine that the pan-tilt unit 12 is unlocked state; or, when the preset number of angular velocity errors is greater than or equal to a preset error threshold, it is determined that the gimbal is in a locked state.
  • the gimbal is a gimbal in a folded state or a gimbal in a centered state.
  • the gimbal when the gimbal is in the folded state, there is overlap between the positions corresponding to at least two gimbal parts 12 of the gimbal; in an orthogonal position.
  • the apparatus shown in FIG. 15 may execute the method of the embodiment shown in FIG. 1 to FIG. 13 .
  • the apparatus shown in FIG. 15 may execute the method of the embodiment shown in FIG. 1 to FIG. 13 .
  • FIG. 16 is a schematic flowchart of another stabilization pan/tilt provided by an embodiment of the present invention.
  • the present embodiment provides another stabilization pan/tilt, wherein the pan/tilt includes pan/tilt components, a Due to the motor for driving the rotation of the pan/tilt components and the locking mechanism for locking the pan/tilt components, the stabilization pan/tilt in this embodiment can perform the detection method of the pan/tilt shown in FIG. 14 above.
  • the stabilization pan/tilt include:
  • the pan/tilt part 22 is used for mechanically coupling and connecting the photographing device 23;
  • the motor 24 is used to drive the rotation of the pan/tilt part 22 to adjust the posture of the photographing device 23, thereby enhancing the stability of the photographing device 23;
  • the controller 21 is electrically connected to the motor 24 for controlling the motor 24;
  • the controller 21 obtains a self-tuning request for realizing the self-tuning operation on the pan/tilt; based on the state of the pan/tilt component 22, determines whether to perform the auto-tuning operation on the pan/tilt; when the pan/tilt component 22 is in a locked state, stops Perform self-tuning operation on the PTZ.
  • the apparatus shown in FIG. 15 may execute the method of the embodiment shown in FIG. 14 .
  • the apparatus shown in FIG. 15 may execute the method of the embodiment shown in FIG. 14 .
  • the parts not described in detail in this embodiment reference may be made to the related description of the embodiment shown in FIG. 14 .
  • Fig. 17 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention; with reference to Fig. 17, this embodiment provides a movable platform, wherein the movable platform may include but not limited to unmanned aerial vehicles, Unmanned ships, unmanned vehicles, mobile robots, etc. Specifically, the movable platform may include:
  • the support member 31 is mechanically coupled and connected to the stabilization gimbal 32 for supporting the stabilization gimbal 32 .
  • the support 31 may be any one of the following: the body of the unmanned aerial vehicle, the hand-held part of the hand-held gimbal, the body of the remote control ground robot, the body of the vehicle, and the like.
  • FIG. 18 is a schematic structural diagram of another movable platform provided by an embodiment of the present invention. with reference to FIG. 18 , this embodiment provides another movable platform, wherein the movable platform may include but not limited to unmanned aerial vehicles. drones, unmanned ships, unmanned vehicles, mobile robots, etc. Specifically, the movable platform may include:
  • the support member 41 is mechanically coupled and connected to the stabilization gimbal 42 for supporting the stabilization gimbal 42 .
  • the support 41 may be any one of the following: the body of the unmanned aerial vehicle, the hand-held part of the hand-held gimbal, the body of the remote control ground robot, the body of the vehicle, and the like.
  • an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the above-mentioned cloud in FIG. 2 to FIG. 13 . method of detection.
  • an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the detection of the pan/tilt in the above-mentioned FIG. 14 . method.
  • the disclosed related remote control devices and methods may be implemented in other manners.
  • the embodiments of the remote control device described above are only illustrative.
  • the division of the modules or units is only a logical function division.
  • the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, and the indirect coupling or communication connection of the remote control device or unit may be in electrical, mechanical or other forms.
  • the units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.
  • each functional unit in each embodiment of the present invention may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit.
  • the above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.
  • the integrated unit if implemented in the form of a software functional unit and sold or used as an independent product, may be stored in a computer-readable storage medium.
  • the technical solution of the present invention is essentially or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium , including several instructions for causing a computer processor (processor) to execute all or part of the steps of the methods described in the various embodiments of the present invention.
  • the aforementioned storage medium includes: U disk, mobile hard disk, Read-Only Memory (ROM, Read-Only Memory), Random Access Memory (RAM, Random Access Memory), magnetic disk or optical disk and other media that can store program codes.

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Abstract

Procédé de détection pour cardan, cardan à stabilité améliorée, plateforme mobile et support de stockage. Le cardan comprend une partie cardan (12), un moteur électrique (14) utilisé pour amener la partie cardan (12) à tourner et un mécanisme de verrouillage utilisé pour verrouiller la partie cardan (12). Le procédé de détection consiste : à acquérir un signal de détection d'état correspondant à un capteur de posture (15) (S201) ; et à déterminer un état détecté de la partie cardan (12) sur la base du signal de détection (S202) ; l'état détecté comprenant un état verrouillé et un état déverrouillé. L'état détecté de la partie cardan (12) est déterminé par l'intermédiaire du signal de détection d'état, l'état détecté du cardan peut comprendre l'état verrouillé et l'état déverrouillé, ce qui facilite la mise en œuvre de l'utilisation, sur la base des différents états détectés de la partie cardan (12), de différentes politiques de commande pour commander un stabilisateur disposé sur le cardan, et favorise la prévention d'une collision due à la partie cardan (12) étant dans l'état verrouillé qui, à son tour, réduit la durée de vie du stabilisateur et favorise la prévention du problème d'impact sur la sécurité d'une charge d'utilisateur, provoquant une désadaptation entre un paramètre de commande et la charge, et impactant la performance d'amélioration de stabilité du stabilisateur.
PCT/CN2020/107791 2020-08-07 2020-08-07 Procédé de détection pour cardan, cardan à stabilité améliorée, plateforme mobile et support de stockage WO2022027579A1 (fr)

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PCT/CN2020/107791 WO2022027579A1 (fr) 2020-08-07 2020-08-07 Procédé de détection pour cardan, cardan à stabilité améliorée, plateforme mobile et support de stockage

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