WO2022061520A1 - Procédé de réglage de l'équilibre d'un stabilisateur et stabilisateur - Google Patents

Procédé de réglage de l'équilibre d'un stabilisateur et stabilisateur Download PDF

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Publication number
WO2022061520A1
WO2022061520A1 PCT/CN2020/116851 CN2020116851W WO2022061520A1 WO 2022061520 A1 WO2022061520 A1 WO 2022061520A1 CN 2020116851 W CN2020116851 W CN 2020116851W WO 2022061520 A1 WO2022061520 A1 WO 2022061520A1
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WIPO (PCT)
Prior art keywords
stabilizer
balance
deviation
motor
shaft
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PCT/CN2020/116851
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English (en)
Chinese (zh)
Inventor
王文杰
蒋毅
林荣华
苏铁
Original Assignee
深圳市大疆创新科技有限公司
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Application filed by 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2020/116851 priority Critical patent/WO2022061520A1/fr
Priority to CN202080039569.2A priority patent/CN113993748A/zh
Publication of WO2022061520A1 publication Critical patent/WO2022061520A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
    • 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
    • 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
    • F16M13/04—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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
    • B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
    • B60R2011/008—Adjustable or movable supports
    • B60R2011/0092—Adjustable or movable supports with motorization

Definitions

  • the present application relates to the field of robotics, and in particular, to a method for adjusting the balance of a stabilizer and a stabilizer.
  • Stabilizers are usually used to stabilize the load to prevent load jitter.
  • a stabilizer is usually used to stabilize the camera device to prevent the video or image from being blurred due to camera shake.
  • the load is installed on the stabilizer, if the load is unbalanced in all directions, the stabilizer shaft of the stabilizer will be in an unbalanced state due to the action of the load's gravitational moment, and the motor of the stabilizer must output additional torque to overcome this imbalance. Balanced, it will cause the motor to continue to output power, the power consumption will increase and the temperature will always be high, which will seriously affect the service life of the motor.
  • the purpose of the balance degree detection is to determine the current situation of the stabilizer under the action of the load gravitational moment, so as to remind the user to adjust the balance of the stabilizer.
  • the present application provides a method for adjusting the balance of a stabilizer and a stabilizer.
  • a method for adjusting the balance of a stabilizer comprising at least one stabilizer shaft and a motor for adjusting the attitude of the stabilizer shaft, the stabilizer shaft being used for outputting an output of the motor A stable load driven by a torque, the method includes:
  • the user When the action of the gravitational moment on the stabilization shaft satisfies a preset condition, the user is prompted to adjust the balance of the stabilizer through an interactive interface based on the torque output by the motor, and the interactive interface includes the balance of the stabilizer.
  • a method for adjusting the balance of a stabilizer comprising at least one stabilizer shaft and a motor for adjusting the attitude of the stabilizer shaft, the stabilizer shaft being used for outputting at the motor output A stable load driven by a torque, the method includes:
  • a balance state parameter of the stabilization shaft is determined based on the torque output by the motor, and the balance state parameter includes the current axial relative relative to the stabilization shaft.
  • the deviation direction and/or the deviation degree of the reference axis is used to prompt the user to adjust the balance of the stabilizer; wherein, the reference axis is the axis of the stabilization axis in a balanced state under the action of gravity.
  • a stabilizer includes at least one stabilization shaft and a motor for adjusting the attitude of the stabilization shaft, the stabilization shaft is used for driving the torque output by the motor Under stable load, the stabilizer further includes a processor, a memory, and a computer program stored in the memory for execution by the processor, and the processor executes the following steps when executing the computer program:
  • the user When the action of the gravitational moment on the stabilization shaft satisfies a preset condition, the user is prompted to adjust the balance of the stabilizer through an interactive interface based on the torque output by the motor, and the interactive interface includes the balance of the stabilizer.
  • a stabilizer includes at least one stabilization shaft and a motor for adjusting the posture of the stabilization shaft, the stabilization shaft is used for driving the torque output by the motor Under stable load, the stabilizer further includes a processor, a memory, and a computer program stored in the memory for execution by the processor, and the processor executes the following steps when executing the computer program:
  • the normal use of the stabilizer is not interrupted, and the user does not need to perform additional operations, which improves the user experience. , and can find out the poor balance of the stabilizer in time and prompt the user to adjust it in time, which can avoid the loss of the stabilizer motor and prolong the service life of the motor.
  • FIG. 2 is a flowchart of a method for adjusting the balance of a stabilizer according to an embodiment of the present application.
  • FIG. 3 is a schematic diagram of a load adjustment direction of a stabilizer according to an embodiment of the present application.
  • FIG. 4 is a flowchart of a method for adjusting the balance of a stabilizer according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of a logic structure of a stabilizer balance according to an embodiment of the present application.
  • Stabilizers are usually used to stabilize the load to prevent load jitter.
  • the stabilizer usually includes one or more stabilizer shafts, which can adjust the attitude of the load under the drive of the motor to ensure that the load maintains the attitude set by the user.
  • the stabilizer axis of the stabilizer will be affected by the gravitational moment of the load. In this case, the stabilizer is considered to be unbalanced , the greater the gravitational moment it receives, the worse the balance of the stabilizer is considered.
  • the motor of the stabilizer In order to offset the effect of the gravitational torque on the stabilizer shaft, the motor of the stabilizer needs to output additional torque to overcome this imbalance while outputting torque to maintain the load at the set attitude. In this case, the motor will continue to output power, the power consumption will increase, and the temperature will always be high, which will seriously affect the service life of the motor. At the same time, since the motor needs additional output torque to overcome this imbalance, the torque output by the motor will be saturated, so the attitude of the load cannot be adjusted effectively, which reduces the stabilization performance of the stabilizer. Therefore, it is necessary to check the balance of the stabilizer.
  • the balance of the stabilizer can represent the current situation of the stabilizer under the action of the load gravity moment. When the balance is poor, the user can be reminded to adjust the balance of the stabilizer.
  • the balance degree detection of the stabilizer needs to be completed on the premise of suspending the stabilizer's load-stabilizing work, and the user also needs to trigger a special function for detecting the balance degree of the stabilizer, and then perform a series of operations on the stabilizer according to the prompts. to detect the balance of the stabilizer, and prompt the user to adjust the balance of the stabilizer based on the detection result.
  • This method requires a specially set balance detection process, which cannot detect the balance of the stabilizer in real time while the user is using the stabilizer, and needs to interrupt the user's normal use during detection, which seriously affects the user's experience.
  • the embodiment of the present application provides a method for adjusting the balance of the stabilizer, which can detect the balance degree of the stabilizer in real time during the process of using the stabilizer to stabilize the load. When it is detected that the balance degree of the stabilizer is poor, then The user is prompted to adjust the balance of the stabilizer through the interactive interface of the stabilizer or the interactive interface of the control terminal communicatively connected to the stabilizer.
  • the method provided in the embodiment of the present application is suitable for a stabilizer including at least one stabilization shaft and at least one motor, and the stabilization shaft can stabilize the load under the driving of the torque output by the motor.
  • the method is shown in FIG. 2 and includes the following step:
  • the stabilizer in this embodiment of the present application refers to various devices that can stabilize loads, such as a gimbal.
  • the stabilizer may include one or more stabilization axes, for example, a single-axis stabilizer, a two-axis stabilizer, a three-axis stabilizer, and a three-axis stabilizer.
  • the stabilizer also includes one or more motors, and the motors can output torque to adjust the axial direction of the stabilizer shaft.
  • the stabilizer is also provided with devices for installing loads, and the loads can be fixed on the stabilizer through these devices.
  • the load in the embodiment of the present application may be various devices that require a stabilizer to stabilize it to a certain fixed posture, such as a mobile phone, a tablet, a camera, and the like.
  • the stabilizer in the embodiments of the present application may be mounted on various carriers.
  • the stabilizer may be a handheld stabilizer, a vehicle-mounted stabilizer, or an airborne stabilizer, which is not limited in this application.
  • the user uses the stabilizer to stabilize the load, he can install the load on the stabilizer first, and then set the target attitude of the load. After the user sets the target attitude of the load, the motor in the stabilizer will output torque to drive each stable axis to rotate to adjust the load to the target attitude.
  • the motor in the stabilizer will output torque to drive each stable axis to rotate to adjust the load to the target attitude.
  • the stabilizer The current attitude of the load will be monitored in real time, and the attitude of the stabilization axis will be adjusted according to the deviation between the current attitude and the target attitude, so as to keep the load in the target attitude.
  • the load When the user installs the load, the load may be unbalanced in all directions due to improper operation of the user. Of course, it is also possible that the load is in a balanced state when the user installs, but during use, due to loose threads, etc. For various reasons, the installation position of the load changes, causing the load to be unbalanced in all directions. At this time, one or more stable shafts of the stabilizer may be affected by the gravitational torque of the load. Therefore, the motor must output torque. To maintain the load at the target attitude, and to output torque to overcome the gravitational moment of the stabilizer shaft, the motor consumes a lot, and it is easy to reduce the life of the motor. Therefore, it is necessary to detect this situation in time, and prompt the user to adjust the balance of the stabilizer to avoid the motor. Loss is too high.
  • the method provided by the embodiment of the present application can be performed by a stabilizer.
  • a stabilizer During the process of stabilizing the load by the stabilizer, it can be detected in real time whether each stable axis of the stabilizer is affected by the gravitational moment of the load. There is no need to interrupt the normal use of the user, and the user can adjust the balance of the stabilizer without prompting the user if the stabilizer shaft is not affected by the load gravitational moment, or the gravitational moment on the stabilizer shaft is small and its influence can be ignored. When the gravitational moment on the stabilizer shaft meets the preset conditions, the user can be prompted to adjust the balance of the stabilizer according to the torque output by the motor.
  • the preset conditions can be various conditions that reflect that the gravitational moment currently received by the stabilization shaft exceeds a certain threshold and will have a certain impact on the motor, which can be flexibly set according to the actual situation. Since the motor needs the output torque to overcome the effect of the gravitational torque on the stable shaft, the magnitude of the gravitational torque on the stable shaft can be determined according to the output torque of the motor, and the user is prompted based on this.
  • the stabilizer may include an interactive interface, so the user may be prompted to adjust the balance of the thermostat directly through the interactive interface of the stabilizer.
  • the gimbal can be connected to the user's mobile phone through short-range communication such as WIFI, Bluetooth, ZigBee, and NFC, or through the interaction of the terminal device.
  • the interface prompts the user to adjust the balance of the stabilizer.
  • the user can detect the balance of the stabilizer in real time during the process of using the stabilizer, and when it is detected that the balance of the stabilizer is poor, the user can use the stabilizer or communicate with the stabilizer in real time.
  • the interactive interface of the connected terminal device prompts the user to adjust the balance of the thermostat, without the need for the user to perform additional operations to specifically detect the balance of the stabilizer, nor to interrupt the normal use of the user, which improves the user experience.
  • the poor balance of the stabilizer can be found in time, and the user can be prompted to adjust it in time, which can protect the stabilizer and prolong the use of the motor. life.
  • the user can decide whether to adjust the balance of the stabilizer according to the prompt information. You can not adjust the stabilizer first, or determine that the balance is not too bad according to the prompt information. When there is no need to adjust, the user can also choose not to adjust.
  • the stabilizer may stop performing the operation of stabilizing the load, so that the user can adjust the stabilizer. For example, a prompt message "whether to adjust the balance of the stabilizer immediately" can be popped up on the interactive interface, and then a "Yes" or "No" control can be displayed on the interactive interface for the user to choose.
  • the stabilizer may include one or more stabilizer shafts
  • the balance of each stabilizer shaft in the stabilizer should be adjusted so that it is not affected by the gravitational moment as much as possible.
  • the adjustment direction of the load can be predefined according to the structure of the stabilizer. As shown in Figure 3, taking the three-axis stabilizer as an example, the three-axis stabilizer includes a translation axis, a roll axis and a pitch axis.
  • the adjustment direction of the load is the front and rear direction.
  • the shaft arm of the roll axis rotates around the roll axis, it is equivalent to adjusting the load in the left and right direction, then the adjustment direction of the load is the front and rear direction.
  • the tilt axis rotates, it is equivalent to adjusting the load in the up and down direction, and the adjustment direction of the load is the up and down direction.
  • Each stable shaft is affected by the load gravitational moment differently.
  • the axial direction of some stable shafts is parallel to the direction of gravity. Even if the load is unbalanced, it will not be affected by the load gravitational moment. Since some stabilizer shafts are not parallel to gravity in their axial direction, but the adjustment direction of the load is consistent with the axial direction of the stabilizer shaft when it is in a balanced state under the action of gravity, it will not be affected by the gravitational moment. When each axis is in the above state, no adjustment is required.
  • the inclination angle between the axial direction of the stabilizer shaft and the direction of gravity is small, it can be considered to be basically parallel, or the angle between the adjustment direction of the load and the axial direction of the stabilizer shaft when it is in a state of equilibrium under the action of gravity is small. The effect of the gravitational moment can also be ignored, so there is no need to adjust the stabilizer.
  • the inclination angle of the axial direction of the stable shaft relative to the direction of gravity is within a specified range, If it is within the specified range, it is considered that the effect of the gravitational torque on the stable shaft is relatively large, so the user can be prompted according to the output torque of the motor.
  • the inclination angle between the axial direction and the direction of gravity of the stable axis is less than 5° or greater than 175°, it can be considered that the two tend to be parallel, and no adjustment is required. Between °, it can be determined that the gravitational torque effect on the stable shaft meets the preset conditions, then the output of the motor can be counted, and the user can be prompted according to the output torque of the motor.
  • the included angle between the adjustment direction of the load and the reference direction is within a specified range. Within the specified range, it is considered that the effect of the gravitational moment on the stable shaft is relatively large, so the user can be prompted according to the output torque of the motor.
  • the reference direction is the axial direction of the stable shaft when it is in a balanced state under the action of gravity. For example, when it is determined that the included angle is less than 5°, it can be determined that the action of the gravitational moment on the stable shaft satisfies the preset condition.
  • the inclination angle between the axial direction of the stable shaft and the direction of gravity is within a specified range, and then it is determined when the adjustment direction of the load and the stable shaft are in a balanced state under the action of gravity Whether the included angle of the axial direction is within the specified range, and if the above two conditions are met at the same time, it is considered that the action of the gravitational moment on the stable shaft satisfies the preset conditions.
  • the coordinate systems in all directions can be unified first, such as the world coordinate system or the fuselage coordinate system of the stabilizer. , and then determine the vector representing each direction based on the unified coordinate system, and then solve the angle between each vector.
  • the stabilizer further includes an inertial measurement unit, and the inertial measurement unit includes a gyroscope and an accelerometer, and the current attitude of the payload can be detected in real time through the gyroscope and the accelerometer.
  • the inclination angle between the axial direction of the stabilizer and the direction of gravity can be determined according to the attitude of the load and the rotation angle of the stabilizer shaft.
  • the current rotation angle (ie joint angle) of each stable axis in the stabilizer is known.
  • the axial direction of each stable axis can be determined in the world. Representation in the coordinate system, so that the inclination of the current axis and the direction of gravity can be determined.
  • the torque output by the motor has two functions, one is to maintain the load at the target attitude, and the other is to overcome the gravitational moment of the stabilization axis.
  • the motor output torque is stable and the load is caused by vibration, jitter, etc., since the vibration and jitter directions are relatively random, the deviation of the load from the target attitude is also relatively small, so the direction of the torque output by the motor stable load is also relatively random. , and the speed of the motor is also slower.
  • the statistics of the torque output by the motor within a specified time can be counted, and the user can be prompted to adjust the load according to the statistics. balance. Since the direction of the torque output by the motor to stabilize the load is relatively random, by counting the torque output by the motor for a period of time, the torque output by the motor for stabilizing the load can be offset, and the statistics can represent the motor used to overcome the gravity torque. In the case of the applied force, the balance of the stable shaft can be determined according to the size of this statistic.
  • the statistic may be an average value of accumulated values of the output torque of the motor within a specified time. For example, you can set up a counter, increase the counter by 1 every 1s, and record the torque output by the current motor. When the counter counts up to 60, stop counting, and determine the cumulative value of the recorded 60 torques, and then take the average to get The average torque during these 60s.
  • the statistic may also be an accumulated torque value, or a weighted average value of torque, etc., which is not limited in this application.
  • the balance state parameters of the stable shaft may be determined first according to the statistics of the torque output by the motor, and the balance state parameters may be various A parameter that characterizes the current balance of the stabilizer shaft.
  • the balance state parameter may include the degree of deviation of the current axis of the stabilization axis from the reference axis, and the reference axis is the axis of the stabilization axis when it is in a state of equilibrium under the action of gravity.
  • the degree of deviation is greater than a preset threshold, the The interface prompts the user to adjust the balance of the stabilizer.
  • a threshold can be preset. When the deviation is greater than a certain threshold, it is considered that the balance of the stable axis is poor and can be adjusted. At this time, the user can be prompted through the interactive interface.
  • the degree of deviation may be determined according to the average value of the accumulated value of the output torque of the motor within a specified time and a preset torque threshold.
  • a torque threshold can be preset as a reference, and the deviation degree of the average torque value from this reference can be determined. If the deviation degree is greater than the preset threshold, it is considered that the balance of the stable shaft is poor, and a prompt is issued. For example, assuming that the preset torque threshold reference is 2N ⁇ M, and the average value of the currently detected motor torque is 2.2N ⁇ M, the degree of deviation is 10%.
  • the degree of deviation can let the user know the degree to which the current stable axis deviates from the equilibrium state, and the user can determine whether to adjust the stable axis according to the degree of deviation.
  • the balance state parameter may further include the deviation direction of the current axis of the stabilization axis relative to the reference axis.
  • the degree of deviation or the deviation direction may be displayed on the interactive interface. one or more of them. In this way, the user can clearly know whether it is necessary to adjust the balance of the stabilizer, and in which direction to adjust the load when the balance is adjusted.
  • the deviation degree and deviation direction of each stable axis of the stabilizer can be displayed on the interactive interface, or the overall deviation of the stabilizer can be determined according to the deviation of each stable axis, and then displayed to the user in the interactive interface.
  • the evaluation of the stability axis may also be determined first according to the degree of deviation The evaluation level of the degree of balance is displayed on the display interface.
  • the balance of the stable axis can be divided into three grades: good, medium and poor according to the degree of deviation, and then the numerical value and grade corresponding to the degree of deviation can be displayed on the display interface, or only the grade can be displayed, so that the user can intuitively determine the balance of the stable shaft. situation, and then determine whether to adjust the balance of the stabilizer according to the balance.
  • the deviation direction when determining the deviation direction of the current axis of the stabilization shaft relative to the reference axis, the deviation direction may be determined according to the included angle and the average value of the adjustment direction of the load relative to the reference axis. Since both the moment and the angle are directional, the deviation direction of the current axis of the stabilization shaft relative to the reference axis can be determined according to the positive and negative of the moment and the positive and negative of the included angle, and then how to adjust the load can be determined according to the deviation direction, For example, the load should be adjusted in the left-right direction, the up-down direction, and the front-rear direction to adjust the balance of each stable axis.
  • prompt information may be issued to prompt the user to adjust the balance of the stabilizer, and the prompt information may use visual information, sound information or vibration information.
  • the prompt information may use visual information, sound information or vibration information.
  • the motor since the stabilizer may also be in a state of adjusting the load attitude under the user's command, the motor will output torque in a set direction to adjust the load attitude, and the motor rotates rapidly. In this case, if the torque output by the motor is used to determine the magnitude of the gravitational torque on the stabilizer shaft, it will be inaccurate, and the result of detecting whether the stabilizer is balanced will also be inaccurate. Therefore, before prompting the user according to the magnitude of the torque output by the motor, the current speed of the motor should also be detected to determine whether the speed of the motor is less than the preset speed. At this time, it is not suitable to determine the situation that the stable axis is affected by the gravitational torque according to the output torque of the motor. If it is less than the value, the motor output torque is used to determine the situation that the stable axis is affected by the gravitational torque.
  • the present application also provides another method for adjusting the balance of the stabilizer, which introduces the specific implementation details of the method for adjusting the balance of the stabilizer from the perspective of an algorithm, and the method is suitable for including at least one stabilization shaft and at least one motor.
  • the stabilizer, the stabilizer shaft can stabilize the load under the drive of the torque output by the motor.
  • the method is shown in Figure 4, including the following steps:
  • the method further includes:
  • the predetermined condition that the stabilization shaft is acted upon by the gravitational moment includes:
  • the axial inclination of the stabilization shaft relative to the direction of gravity is within a specified range
  • the included angle of the adjustment direction of the load relative to the reference axis is within a specified range.
  • the stabilizer further includes an inertial measurement unit for measuring the attitude of the payload, the inclination angle being determined based on the attitude of the payload and the rotation angle of the stabilization shaft.
  • determining the equilibrium state parameters of the stable shaft based on the torque output by the motor includes:
  • An equilibrium state parameter of the stable shaft is determined based on the statistics.
  • the statistic is an average value of accumulated values of the output torque of the motor within a specified time period.
  • the step of determining the degree of deviation of the current axis of the stabilization shaft relative to the reference axis includes:
  • the degree of deviation is determined according to the average value and a preset torque threshold.
  • the step of determining the deviation direction of the current axis of the stabilization shaft relative to the reference axis includes:
  • the deviation direction is determined according to the included angle of the adjustment direction of the load with respect to the reference axis and the average value.
  • the stabilizer includes a display interface prompting the user to adjust the balance of the stabilizer, including:
  • the deviation degree and/or the deviation direction are displayed on the display interface.
  • displaying the deviation degree on the display interface includes:
  • the evaluation level is displayed on the display interface.
  • the stabilizer is connected in communication with the control terminal, prompting the user to adjust the balance of the stabilizer, including:
  • the deviation degree and/or the deviation direction are displayed on the display interface of the control terminal.
  • the method further includes:
  • the prompt information includes one or more of visual information, vibration information, and sound information.
  • each axis of the gimbal is affected by the gravitational moment of the camera device, resulting in the extra output torque of the gimbal motor to overcome the action of the gravitational moment of the camera device, resulting in high power consumption, reduced control accuracy and service life. lowering problem.
  • This embodiment provides a method for detecting the balance of the gimbal in real time when the user uses the gimbal fixed camera device to shoot a video, and when it is detected that the balance is poor, prompting the user through the interactive interface to perform the operation of the gimbal in time. Adjustment. In this way, there is no need to interrupt the normal use of the gimbal during the balance detection of the gimbal, and the poor balance of the gimbal can be detected in time, and the user can be reminded to adjust to avoid excessive loss of the gimbal motor.
  • the adjustment direction of the load is the left and right direction.
  • the adjustment direction of the load is the up and down direction
  • the adjustment direction of the load is the front and rear direction.
  • T sf is the transformation relationship between the representation of the motor shaft axis of the gimbal in the axis coordinate system ⁇ f ⁇ and the representation in the world coordinate system ⁇ s ⁇
  • T sf is the load measured by the inertial measurement unit of the gimbal.
  • the attitude and the angle of rotation of each motor shaft ie, the joint angle
  • ⁇ f is the representation vector of the axis of the gimbal motor in the axis coordinate system ⁇ f ⁇ , which is obtained according to the definition.
  • ⁇ s is the vector representing the axis of the gimbal motor in the world coordinate system.
  • ⁇ t is within the specified range, such as 5-175°. If it is within the specified range, it means that the motor shaft axis is not parallel to the direction of gravity, and it may be affected by the load gravitational moment. function, and then proceed to the next step of testing.
  • the reference axis is the axis of the motor shaft when it is in a stable equilibrium position under the action of gravity.
  • T sf is the transformation relationship between the representation of the motor shaft axis of the gimbal in the axis coordinate system ⁇ f ⁇ and the representation in the world coordinate system ⁇ s ⁇
  • ⁇ f is the representation of the load adjustment direction in the axis coordinate system
  • the vector is pre-defined according to the PTZ structure.
  • ⁇ r a cos( ⁇ s ⁇ s ) ⁇ sign( ⁇ s ⁇ s ⁇ s ) Formula (4)
  • the included angle ⁇ r After the included angle ⁇ r is determined, it can be determined whether it is within the specified range, for example, whether it is greater than 10°. If it is, it is considered that the load is not in a balanced state under the action of gravity, so the next step is entered.
  • the counter is used for counting, and each time the motor is counted, the torque output by the motor is recorded and accumulated with the previously recorded torque. When the counter count reaches the maximum value, the average value of the motor output torque is counted, as shown in formula (5):
  • cnt is the current value of the counter
  • cnt_max is the maximum value of the counter
  • T is the current torque of the motor
  • T cum is the accumulated value of the motor torque.
  • T thr1 and T thr2 are the torque magnitude thresholds for judging the degree of balance, which can be set according to experience.
  • the direction of the deviation of the motor shaft of the gimbal can be judged according to the included angle ⁇ r and the sign of the average value of the motor output T mean . (left and right, up and down, front and rear), the deviation direction is defined according to the zero position of each motor of the stabilizer, and the line of sight of the person is consistent with the positive direction of the stabilizer. At this time, there are:
  • a prompt message can be sent to remind the user to adjust the balance of the gimbal.
  • LED lights can be set on the gimbal to remind the user of the current balance through flashing lights, vibration, or voice prompts.
  • the balance degree of each motor shaft and the direction of load deviation can be displayed on the interactive interface of the gimbal, so that the user can adjust the balance of the gimbal according to the deviation direction.
  • the present application also provides a stabilizer, as shown in FIG. 5 , the stabilizer includes at least one stabilizer axis and a motor 53 for adjusting the posture of the stabilizer axis, and the stabilizer axis is used for outputting at the motor output
  • the stabilizer further includes a processor 51, a memory 52 and a computer program stored in the memory for execution by the processor, the processor 51 executes the following when executing the computer program step:
  • the user When the action of the gravitational moment on the stabilization shaft satisfies a preset condition, the user is prompted to adjust the balance of the stabilizer through an interactive interface based on the torque output by the motor, and the interactive interface includes the balance of the stabilizer.
  • the processor is further configured to perform an operation of stopping the stabilizer from stabilizing the load when it is determined that the user adjusts the balance of the stabilizer.
  • the processor is further configured to: determine that the rotational speed of the motor is less than a preset rotational speed before prompting the user to adjust the balance of the stabilizer through the interactive interface based on the torque output by the motor.
  • the action of the gravitational moment on the stabilization shaft satisfies a preset condition, including:
  • the axial inclination of the stabilization shaft relative to the direction of gravity is within a specified range
  • the included angle between the adjustment direction of the load and the reference axis is within a specified range, and the reference axis is the axis when the stabilization shaft is in a balanced state under the action of gravity.
  • the stabilizer further includes an inertial measurement unit for measuring the attitude of the payload, the inclination angle being determined based on the attitude of the payload and the rotation angle of the stabilization shaft.
  • the processor when the processor is configured to prompt a user to adjust the balance of the stabilizer through an interactive interface based on the torque output by the motor, the processor is specifically configured to:
  • the user is prompted through an interactive interface to adjust the balance of the stabilizer based on the statistics.
  • the statistic is an average value of accumulated values of the output torque of the motor within a specified time period.
  • the processor when the processor is configured to prompt the user to adjust the balance of the stabilizer through an interactive interface based on the statistics, the processor is specifically configured to:
  • the equilibrium state parameter of the stable shaft is determined based on the statistic, the equilibrium state parameter includes the degree of deviation of the current axial direction of the stable shaft from a reference axial direction, and the reference axial direction is the effect of gravity on the stable shaft The axial direction when it is in a state of equilibrium;
  • the user is prompted to adjust the balance of the stabilizer through an interactive interface.
  • the balance state parameter further includes a deviation direction of the current axis of the stabilization axis relative to the reference axis
  • the processor is configured to prompt the user through an interactive interface to adjust the balance of the stabilizer , specifically for:
  • the deviation degree and/or the deviation direction are displayed on the interactive interface.
  • the step of the processor for determining the degree of deviation of the current axis of the stabilization shaft relative to the reference axis includes:
  • the degree of deviation is determined according to the average value and a preset torque threshold.
  • the step of the processor used for determining the deviation direction of the current axis of the stabilization shaft relative to the reference axis includes:
  • the deviation direction is determined according to the included angle of the adjustment direction of the load with respect to the reference axis and the average value.
  • the stabilizer includes at least one stabilization axis and a motor for adjusting the posture of the stabilization axis, and the stabilization axis is used for the torque output by the motor
  • the stabilizer further includes a processor, a memory, and a computer program stored in the memory for execution by the processor, and the processor executes the following steps when executing the computer program:
  • a balance state parameter of the stabilization shaft is determined based on the torque output by the motor, and the balance state parameter includes the current axial relative relative to the stabilization shaft.
  • the deviation direction and/or the deviation degree of the reference axis is used to prompt the user to adjust the balance of the stabilizer; wherein, the reference axis is the axis of the stabilization axis in a balanced state under the action of gravity.
  • the processor is also used to:
  • the predetermined condition that the stabilization shaft is acted upon by the gravitational moment includes:
  • the axial inclination of the stabilization shaft relative to the direction of gravity is within a specified range
  • the included angle of the adjustment direction of the load relative to the reference axis is within a specified range.
  • the stabilizer further includes an inertial measurement unit for measuring the attitude of the payload, the inclination angle being determined based on the attitude of the payload and the rotation angle of the stabilization shaft.
  • the processor determines the equilibrium state parameter of the stable shaft based on the torque output by the motor, it is specifically used for:
  • An equilibrium state parameter of the stable shaft is determined based on the statistics.
  • the statistic is an average value of accumulated values of the output torque of the motor over a specified period of time.
  • the step of the processor for determining the degree of deviation of the current axis of the stabilization shaft relative to the reference axis includes:
  • the degree of deviation is determined according to the average value and a preset torque threshold.
  • the step of the processor for determining the deviation direction of the current axis of the stabilization shaft relative to the reference axis includes:
  • the deviation direction is determined according to the included angle of the adjustment direction of the load with respect to the reference axis and the average value.
  • the stabilizer includes a display interface, and the processor is configured to prompt the user to adjust the balance of the stabilizer, specifically:
  • the deviation degree and/or the deviation direction are displayed on the display interface.
  • the processor when the processor is configured to display the deviation degree on the display interface, the processor is specifically configured to:
  • the evaluation level is displayed on the display interface.
  • the stabilizer is connected in communication with the control terminal, and the processor is configured to prompt the user to adjust the balance of the stabilizer, specifically:
  • the deviation degree and/or the deviation direction are displayed on the display interface of the control terminal.
  • the processor is also used to:
  • the prompt information includes one or more of visual information, vibration information, and sound information.
  • an embodiment of the present specification further provides a computer storage medium, where a program is stored in the storage medium, and when the program is executed by a processor, the method for adjusting the balance of a stabilizer in any of the foregoing embodiments is implemented.
  • Embodiments of the present specification may take the form of a computer program product embodied on one or more storage media having program code embodied therein, including but not limited to disk storage, CD-ROM, optical storage, and the like.
  • Computer-usable storage media includes permanent and non-permanent, removable and non-removable media, and storage of information can be accomplished by any method or technology.
  • Information may be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • PRAM phase-change memory
  • SRAM static random access memory
  • DRAM dynamic random access memory
  • RAM random access memory
  • ROM read only memory
  • EEPROM Electrically Erasable Programmable Read Only Memory
  • Flash Memory or other memory technology
  • CD-ROM Compact Disc Read Only Memory
  • CD-ROM Compact Disc Read Only Memory
  • DVD Digital Versatile Disc
  • Magnetic tape cassettes magnetic tape magnetic disk storage or other magnetic storage devices or any other non-

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Vehicle Body Suspensions (AREA)

Abstract

Procédé de réglage de l'équilibre d'un stabilisateur et stabilisateur. Ledit procédé consiste : dans un processus où un stabilisateur stabilise une charge, à détecter, en temps réel, si les axes stables du stabilisateur sont soumis à l'action du moment de gravité et, lorsque les axes stables sont soumis à l'action du moment de gravité et qu'une condition prédéfinie est satisfaite, à inviter, en fonction d'un moment fourni par un moteur entraînant les axes stables, un utilisateur à régler l'équilibre du stabilisateur dans une interface d'interaction du stabilisateur ou une interface d'interaction d'un dispositif terminal en liaison de communication avec le stabilisateur. En détectant le degré d'équilibre du stabilisateur en temps réel pendant l'exploitation du stabilisateur, et en invitant l'utilisateur à effectuer un réglage à temps au moyen de l'interface d'interaction lorsque le degré d'équilibre est faible, il n'est pas nécessaire d'interrompre l'utilisation normale du stabilisateur, et il n'est pas nécessaire que l'utilisateur effectue des opérations supplémentaires, ce qui améliore l'expérience de l'utilisateur ; en outre, la situation dans laquelle le degré d'équilibre du stabilisateur est faible peut être identifiée à temps, de sorte que l'utilisateur est invité à effectuer un réglage à temps, ce qui permet d'éviter les pertes du moteur du stabilisateur et de prolonger la durée de vie du moteur.
PCT/CN2020/116851 2020-09-22 2020-09-22 Procédé de réglage de l'équilibre d'un stabilisateur et stabilisateur WO2022061520A1 (fr)

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PCT/CN2020/116851 WO2022061520A1 (fr) 2020-09-22 2020-09-22 Procédé de réglage de l'équilibre d'un stabilisateur et stabilisateur
CN202080039569.2A CN113993748A (zh) 2020-09-22 2020-09-22 调节稳定器平衡的方法及稳定器

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Citations (5)

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CN106224745A (zh) * 2016-07-25 2016-12-14 深圳市边锋智驱科技有限公司 一种电子陀螺手持稳定器的自动调节重心的机构
CN207782896U (zh) * 2018-01-05 2018-08-28 深圳市大疆创新科技有限公司 手持设备
CN110337559A (zh) * 2018-03-27 2019-10-15 深圳市大疆创新科技有限公司 控制模块及手持设备
US20190368654A1 (en) * 2018-05-29 2019-12-05 Kevin Albert Thomas Camera gimbal
CN111316029A (zh) * 2019-03-13 2020-06-19 深圳市大疆创新科技有限公司 云台重心配平的方法、云台及客户端

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Publication number Priority date Publication date Assignee Title
CN108459622B (zh) * 2017-02-21 2021-05-07 昊翔电能运动科技(昆山)有限公司 自稳云台的负载重心调整系统、方法

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106224745A (zh) * 2016-07-25 2016-12-14 深圳市边锋智驱科技有限公司 一种电子陀螺手持稳定器的自动调节重心的机构
CN207782896U (zh) * 2018-01-05 2018-08-28 深圳市大疆创新科技有限公司 手持设备
CN110337559A (zh) * 2018-03-27 2019-10-15 深圳市大疆创新科技有限公司 控制模块及手持设备
US20190368654A1 (en) * 2018-05-29 2019-12-05 Kevin Albert Thomas Camera gimbal
CN111316029A (zh) * 2019-03-13 2020-06-19 深圳市大疆创新科技有限公司 云台重心配平的方法、云台及客户端

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