WO2022077357A1 - Procédé et appareil de détection pour stabilisateur, et stabilisateur, plateforme mobile et support de stockage - Google Patents

Procédé et appareil de détection pour stabilisateur, et stabilisateur, plateforme mobile et support de stockage Download PDF

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Publication number
WO2022077357A1
WO2022077357A1 PCT/CN2020/121213 CN2020121213W WO2022077357A1 WO 2022077357 A1 WO2022077357 A1 WO 2022077357A1 CN 2020121213 W CN2020121213 W CN 2020121213W WO 2022077357 A1 WO2022077357 A1 WO 2022077357A1
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WO
WIPO (PCT)
Prior art keywords
gimbal
state
axis
gravity
pan
Prior art date
Application number
PCT/CN2020/121213
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English (en)
Chinese (zh)
Inventor
王文杰
谢文麟
苏铁
Original Assignee
深圳市大疆创新科技有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
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 PCT/CN2020/121213 priority Critical patent/WO2022077357A1/fr
Priority to CN202080009709.1A priority patent/CN113383210A/zh
Publication of WO2022077357A1 publication Critical patent/WO2022077357A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D21/00—Measuring or testing not otherwise provided for
    • G01D21/02—Measuring two or more variables by means not covered by a single other subclass
    • 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
    • F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
    • F16M11/121—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction constituted of several dependent joints
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/02—Heads
    • F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand

Definitions

  • the embodiments of the present invention relate to the technical field of PTZ, and in particular, to a detection method, device, PTZ, movable platform and storage medium of a PTZ.
  • the control object of the control system is the combination of the stabilizer and the camera device.
  • the control system controls the output force of the motor only to stabilize the stabilizer. This will not only affect the normal use of the user and reduce the user experience, but also easily lead to damage to the stabilizer and reduce its service life.
  • Embodiments of the present invention provide a pan-tilt detection method, device, pan-tilt, movable platform and storage medium, which can avoid the phenomenon of continuous jitter when the pan-tilt is in an unloaded state, and improve the reliability of the pan-tilt in use. , prolong the service life of the gimbal and improve the user experience.
  • a first aspect of the present invention is to provide a method for detecting a pan/tilt head, the pan/tilt head comprising: a first motor, a first shaft arm, a second motor, a second shaft arm, and a third motor connected in sequence; the The first motor is used to connect a fixing mechanism, the fixing mechanism can be used to connect different types of loads, and the control parameters of the pan/tilt head can be adapted to different types of loads; the first motor is used to drive the load to wind The first axis rotates, the second motor is used to drive the load to rotate around the second axis, and the third motor is used to drive the load to rotate around the third axis; the method includes:
  • the second aspect of the present invention is to provide a detection device for a pan/tilt head, the pan/tilt head comprising: a first motor, a first shaft arm, a second motor, a second shaft arm, and a third motor connected in sequence;
  • the first motor is used to connect a fixing mechanism, the fixing mechanism can be used to connect different types of loads, and the control parameters of the pan/tilt head can be adapted to different types of loads;
  • the first motor is used to drive the load to wind The first axis rotates, the second motor is used to drive the load to rotate around the second axis, and the third motor is used to drive the load to rotate around the third axis;
  • the detection device includes:
  • a processor for running a computer program stored in the memory to achieve:
  • a third aspect of the present invention is to provide a pan/tilt head, comprising:
  • the first motor is used to connect a fixing mechanism, and the fixing mechanism can be used to connect different types of loads, and The control parameters of the head can be adapted to different types of loads; the first motor is used to drive the load to rotate around the first axis, the second motor is used to drive the load to rotate around the second axis, so The third motor is used to drive the load to rotate around the third axis;
  • the detection device according to the second aspect.
  • a third aspect of the present invention is to provide a movable platform, comprising:
  • a fifth 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.
  • the detection method, device, PTZ, movable platform and storage medium of the PTZ provided by the embodiments of the present invention detect whether the PTZ is in a shaking state, and then identify whether the PTZ is in an unbalanced state with respect to the second axis under the action of gravity , when the gimbal is in a shaking state, and when the gimbal is in an unbalanced state relative to the second axis under the action of gravity, it can be determined that the gimbal is in an unloaded state, thereby effectively realizing the no-load state on the gimbal.
  • 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 structural diagram of a pan/tilt according to an embodiment of the present invention.
  • FIG. 4 is a schematic diagram of the center of gravity of a pan/tilt according to an embodiment of the present invention.
  • FIG. 5 is a schematic flowchart of obtaining an operation feature corresponding to a PTZ according to an embodiment of the present invention
  • FIG. 6 is a schematic flowchart of determining whether the pan/tilt is in the jitter state based on the operating feature according to an embodiment of the present invention
  • FIG. 7 is a schematic flowchart of identifying whether the gimbal is in an unbalanced state with respect to the second axis under the action of gravity according to an embodiment of the present invention
  • FIG. 8 is a schematic flowchart of another pan/tilt detection method provided by an embodiment of the present invention.
  • FIG. 9 is a schematic flowchart of another pan/tilt detection method provided by an embodiment of the present invention.
  • FIG. 10 is a schematic diagram of a jitter frequency of a gimbal in an no-load state according to an application embodiment of the present invention.
  • FIG. 11 is a schematic diagram of a jitter frequency of a pan/tilt in a non-idle state according to an application embodiment of the present invention
  • FIG. 12 is a schematic structural diagram of a detection device for a pan/tilt according to an embodiment of the present invention.
  • FIG. 13 is a schematic structural diagram of a pan/tilt according to an embodiment of the present invention.
  • FIG. 14 is a schematic structural diagram of a movable platform according to an embodiment of the present invention.
  • the stabilizer may be provided with a camera device, and then the actual posture of the camera device may be detected, Compare the actual attitude with the target attitude to obtain the 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
  • the control deviation between the actual posture of the camera device and the target posture is as small as possible, so that the image captured by the camera device is as stable as possible, or the actual posture of the camera device is as close to the target posture as possible, and even images are captured in the target posture.
  • the stabilizer can be adapted to different types of loads, such as: the combination of camera and lens, mobile phone, tablet computer, video camera, etc., which have large size and quality.
  • loads such as: the combination of camera and lens, mobile phone, tablet computer, video camera, etc.
  • the different installation positions and structural stress states corresponding to the above-mentioned different types of loads will correspond to different dynamic model parameters and frequency response characteristics.
  • the control parameters of the stabilizer controlled by the control system are only applied to the stabilizer, which causes the motor shaft on the stabilizer to shake. On the one hand, this shaking phenomenon affects the normal use of users and reduces the use of users. experience, on the other hand, it is easy to cause damage to the stabilizer system and reduce the service life of the stabilizer.
  • this embodiment provides a detection method, device, movable platform and storage medium for a pan/tilt
  • the pan/tilt may include: a first motor, a first shaft arm, and a second motor connected in sequence , the second axis arm, and the third motor; the first motor is used to connect the fixing mechanism, the fixing mechanism can be used to connect different types of loads, and the control parameters of the gimbal can be adapted to different types of loads; the first motor is used to drive The load rotates around the first axis, the second motor is used to drive the load to rotate around the second axis, and the third motor is used to drive the load to rotate around the third axis.
  • the pan/tilt may include a fixing mechanism, or the securing mechanism may be an accessory of the pan/tilt, which can be detachably connected to the first motor.
  • the technical solution in this embodiment detects whether the pan-tilt is in a shaking state, and then identifies whether the pan-tilt is in an unbalanced state relative to the second axis under the action of gravity; when the pan-tilt is in a shaking state, and the cloud
  • the gimbal is in an unbalanced state under the action of gravity relative to the second axis, it can be determined that the gimbal is in an unloaded state, thereby effectively realizing the accurate identification of the no-load state on the gimbal, and then facilitating the operation based on the above-mentioned empty state.
  • 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, wherein the pan/tilt is used as a three-axis handheld
  • the pan/tilt is described as an example.
  • the pan/tilt includes: a first motor, a first shaft arm, a second motor, a second shaft arm, and a third motor connected in sequence.
  • the first motor is used to connect the fixing mechanism
  • the first motor can be connected to the fixing mechanism through the shaft arm
  • the fixing mechanism can be used to connect different types of loads
  • the control parameters of the gimbal can be adapted to different types of loads
  • the third motor is connected with a support mechanism to support the head; the first motor is used to drive the load to rotate around the first axis, the second motor is used to drive the load to rotate around the second axis, and the third motor is used to drive the load to rotate around the third axis turn.
  • the fixing mechanism may be a quick-release structure, so that the user can adjust and replace the load set on the gimbal in a timely manner through the fixing mechanism, so that the gimbal can be used to connect different types of load.
  • the above-mentioned different types of loads may include at least one of the following: a mobile phone, a tablet computer, a camera, a follow-up light, a ranging sensor, and other loads with different weight information.
  • the user can adjust or replace the load set on the gimbal according to different application scenarios. The load on the table is removed.
  • control parameters of the load on the gimbal need to be adjusted so that the adjusted parameters are adapted to the load.
  • the control parameters of the gimbal may include at least one of the following 1: The motor parameters of the motor set on the gimbal and the parameters of the inertial measurement unit IMU set on the gimbal, wherein the motor parameters include but are not limited to the motor neutral position, the parameters of the angle sensor, and so on.
  • At least two groups of preset control parameters may be set on the gimbal, and different groups of preset control parameters are used to adapt to different types of loads.
  • different preset control parameters that can be adapted to multiple different types of loads are preset on the PTZ.
  • the preset control parameter corresponding to the load can be determined based on the changed load type. Set the control parameters, and then control the load based on the preset control parameters to perform self-tuning operation, which can stably control the PTZ with different types of loads.
  • a set of control parameters corresponding to the load are set on the pan/tilt head, and the control parameters are adjusted according to the type of the load.
  • the gimbal may be provided with control parameters that can be adapted to the current load set on the gimbal.
  • the control parameters may be adjusted based on the changed load, so that the adjusted The control parameters are adapted to the changed load, and then the load can be controlled based on the preset control parameters to perform self-tuning operation, so as to stably control the PTZ that supports different types of loads.
  • the first motor on the gimbal is a pitch axis motor
  • the second motor on the gimbal is the roll axis motor
  • the third motor on the gimbal is the yaw axis motor
  • the first axis on the gimbal is the pitch axis
  • the second axis on the gimbal is the roll axis
  • the third axis on the gimbal is the yaw axis.
  • the first motor on the gimbal is a roll axis motor
  • the second motor on the gimbal is a pitch axis motor
  • the gimbal is a pitch axis motor
  • the third motor on the gimbal is the yaw axis motor; the first axis on the gimbal is the roll axis, the second axis on the gimbal is the pitch axis, and the third axis on the gimbal is the yaw axis.
  • the main body can be the detection device of the PTZ, and it can be understood that the detection device of the PTZ can be implemented as software or a combination of software and hardware.
  • the method includes:
  • Step S201 Detect whether the pan/tilt is in a shaking state.
  • Step S202 Identify whether the pan/tilt head is in an unbalanced state with respect to the second axis under the action of gravity.
  • Step S203 When the gimbal is in a shaking state and the gimbal is in an unbalanced state relative to the second axis under the action of gravity, it is determined that the gimbal is in a no-load state, and the no-load state is used to identify that no load is set on the gimbal.
  • Step S201 Detect whether the pan/tilt is in a shaking state.
  • the working state of the gimbal may include a shaking state and a non-jittering state, wherein the shaking state of the gimbal may refer to: the gimbal is in a shaking state relative to at least one motor axis, or, on the gimbal At least one axis arm is in a shaking state, and the non-shaking state of the gimbal may mean that the gimbal is in a static state relative to all motor axes, or all axis arms on the gimbal are in a static state.
  • the detected gimbal in a shaking state mainly includes at least one of the following: the gimbal is in a shaking state relative to the first axis, and the gimbal is in a shaking state relative to the third axis.
  • the gimbal when the gimbal is in a shaking state relative to the first axis, it can be determined that the gimbal is in a shaking state; or, when the gimbal is in a shaking state relative to the third axis, it can be determined that the gimbal is in a shaking state; or , when the gimbal is in a shaking state relative to the first axis and the gimbal is in a shaking state relative to the third axis, it can also be determined that the gimbal is in a shaking state.
  • detecting whether the gimbal is in a shaking state may include: acquiring an operation characteristic corresponding to the gimbal; and determining whether the gimbal is in a shaking state based on the operation characteristic.
  • the operating characteristics may include at least one of the following: jitter frequency and jitter amplitude.
  • the operation characteristics including: jitter frequency and/or jitter amplitude
  • the running characteristics can be analyzed and processed.
  • the standard feature range used to identify that the gimbal is in a static state can be obtained.
  • the running characteristics are within the above standard characteristic range, it can be determined that the gimbal is in a static state;
  • the feature is outside the range of the above standard features, it can be determined that the gimbal is in a shaking state.
  • Step S202 Identify whether the pan/tilt head is in an unbalanced state with respect to the second axis under the action of gravity.
  • the gimbal When controlling the gimbal to work, the gimbal can be in a balanced state or an unbalanced state under the action of gravity.
  • the three-axis gimbal may include: yaw axis motor-roll Axis motor-pitch axis motor, yaw axis motor is used to drive the load to rotate around the yaw axis (yaw axis), roll axis motor is used to drive the load to rotate around the roll axis (roll axis), pitch axis motor is used to drive the load to rotate around the pitch axis
  • the shaft (pitch shaft) rotates, and the pitch shaft motor is fixed with a mechanism that can connect different types of loads.
  • the center of gravity of the gimbal can be located at or approximately at the intersection of the yaw axis, the pitch axis and the roll axis, or deviate from the intersection of the yaw axis, the pitch axis and the roll axis. Or roughly located at the intersection of the yaw axis, the pitch axis and the roll axis, as shown in Figure 3.
  • the gimbal is in a state of equilibrium under the action of gravity.
  • the gimbal is relative to the first, second and third axes.
  • the shafts are all in equilibrium under the action of gravity.
  • the gimbal When the center of gravity of the gimbal deviates from the intersection of the yaw axis, the pitch axis and the roll axis, the gimbal is in an unbalanced state under the action of gravity. are in a non-equilibrium state.
  • a three-axis gimbal can include a yaw axis, a roll axis and a pitch axis.
  • a yaw axis When the axis arm of the yaw axis moves in the direction perpendicular to the yaw axis, it is equivalent to the yaw axis.
  • Air axis adjustment load when the axis arm of the roll axis moves in the direction perpendicular to the roll axis, it is equivalent to the roll axis adjustment load, that is, the adjustment direction of the load is the direction of the left and right center of gravity adjustment; when the axis of the pitch axis is adjusted When the arm moves in the first direction perpendicular to the pitch axis, it is equivalent to adjusting the load on the pitch axis, that is, the adjustment direction of the load is the direction of the upper and lower center of gravity adjustment; when the pivot arm of the pitch axis moves in the second direction perpendicular to the pitch axis When , it is equivalent to the pitch axis adjustment load, that is, the adjustment direction of the load is the direction of the front and rear center of gravity adjustment, as shown in Figure 3.
  • the gimbal is in an unbalanced state with respect to the second axis under the action of gravity, which may include: the gimbal is in an unbalanced state under the action of gravity with respect to the second adjustment direction, and the second adjustment direction is that the load is set on the gimbal. , the direction in which the left and right center of gravity is adjusted relative to the second axis.
  • the state with a load set on the gimbal is adjusted to the no-load state, the position of the center of gravity of the gimbal will change, so that the current state of the gimbal does not match the original control parameters of the gimbal, which will make the gimbal's center of gravity change.
  • the gimbal shakes; in addition, since the fixed mechanism on the gimbal can be used to connect different types of loads, and the weights between different types of loads are quite different, and the gimbal is adapted to different types of loads, its control
  • the parameters can be adjusted, so when the load is replaced without adjusting the control parameters, the gimbal will also vibrate. In this way, if you only rely on detecting whether the gimbal is in a shaking state to determine whether the gimbal is in an unloaded state, it may lead to misjudgment due to the replacement of the load. However, whether a load is set on the gimbal can directly affect whether the gimbal is in an unbalanced state relative to the second axis under the action of gravity.
  • this embodiment does not limit the specific implementation of identifying whether the pan/tilt is in an unbalanced state with respect to the second axis under the action of gravity, and those skilled in the art can set it according to specific application requirements and design requirements. For example, as shown in FIG.
  • the control parameters can be adapted to the load set on the gimbal, and then it can be determined that the gimbal is in a balanced state relative to the second axis under the action of gravity based on the above-mentioned center of gravity position G1.
  • the control parameters may not be able to adapt to the load set on the gimbal.
  • the second motor drives the load to rotate around the second axis, since the output torque of the motor on the gimbal changes, then based on the center of gravity position G2, it can be determined that the gimbal is in an unbalanced state relative to the second axis under the action of gravity.
  • Step S203 When the gimbal is in a shaking state and the gimbal is in an unbalanced state relative to the second axis under the action of gravity, it is determined that the gimbal is in a no-load state, and the no-load state is used to identify that no load is set on the gimbal.
  • the gimbal when a load is set on the gimbal, the gimbal can be set with control parameters adapted to the load.
  • the control parameters are used to control the load set on the gimbal in a stable and balanced manner.
  • the control parameters cannot be adapted to the gimbal, so that the output torque of the motor on the gimbal changes, which is easy to make the cloud
  • the gimbal is in an unbalanced state in the direction of gravity relative to the second axis, and the gimbal is in a shaking state, that is, when the gimbal is in an unloaded state, the following operating characteristics will appear: the gimbal is in a shaking state, the gimbal The relative second axis is in a non-equilibrium state under the action of gravity.
  • the specific implementation process of the gimbal detection method is similar to the specific implementation process of the three-axis gimbal of the yaw-roll-pitch structure. This will not be repeated here.
  • the pan-tilt detection method detects whether the pan-tilt is in a shaking state, and then identifies whether the pan-tilt is in an unbalanced state with respect to the second axis under the action of gravity, and the pan-tilt is in a shaking state, and the pan-tilt is in a state of shaking relative to the second axis.
  • the shaft is in an unbalanced state under the action of gravity, it can be determined that the gimbal is in an unloaded state, which effectively realizes the accurate identification of the no-load state on the gimbal, and then facilitates the use of the above no-load detection results.
  • the stable and reliable use of the platform prolongs the service life of the gimbal, and at the same time effectively improves the user experience, further improves the practicability of the product, and is conducive to market promotion and application.
  • FIG. 5 is a schematic flowchart of acquiring operation characteristics corresponding to a pan/tilt according to an embodiment of the present invention; on the basis of the above embodiment, with continued reference to FIG.
  • the specific implementation method of the feature is not limited, and those skilled in the art can set it according to specific application requirements.
  • the operating characteristics corresponding to the PTZ can be obtained through the sensor provided on the PTZ.
  • the sensor It can be an inertial measurement unit arranged on the pan/tilt head, and the inertial measurement unit can be arranged on a fixed mechanism.
  • the obtaining of the operating characteristics corresponding to the PTZ in this embodiment may include:
  • Step S601 Acquire the angular velocity corresponding to the gimbal through the inertial measurement unit.
  • Step S602 According to the angular velocity, determine the operation characteristic corresponding to the gimbal.
  • the IMU is a device for measuring the three-axis attitude angle and acceleration of an object
  • the IMU may include a three-axis gyroscope and a three-axis accelerometer.
  • the angular velocity corresponding to the gimbal can be obtained through the three-axis gyroscope in the IMU.
  • the angular velocity can be analyzed and processed to determine the operating characteristics corresponding to the gimbal.
  • determining the operation characteristic corresponding to the gimbal according to the angular velocity may include: determining the operation characteristic corresponding to the angular velocity Corresponding angular acceleration; Fourier transform is performed on the angular acceleration to obtain the shaking frequency corresponding to the gimbal.
  • the angular velocity can be differentiated to determine the angular acceleration corresponding to the angular velocity, and then the angular acceleration is subjected to Fourier transform processing, so as to obtain the
  • the jitter frequency corresponding to the gimbal can be used as reference data for judging whether the gimbal is in a jitter state, that is, after the jitter frequency is obtained, it can be judged whether the gimbal is in a jitter state based on the jitter frequency.
  • determining the operating characteristic corresponding to the gimbal according to the angular velocity may include: obtaining, based on the angular velocity, a jitter frequency corresponding to the gimbal; The corresponding jitter amplitude.
  • the angular velocity can be analyzed and processed to obtain the jitter frequency corresponding to the gimbal.
  • the jitter frequency corresponding to the gimbal can be obtained by the method.
  • the jitter amplitude corresponding to the gimbal can be determined based on the jitter frequency, and the jitter amplitude can be the maximum amplitude information corresponding to the jitter frequency.
  • the operation characteristics corresponding to the gimbal can not only include the jitter frequency and the jitter amplitude, but those skilled in the art can adjust the operation characteristics for the purpose of judging whether the gimbal is in a jitter state.
  • the operation characteristics may include jitter. Speed, etc., will not be repeated here.
  • the angular velocity corresponding to the gimbal is obtained by the inertial measurement unit, and then the operation characteristics corresponding to the gimbal are determined according to the angular velocity, thereby effectively realizing the accurate and effective operation characteristics corresponding to the gimbal. acquisition, which further improves the accuracy and reliability of judging whether the gimbal is in a shaking state based on the operating characteristics of the gimbal, and effectively improves the stability and reliability of the method.
  • FIG. 6 is a schematic flowchart of determining whether the pan/tilt is in a jitter state based on operating characteristics provided by an embodiment of the present invention; on the basis of the above-mentioned embodiment, continuing to refer to FIG. 6 , when the operating characteristics include jitter frequency and jitter amplitude , in this embodiment, based on the operating characteristics, determining whether the pan/tilt is in a shaking state may include:
  • Step S701 Obtain a frequency range for analyzing and processing the jitter frequency.
  • Step S702 When the jitter frequency is within the frequency range, obtain an amplitude threshold and a specified time range for analyzing the jitter amplitude, and determine whether the pan/tilt is in a jitter state according to the amplitude threshold, the specified time range and the jitter amplitude.
  • Step S703 When the jitter frequency exceeds the frequency range, it is determined that the pan/tilt is in a non-jitter state.
  • the motor on the gimbal when the gimbal is in the no-load state, the motor on the gimbal is too strong, which will cause the gimbal to vibrate to a certain extent.
  • the motors on the gimbal may include: a yaw axis motor, a roll axis motor, and a pitch axis motor.
  • the jitter frequency and jitter amplitude corresponding to the yaw axis motor and pitch axis motor on the gimbal can be obtained respectively, and then the jitter frequency and jitter amplitude can be analyzed and processed through analysis and processing. to judge whether the gimbal is in a shaking state. That is to say, it is determined whether the state is shaken with respect to the first axis and/or the third axis.
  • the jitter frequency at this time will be within a certain frequency range. Therefore, in order to accurately analyze whether the gimbal is in a jitter state, it can be used to measure the jitter frequency.
  • the frequency range of the analysis processing It can be understood that different frequency ranges may be corresponding to the jitter frequencies corresponding to different types of PTZs.
  • the jitter frequency and the frequency range are analyzed and compared.
  • the jitter frequency exceeds the frequency range, the operating characteristics of the gimbal do not satisfy the condition that the gimbal is in the jitter state. Therefore, you can Make sure the gimbal is in a non-jitter state.
  • the jitter characteristics of the gimbal meet the condition that the gimbal is in a jitter state, indicating that the gimbal may be in a jitter state.
  • determining whether the gimbal is in a jitter state may include: counting the number of times that the jitter amplitude within the specified time range is greater than or equal to the amplitude threshold; when the number of times information is greater than or equal to the amplitude threshold When the preset times threshold is set, it is determined that the gimbal is in a shaking state; when the times information is less than the preset times threshold, the counted times information is cleared to zero.
  • the vibration amplitude within the specified time range can be analyzed and processed.
  • the number of times information is greater than or equal to the preset number of times threshold, that is, the PTZ appears within the specified time range. The more frequent large-scale shaking situation, and then it can be determined that the gimbal is in a shaking state.
  • the counted number of times information can be cleared. During the detection period, continue to analyze and identify whether the gimbal is in a shaking state.
  • the determining whether the pan/tilt is in a shaking state based on the operating characteristic in this embodiment may include:
  • Step S701 ′ Obtain a frequency range for analyzing and processing the jitter frequency.
  • Step S702' when the shaking frequency is within the frequency range, it is determined that the pan/tilt is in a shaking state.
  • Step S703' when the jitter frequency exceeds the frequency range, it is determined that the pan/tilt is in a non-jitter state.
  • the frequency range for analyzing and processing the jitter frequency can be obtained, and then the jitter frequency and the frequency range can be analyzed and compared.
  • the running characteristics of the PTZ satisfy the characteristics that the PTZ is in a shaking state, so it can be determined that the PTZ is in a shaking state.
  • the jitter frequency exceeds the frequency range, the operating characteristics of the gimbal do not satisfy the feature that the gimbal is in a jittering state. Therefore, it can be determined that the gimbal is in a non-jittering state, thereby realizing the operation of identifying whether the gimbal is in a jittering state.
  • determining whether the gimbal is in a jittering state based on the operating characteristic in this embodiment may include:
  • Step S701 ′′ Obtain an amplitude threshold and a specified time range for analyzing and processing the jitter amplitude.
  • Step S702′′ Count the number of times information whose shaking amplitude is greater than or equal to the amplitude threshold within the specified time range. When the number of times information is greater than or equal to the preset number of times threshold, it is determined that the pan/tilt is in a shaking state.
  • Step S703 ′′ when the count information is less than the preset count threshold, clear the counted count information to zero.
  • the amplitude threshold and the specified time range for analyzing and processing the jitter amplitude can be obtained, and then the number of times the jitter amplitude within the specified time range is greater than or equal to the amplitude threshold can be counted, and the The frequency information is analyzed and compared with the preset frequency threshold.
  • the frequency information is greater than or equal to the preset frequency threshold, that is, the gimbal within the specified time range has frequent large-scale jitters, and then it can be determined that the gimbal is in a shaking state. .
  • the counted times information can be cleared to zero, so as to achieve In order to identify whether the gimbal is in a shaking state.
  • the implementation method of determining whether the pan/tilt is in a shaking state based on the shaking amplitude in this embodiment is compared with the implementation manner of steps S701 to S703 in the above-mentioned embodiment, and it is necessary to identify whether the pan/tilt is in a shaking state. Therefore, it is more preferable to use the implementation manner in the embodiment corresponding to FIG. 5 to determine whether the pan/tilt is in a shaking state.
  • the amplitude threshold and the specified time range for analyzing and processing the jitter amplitude are acquired, and according to the amplitude threshold , Specify the time range and jitter amplitude to determine whether the gimbal is in a jittering state.
  • the jitter frequency exceeds the frequency range, it can be determined that the gimbal is in a non-jittering state, thus effectively realizing the accurate identification of whether the gimbal is in a jittering state. , which further improves the accuracy and reliability of the PTZ detection.
  • FIG. 7 is a schematic flowchart of identifying whether the pan/tilt head is in an unbalanced state with respect to the second axis under the action of gravity according to an embodiment of the present invention; on the basis of the above-mentioned embodiment, continuing to refer to FIG. Identifying whether the gimbal is in an unbalanced state with respect to the second axis due to gravity can include:
  • Step S801 Detect the statistics of the output torque of the second motor within a specified time.
  • Step S802 Determine a first equilibrium state parameter of the pan-tilt head relative to the second axis based on the statistics.
  • Step S803 According to the first balance state parameter, identify whether the pan/tilt head is in an unbalanced state with respect to the second axis under the action of gravity.
  • the statistics of the output torque of the second motor can be detected. Since the torque output by the second motor is affected by noise and vibration of other axes, If there is a certain fluctuation, the fluctuation of the motor output can be offset by counting the torque output by the motor for a period of time. Determines whether the gimbal is in an unbalanced state with respect to the second axis due to gravity.
  • the statistic may be an average value of accumulated values of the output torque of the second motor within a specified time. For example, you can set up a counter, add 1 to the counter every 1s, and record the current torque output by the second 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 within the 60s.
  • the statistic may also be an accumulated torque value, or a weighted average value of torque, etc., which is not limited here.
  • the statistics can be analyzed to determine the first equilibrium state parameter of the gimbal relative to the second axis, where the first equilibrium state parameter may be Various parameters that characterize whether the gimbal is in an unbalanced state relative to the second axis under the action of gravity.
  • the first equilibrium state parameter may include the current tipping direction of the gimbal relative to the second axis under the action of gravity relative to the first reference
  • the first deviation degree of the direction, the first reference direction is the balance direction of the gimbal when it is in a balanced state with respect to the second axis under the action of gravity, the first reference direction is perpendicular to the second axis, and the balance direction can be through the second axis.
  • the direction corresponding to the adjustment of the left and right center of gravity of the load, the equilibrium state can be that the Euler angle component of the gimbal corresponding to the roll axis is maintained near 0 degrees.
  • the first equilibrium state parameter of the gimbal relative to the second axis may be determined according to the average value of the accumulated value of the output torque of the second motor within a specified time and a preset torque threshold.
  • a torque threshold value is preset as a reference, and then the deviation degree of the average torque value from this reference is determined. If the deviation degree is greater than the preset threshold value, it is considered that the balance of the stable shaft is poor.
  • the preset torque threshold reference is 2N ⁇ M
  • the average value of the currently detected motor torque is 2.2N ⁇ M
  • the first degree of deviation is 10%.
  • the first equilibrium state parameters can be analyzed and processed to identify whether the gimbal is in an unbalanced state relative to the second axis under the action of gravity.
  • identifying whether the gimbal is in an unbalanced state relative to the second axis under the action of gravity may include: when the first degree of deviation is greater than or equal to the first preset threshold, determining that the gimbal is in an unbalanced state relative to the second axis under the action of gravity is in an unbalanced state; when the first degree of deviation is less than the first preset threshold, it is determined that the gimbal is in a balanced state with respect to the second axis under the action of gravity.
  • the first degree of deviation can be analyzed and compared with the first preset threshold, and when the first degree of deviation is greater than or equal to the first preset threshold, it can be determined that the pan-tilt relative
  • the second axis is in an unbalanced state under the action of gravity.
  • the first degree of deviation is less than the first preset threshold, it can be determined that the gimbal is in a balanced state with respect to the second axis under the action of gravity, thereby effectively realizing the relative oppositeness of the gimbal to the second axis.
  • the second axis is in a balanced state under the action of gravity can effectively identify the operation, which further improves the accuracy and reliability of the detection of the PTZ.
  • FIG. 8 is a schematic flowchart of another pan/tilt detection method provided by an embodiment of the present invention; on the basis of any one of the above embodiments, with continued reference to FIG. 8 , the method in this embodiment may further include:
  • Step S901 Identify whether the gimbal is in a balanced state with respect to the first axis in the direction of gravity.
  • Step S902 When the gimbal is in a shaking state, and the gimbal is in a balanced state relative to the first axis under the action of gravity, and the gimbal is in an unbalanced state relative to the second axis under the action of gravity, determine that the gimbal is in an unloaded state.
  • the gimbal is in a state of equilibrium relative to the first axis under the action of gravity may include: the gimbal is in a state of equilibrium under the action of gravity relative to a first adjustment direction, and the first adjustment direction is that when the load is set on the gimbal, the relative The direction in which the first axis adjusts the front and rear center of gravity.
  • the position of the center of gravity of the gimbal will change, so that the current state of the gimbal does not match the original control parameters of the gimbal.
  • the motor torque output by the second motor on the platform is not compatible with the gimbal, and the motor torque output by the first motor set on the gimbal is also not compatible with the gimbal.
  • the fixing mechanism in the gimbal is symmetrically designed with respect to the front and rear directions of the first axis, so when the gimbal is in an unloaded state, the gimbal is in a balanced state relative to the front and rear directions of the first axis.
  • the gimbal changes the load without adjusting the load, it may cause the gimbal to be out of balance with respect to the front and rear directions of the first axis. Therefore, in order to accurately identify whether the gimbal that can support different types of loads is in an unloaded state, it is possible to combine the detection results of whether the gimbal is in a shaking state, and to determine whether the gimbal is in an unbalanced state with respect to the second axis under the action of gravity.
  • the identification result of the balance state and the identification result of whether the gimbal is in a balanced state relative to the first axis in the direction of gravity are used to comprehensively judge whether the gimbal is in an unloaded state.
  • identifying whether the gimbal is in a balanced state relative to the first axis under the action of gravity may include: detecting a statistic of the output torque of the first motor within a specified time period; determining a second equilibrium state of the gimbal relative to the first axis based on the statistic parameter; according to the second equilibrium state parameter, identify whether the gimbal is in a balanced state relative to the first axis under the action of gravity.
  • the second equilibrium state parameter of the gimbal relative to the first axis may include the second deviation degree of the current tilting direction of the gimbal relative to the first axis under the action of gravity from the second reference axis, the second The reference axis is the balance direction of the head relative to the first axis when the head is in a balanced state under the action of gravity, the second reference axis is perpendicular to the first axis, and the balance direction can be when the front and rear center of gravity of the load is adjusted through the first axis.
  • the equilibrium state may be that the Euler angle component of the load corresponding to the pitch axis is maintained near 0 degrees.
  • the second equilibrium state parameters can be analyzed and processed to identify whether the gimbal is in a balanced state with respect to the first axis under the action of gravity.
  • identifying whether the gimbal is in a balanced state with respect to the first axis under the action of gravity may include: when the second degree of deviation is greater than or equal to a second preset threshold, determining that the gimbal is relative to the first axis. One axis is in an unbalanced state under the action of gravity; when the second degree of deviation is less than the second preset threshold, it is determined that the gimbal is in a balanced state under the action of gravity relative to the first axis.
  • FIG. 9 is a schematic flowchart of another pan/tilt detection method provided by an embodiment of the present invention; on the basis of any of the above embodiments, with continued reference to FIG. 9 , after it is determined that the pan/tilt is in an unloaded state, this The method in an embodiment may also include:
  • Step S1001 Determine time information for controlling the PTZ to enter a sleep state.
  • Step S1002 Control the PTZ to slowly enter the sleep state based on the time information.
  • the time information used to control the gimbal to enter the sleep state can be determined, and then control the gimbal to slowly enter the sleep state based on the time information. It effectively avoids the occurrence of damage to the gimbal and user errors caused by the sudden unloading of the gimbal motor, and further improves the safety and reliability of the use of the gimbal.
  • this application embodiment provides a detection method for a gimbal, which can effectively solve the situation that the gimbal continues to shake due to no load on the handheld gimbal, which is not only conducive to improving user experience, but also , It can also solve the problem of abnormal motor output caused by the no-load of the handheld stabilizer, which in turn affects the safety level of the gimbal and reduces the service life of the gimbal.
  • the following takes the three-axis handheld gimbal with yaw-roll-pitch structure as an example.
  • Different types of loads can be set on the gimbal, that is, the user can change the load set on the gimbal according to different usage requirements.
  • the gimbal may be in an no-load state. Therefore, in order to avoid the phenomenon of continuous jitter when the platform is in an no-load state, and at the same time to improve the safety and reliability of the gimbal, the no-load state of the gimbal can be checked.
  • the specific detection conditions are as follows:
  • the detection method may include the following steps:
  • Step 1 Get the PTZ detection request.
  • a pan/tilt detection request may be acquired or automatically generated to determine whether the pan/tilt is currently in an no-load state, and control the pan/tilt based on the no-load detection result.
  • Step 2 Detect whether the PTZ is in a shaking state based on the PTZ detection request.
  • Step 2.1 The inertial measurement unit IMU can be set on the gimbal. Based on the gimbal detection request, the angular velocity within the specified time range can be obtained through the IMU; The jitter frequency alpha_body freq corresponding to the gimbal and the jitter amplitude alpha_body amp corresponding to the gimbal.
  • the pitch axis and roll axis on the gimbal will shake to a certain extent due to the excessive motor force.
  • the jitter frequency will be in a certain frequency range (for example: between 30hz and 50hz), and the jitter amplitude will also be greater than a certain amplitude threshold, as shown in Figure 10; when the jitter frequency and jitter amplitude are not within a certain frequency range, such as As shown in Figure 11, it can be determined that the gimbal is not in a shaking state.
  • the gimbal is in a jitter state by detecting the jitter frequency and the jitter amplitude of the gimbal.
  • the jitter frequency and the jitter amplitude can be obtained from the angular velocity of the gimbal.
  • the angular velocity of the gimbal can be obtained through the The gyroscope is detected and obtained, and then the angular acceleration is obtained by differentiating the angular velocity, and the FFT (fast Fourier transform) of the angular acceleration data is performed to obtain the frequency information and the shaking amplitude of the gimbal shaking.
  • FFT fast Fourier transform
  • Step 2.2 Obtain a frequency range for analyzing and processing the jitter frequency alpha_body freq and an amplitude threshold alpha_body threshold for analyzing and processing the jitter amplitude alpha_body amp .
  • the frequency range may include: minimum frequency limit freq_torpthreshold min , maximum frequency limit freq_torpthreshold max and other frequency values set between the minimum and maximum frequency limits.
  • Step 2.3 Check whether the jitter frequency of the gimbal is within the frequency range, and whether the jitter amplitude is greater than the amplitude threshold.
  • Step 2.4 If the above detection conditions are all satisfied, the counter oscillate , which is used to count the number of times of the jitter amplitude satisfying the preset condition, can be controlled to increase by 1; if not, the counter oscillate can be controlled to perform a zero-clearing operation.
  • Step 2.5 Count the value in the counter. If the value is greater than the preset number of times threshold, it is determined that the gimbal is in a shaking state. If the value is less than or equal to the preset number of times threshold, continue to perform the no-load state detection operation on the gimbal at the next moment. .
  • an amplitude threshold alpha_body threshold and a preset number of times threshold times threshold for analyzing and processing the jitter frequency are set.
  • the jitter frequency is set within the frequency range
  • the counter starts counting, that is, the counter oscillate accumulates, and within the specified detection time period petiod detect , if the counter oscillate > times threshold , it can be determined that the gimbal is in a jitter state.
  • Step 3 Perform balance detection on the PTZ based on the PTZ detection request.
  • the balance detection of the gimbal may include: detecting whether the gimbal is in a balanced state relative to the pitch axis in the direction of gravity, and detecting whether the gimbal is in a balanced state relative to the roll axis in the direction of gravity Check the non-equilibrium state.
  • the specific implementation manner of detection reference may be made to the stated contents in the foregoing embodiments, which will not be repeated here.
  • Step 4 When the gimbal is in a shaking state, and the gimbal is in an unbalanced state relative to the first axis under the action of gravity, and the gimbal is in a balanced state relative to the second axis under gravity lease, determine: The gimbal is in an unloaded state, otherwise, the operation of detecting the unloaded state of the gimbal can be continued.
  • the pan-tilt detection method provided by this application embodiment determines whether the pan-tilt meets the jitter transformation law and balance degree of the pan-tilt in the no-load state by detecting whether the pan-tilt is in a shaking state and performing balance detection on the pan-tilt. It can quickly and accurately detect whether the gimbal is in an no-load state. Specifically, the technical solution in this embodiment can quickly detect whether the gimbal is in an no-load state within a few seconds, and then it is convenient for the above-mentioned no-load detection.
  • the result is to control the gimbal, which can avoid the phenomenon of continuous jitter of the gimbal when the gimbal is in an unloaded state, so as to improve the stability and reliability of the gimbal, prolong the service life of the gimbal, and at the same time It also effectively improves the user experience, further improves the practicability of the product, and is conducive to market promotion and application.
  • FIG. 12 is a schematic structural diagram of a pan/tilt detection device provided by an embodiment of the present invention; with reference to FIG. 12 , the present embodiment provides a pan/tilt detection device, wherein the pan/tilt may include: The first motor, the first axis arm, the second motor, the second axis arm, and the third motor; the first motor is used to connect the fixing mechanism, the fixing mechanism can be used to connect different types of loads, and the control parameters of the gimbal can be adapted to Equipped with different types of loads; the first motor is used to drive the load to rotate around the first axis, the second motor is used to drive the load to rotate around the second axis, and the third motor is used to drive the load to rotate around the third axis; specifically, the detection device Can include:
  • the processor 11 is used for running the computer program stored in the memory 12 to realize:
  • the gimbal When the gimbal is in a shaking state and the gimbal is in an unbalanced state with respect to the second axis under the action of gravity, it is determined that the gimbal is in a no-load state, and the no-load state is used to indicate that no load is set on the gimbal.
  • the structure of the detection device of the pan/tilt may further include a communication interface 13 for enabling the detection device of the pan/tilt to communicate with other devices or a communication network.
  • the first motor is a pitch axis motor
  • the second motor is a roll axis motor
  • the third motor is a yaw axis motor
  • the first axis is a pitch axis
  • the second axis is a roll axis
  • the third axis is Yaw axis.
  • the processor 11 when the processor 11 detects whether the pan/tilt is in a shaking state, the processor 11 is configured to: acquire an operating characteristic corresponding to the pan/tilt; and determine whether the pan/tilt is in a shaking state based on the operating feature.
  • the operating characteristic includes at least one of: jitter frequency, jitter magnitude.
  • the fixed mechanism is provided with an inertial measurement unit; when the processor 11 acquires the operating characteristics corresponding to the pan/tilt, the processor 11 is configured to: acquire the angular velocity corresponding to the pan/tilt via the inertial measurement unit; according to the angular velocity , to determine the operating characteristics corresponding to the gimbal.
  • the operating characteristics include shaking frequency; when the processor 11 determines the operating characteristics corresponding to the pan/tilt head according to the angular velocity, the processor 11 is configured to: determine the angular acceleration corresponding to the angular velocity; perform Fourier on the angular acceleration Leaf transformation processing to obtain the jitter frequency corresponding to the gimbal.
  • the operating characteristic includes a jitter amplitude
  • the processor 11 determines the operating characteristic corresponding to the gimbal according to the angular velocity
  • the processor 11 is configured to: obtain a jitter frequency corresponding to the gimbal based on the angular velocity; based on the jitter frequency to determine the jitter amplitude corresponding to the gimbal.
  • the processor 11 determines whether the pan/tilt is in a shaking state based on the operating characteristics, the processor 11 is configured to: obtain a frequency for analyzing and processing the shaking frequency range; when the jitter frequency is within the frequency range, the amplitude threshold and specified time range for analyzing and processing the jitter amplitude are obtained, and according to the amplitude threshold, the specified time range and the jitter amplitude, it is determined whether the gimbal is in a jitter state; When the jitter frequency exceeds the frequency range, it is determined that the gimbal is in a non-jitter state.
  • the processor 11 determines whether the pan/tilt head is in a shaking state according to the amplitude threshold, the specified time range and the jitter amplitude
  • the processor 11 is configured to: count the jitter amplitudes within the specified time range whose jitter amplitude is greater than or equal to the amplitude threshold. Times information; when the times information is greater than or equal to the preset times threshold, it is determined that the gimbal is in a shaking state; when the times information is less than the preset times threshold, the counted times information is cleared.
  • the gimbal being in a shaking state includes at least one of the following: the gimbal is in a shaking state relative to the first axis, and the gimbal is in a shaking state relative to the third axis.
  • the processor 11 when the processor 11 identifies whether the pan/tilt head is in an unbalanced state with respect to the second axis under the action of gravity, the processor 11 is configured to: detect a statistic of the output torque of the second motor within a specified time; based on the statistic Determine the first equilibrium state parameter of the gimbal relative to the second axis; according to the first equilibrium state parameter, identify whether the gimbal is in an unbalanced state relative to the second axis under the action of gravity.
  • the first equilibrium state parameter includes a first degree of deviation of the current tilting direction of the gimbal relative to the second axis under the action of gravity from a first reference direction, where the first reference direction is the gimbal relative to the second axis in the direction of gravity
  • the balance direction when it is in a balanced state under the action, the first reference direction is perpendicular to the second axis; when the processor 11 identifies whether the gimbal is in an unbalanced state with respect to the second axis under the action of gravity according to the first balance state parameter, process The device 11 is used to: when the first degree of deviation is greater than or equal to the first preset threshold, determine that the pan/tilt head is in an unbalanced state with respect to the second axis under the action of gravity; when the first degree of deviation is less than the first preset threshold, determine The gimbal is in a state of equilibrium relative to the second axis under the action of gravity.
  • the processor 11 is used to: identify whether the gimbal is in a balanced state with respect to the first axis under the direction of gravity; when the gimbal is in a shaking state, and the gimbal is in an unbalanced state relative to the first axis under the action of gravity, When the gimbal is in a balanced state with respect to the second axis under the gravity lease, it is determined that the gimbal is in an unloaded state.
  • the gimbal is in a state of equilibrium relative to the first axis under the action of gravity, including: the gimbal is in a state of equilibrium relative to the first adjustment direction under the action of gravity, and the first adjustment direction is that when the load is set on the gimbal, the relative The direction in which the first axis adjusts the front and rear center of gravity; the gimbal is in an unbalanced state relative to the second axis under the action of gravity, including: the gimbal is in an unbalanced state under the action of gravity relative to the second adjustment direction, and the second adjustment direction is the load setting When on the gimbal, the direction in which the left and right center of gravity is adjusted relative to the second axis.
  • the processor 11 when the processor 11 identifies whether the pan/tilt head is in a balanced state with respect to the first axis under the action of gravity, the processor 11 is configured to: detect a statistic of the output torque of the first motor within a specified time; determine based on the statistic The second equilibrium state parameter of the gimbal relative to the first axis; according to the second equilibrium state parameter, identify whether the gimbal is in a balanced state relative to the first axis under the action of gravity.
  • the second equilibrium state parameter includes a second degree of deviation of the current tilting direction of the gimbal relative to the first axis under the action of gravity relative to a second reference axis, where the second reference axis is the gimbal relative to the first axis In the balance direction when it is in a balanced state under the action of gravity, the second reference axis is perpendicular to the first axis; when the processor 11 identifies whether the gimbal is in a balanced state relative to the first axis under the action of gravity according to the second balance state parameter , the processor 11 is configured to: when the second degree of deviation is greater than or equal to the second preset threshold, determine that the head is in an unbalanced state with respect to the first axis under the action of gravity; when the second degree of deviation is less than the second preset threshold, Then it is determined that the gimbal is in a balanced state relative to the first axis under the action of gravity.
  • At least two groups of preset control parameters are provided on the pan/tilt head, and different groups of preset control parameters are used to adapt to different types of loads.
  • a set of control parameters corresponding to the load are set on the pan/tilt head, and the control parameters are adjusted according to the type of the load.
  • the processor 11 is configured to: determine time information for controlling the pan/tilt to enter the sleep state; and control the pan/tilt to slowly enter the sleep state based on the time information.
  • the apparatus shown in FIG. 12 can execute the method of the embodiment shown in FIG. 2 to FIG. 11 .
  • the apparatus shown in FIG. 12 can execute the method of the embodiment shown in FIG. 2 to FIG. 11 .
  • parts not described in detail in this embodiment reference may be made to the related description of the embodiment shown in FIG. 2 to FIG. 11 .
  • For the execution process and technical effects of the technical solution refer to the descriptions in the embodiments shown in FIG. 2 to FIG. 11 , which will not be repeated here.
  • FIG. 13 is a schematic structural diagram of a pan/tilt provided by an embodiment of the present invention. with reference to FIG. 13 , the present embodiment provides a pan/tilt, and the pan/tilt may include:
  • the first motor 21, the first shaft arm, the second motor 22, the second shaft arm, and the third motor 23 are connected in sequence; the first motor 21 is used to connect a fixing mechanism, and the fixing mechanism can be used to connect different types of and the control parameters of the pan/tilt can be adapted to different types of loads; the first motor 21 is used to drive the load to rotate around the first axis, and the second motor 22 is used to drive the load to rotate around the first axis. The second axis rotates, and the third motor 23 is used to drive the load to rotate around the third axis;
  • FIG. 14 is a schematic structural diagram of a movable platform according to an embodiment of the present invention. with reference to FIG. 14 , this embodiment provides a movable platform, and the movable platform may include:
  • pan/tilt 31 shown in FIG. 13;
  • the support mechanism 32 is used for connecting the third motor of the pan/tilt head.
  • the support mechanism 32 varies with the type of the movable platform.
  • the support mechanism 32 can be a handle, and when the movable platform is an unmanned aerial vehicle, the support mechanism 32 can be unmanned body of the machine.
  • movable platforms include, but are not limited to, the types described above.
  • 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 cloud in FIG. 2 to FIG. 10 above. method of detection.
  • the disclosed related detection apparatus and method may be implemented in other manners.
  • the embodiments of the detection apparatus described above are only illustrative.
  • the division of the modules or units is only a logical function division.
  • Another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of detection devices or units 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 perform 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

La présente invention concerne un procédé et un appareil de détection pour un stabilisateur, ainsi qu'un stabilisateur, une plateforme mobile et un support de stockage. Le stabilisateur comprend : un premier moteur électrique, un premier bras d'arbre, un deuxième moteur électrique, un second bras d'arbre et un troisième moteur électrique, qui sont raccordés les après les autres, le premier moteur électrique étant utilisé pour le raccordement à un mécanisme de fixation ; le mécanisme de fixation peut être utilisé pour être raccordé à différents types de charges, et des paramètres de commande du stabilisateur peuvent être adaptés aux différents types de charges ; et le premier moteur électrique est utilisé pour entraîner une charge en rotation autour d'un premier arbre, le deuxième moteur électrique est utilisé pour entraîner la charge en rotation autour d'un deuxième arbre, et le troisième moteur électrique est utilisé pour entraîner la charge en rotation autour d'un troisième arbre. Le procédé de détection pour stabilisateur comprend les étapes consistant à : détecter si un stabilisateur est dans un état de gigue ; identifier si, sous l'action de la gravité, le stabilisateur est dans un état non équilibré par rapport à un second arbre ; et lorsque le stabilisateur est dans l'état de gigue, et, sous l'action de la gravité, le stabilisateur est à l'état déséquilibré par rapport au second arbre, déterminer que le stabilisateur est dans un état déchargé, l'état déchargé étant utilisé pour indiquer qu'aucune charge n'est disposée sur le stabilisateur.
PCT/CN2020/121213 2020-10-15 2020-10-15 Procédé et appareil de détection pour stabilisateur, et stabilisateur, plateforme mobile et support de stockage WO2022077357A1 (fr)

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