WO2022082442A1 - Procédé de commande de cardan et cardan - Google Patents

Procédé de commande de cardan et cardan Download PDF

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Publication number
WO2022082442A1
WO2022082442A1 PCT/CN2020/122236 CN2020122236W WO2022082442A1 WO 2022082442 A1 WO2022082442 A1 WO 2022082442A1 CN 2020122236 W CN2020122236 W CN 2020122236W WO 2022082442 A1 WO2022082442 A1 WO 2022082442A1
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WO
WIPO (PCT)
Prior art keywords
speed
following
pan
control mode
target
Prior art date
Application number
PCT/CN2020/122236
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English (en)
Chinese (zh)
Inventor
刘帅
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/CN2020/122236 priority Critical patent/WO2022082442A1/fr
Priority to CN202080040790.XA priority patent/CN113939788A/zh
Publication of WO2022082442A1 publication Critical patent/WO2022082442A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present application relates to the technical field of PTZs, and in particular, to a control method of PTZs and PTZs.
  • the PTZ is widely used to stabilize the load.
  • the PTZ is usually used to stabilize the image acquisition equipment to avoid blurring of the collected images due to jitter.
  • the head generally includes a bearing base and a rotating part, the rotating part can be used to stabilize the load, and the bearing base is used to support the rotating part.
  • the rotating part can follow the movement of the carrying base, and the following speed of the rotating part following the movement of the carrying base can be set to different gears, such as fast gear or In slow gear, users can manually switch gears to adjust the following speed through the buttons or keys on the gimbal.
  • the present application provides a control method of a gimbal and a gimbal.
  • a control method of a pan/tilt head the pan/tilt head includes a bearing base and a rotating part, the rotating part is used for stabilizing a load, the bearing base is provided with an attitude measurement unit, The method includes:
  • a target following speed is determined according to the movement speed of the carrying base, so as to control the rotating member to follow the movement of the carrying base according to the target following speed.
  • a method for controlling a pan/tilt head includes a bearing base and a rotating component, the rotating component is used for stabilizing a load, and the method includes:
  • the following speed is positively related to the moving speed of the carrying base.
  • a control method of a pan/tilt head includes a bearing base and a rotating member, the rotary member is used for stabilizing a load;
  • the pan/tilt head includes a first control mode and a first control mode Two control modes, the strategy for determining the following speed of the rotating member following the movement of the carrying base in the first control mode is different from that of the rotating member following the movement of the carrying base in the second control mode
  • the determination strategy of the following speed, the first control mode and the second control mode are switched through the designated controls on the PTZ; the method includes:
  • the moving speed of the carrying base driven by the user is detected, and the rotating part is adjusted to follow the carrying base according to the moving speed of the carrying base
  • the following speed of the seat movement, the following speed is positively related to the movement speed of the carrying base
  • the following speed of the rotating member to follow the movement of the carrying base is determined according to the deviation between the attitude of the load and the attitude of the carrying base.
  • a pan/tilt head includes a bearing base and a rotating part, the rotating part is used for stabilizing a load, the bearing base is provided with an attitude measurement unit, and the cloud platform
  • the platform includes a processor, a memory, and a computer program executable by the processor stored in the memory. When the processor executes the computer program, the following steps are implemented:
  • a target following speed is determined according to the movement speed of the carrying base, so as to control the rotating member to follow the movement of the carrying base according to the target following speed.
  • a pan/tilt head includes a bearing base and a rotating member, the rotary member is used for stabilizing a load, the pan/tilt head includes a processor, a memory, and storage in the A computer program executable by the processor is stored in the memory, and when the processor executes the computer program, the following steps are implemented:
  • the following speed is positively related to the moving speed of the carrying base.
  • a pan/tilt head characterized in that the pan/tilt head includes a bearing base and a rotating member, the rotary member is used for stabilizing a load, and the pan/tilt head includes a first control mode and In the second control mode, the determination strategy of the following speed of the rotating part following the movement of the carrying base in the first control mode is different from that of the rotating part following the carrying base in the second control mode The determination strategy of the following speed of the movement, the first control mode and the second control mode are switched through the designated controls on the PTZ;
  • the pan/tilt includes a processor, a memory, and a computer program executable by the processor stored in the memory.
  • the processor executes the computer program, the following steps are implemented:
  • the moving speed of the carrying base driven by the user is detected, and the rotating part is adjusted to follow the carrying base according to the moving speed of the carrying base
  • the following speed of the seat movement, the following speed is positively related to the movement speed of the carrying base
  • the following speed of the rotating member to follow the movement of the carrying base is determined according to the deviation between the attitude of the load and the attitude of the carrying base.
  • an attitude measurement unit can be set on the bearing base of the gimbal, the movement speed of the bearing base can be determined by the attitude measurement unit, and then the rotating parts of the gimbal can be determined to follow the bearing base according to the movement speed of the bearing base.
  • the user's intention can be identified by detecting the movement speed of the carrying base driven by the user, and the following speed of the rotating part can be adjusted according to the speed of the carrying base, which can realize the automatic switching of the following speed, without the need for the user to manually trigger additional gear adjustment, which is more intelligent .
  • FIG. 1 is a schematic diagram of a gimbal according to an embodiment of the present application.
  • FIG. 2 is a flowchart of a pan-tilt control method according to an embodiment of the present application.
  • FIG. 3 is a flowchart of a pan-tilt control method according to an embodiment of the present application.
  • FIG. 4 is a flowchart of a pan-tilt control method according to an embodiment of the present application.
  • FIG. 5 is a schematic diagram of an application scenario of an embodiment of the present application.
  • FIG. 6 is a schematic diagram of a logical structure of a pan/tilt according to an embodiment of the present application.
  • the pan/tilt head can include a bearing base 11 and a rotating part 12 , the rotating part 12 can be used to stabilize the load, and the bearing base 11 is used to support the rotating part 12 .
  • the rotating part 121 can include one or more motors 121 and one or more shaft arms 122, and the shaft arms 122 can rotate around the rotating shaft under the driving of the motor 121, so as to drive the load installed on the rotating part 12 to rotate, so as to rotate the load. Stabilize in a user-set pose.
  • the rotating part can follow the movement of the carrying base, so as to realize the tracking and shooting of the target object by the image acquisition device.
  • the user can adjust the follow-up speed of the rotating part to follow the bearing base.
  • the user switches the gear of the following speed through the button or the control, wherein the following speed includes a fast gear and a slow gear.
  • the following speed of the fast gear is determined based on the product of the deviation between the load attitude and the bearing base attitude and the preset coefficient A1, and the following speed of the slow gear is based on the product of the deviation of the load attitude and the bearing base attitude and the preset coefficient A2 It is determined, wherein A1 is greater than A2, so that the following speed of the slow gear is smaller than the following speed of the fast gear.
  • A1 is greater than A2
  • an embodiment of the present application provides a control method for a pan-tilt head, which can identify the user's intention by detecting the motion speed of the pan-tilt bearing base driven by the user, and automatically adjust the rotating parts of the pan-tilt head according to the movement speed of the carrier base.
  • a control method for a pan-tilt head which can identify the user's intention by detecting the motion speed of the pan-tilt bearing base driven by the user, and automatically adjust the rotating parts of the pan-tilt head according to the movement speed of the carrier base.
  • the control method of the pan/tilt provided by the embodiment of the present application may be executed by the pan/tilt.
  • the pan/tilt in the embodiment of the present application may be a single-axis pan/tilt, a dual-axis pan/tilt, a three-axis pan/tilt, or a multi-axis pan/tilt.
  • the gimbal can be mounted on different carriers, for example, it can be a handheld gimbal, or a vehicle-mounted or airborne gimbal.
  • the pan/tilt may include a bearing base and a rotating component, the rotating component is used to stabilize the load, and the bearing base is used to support the rotating component.
  • its bearing base may be the body, the body or the part on which the rotating parts are fixed.
  • the rotating part may include one or more motors and one or more shaft arms, which may be specifically set according to the number of rotating shafts of the pan/tilt head.
  • the load can be installed on the rotating part, and each axis arm of the rotating part can rotate around the rotating shaft of the head under the drive of the motor, so as to drive the load to rotate.
  • an attitude measurement unit can be set at the position where the rotating component installs the load, and the attitude measurement unit can measure the attitude of the load in real time, so as to drive the motor to adjust the rotation of the shaft arm according to the deviation between the measured attitude of the load and the attitude set by the user.
  • the load is stabilized at the attitude set by the user.
  • the load may be various devices that need to be stabilized, for example, may be a mobile phone, a camera, a tablet, etc., which is not limited in this embodiment of the present application.
  • attitude measurement unit is provided on the bearing base of the pan/tilt according to the embodiment of the present application to detect the movement speed of the bearing base, wherein the attitude measurement unit may be various devices that can measure the motion state of an object, for example, a gyro Instrument, accelerometer, inertial measurement unit (IMU), etc., as long as the movement speed of the bearing base can be determined by the attitude measurement unit, which is not limited in this application.
  • the attitude measurement unit may be various devices that can measure the motion state of an object, for example, a gyro Instrument, accelerometer, inertial measurement unit (IMU), etc., as long as the movement speed of the bearing base can be determined by the attitude measurement unit, which is not limited in this application.
  • the pan-tilt control method provided by the embodiment of the present application may include the following steps:
  • the gimbal can be fixed on the carrier through its carrying base, and the carrier can be an integral structure with the carrying base, or can be detachably connected with the carrying base (in this case, the carrier can be a handle or The fuselage or body, the carrying base can be the mounting part of the rotating part in the gimbal), and even the carrier can be other objects carrying the gimbal, such as the human hand holding the gimbal.
  • the carrier can be a handle or The fuselage or body
  • the carrying base can be the mounting part of the rotating part in the gimbal
  • the carrier can be other objects carrying the gimbal, such as the human hand holding the gimbal.
  • users usually hold the carrying base of the gimbal during use.
  • the gimbal is usually rigidly connected to the body or body through its carrying base. The movement speed of the base can identify the user's intention.
  • an attitude measurement unit is set on the bearing base of the gimbal, and the movement speed of the bearing base is determined by the data collected by the attitude measurement unit.
  • the movement speed of the bearing base can be directly measured by the attitude measurement unit on the bearing base.
  • the attitude measurement unit can detect the acceleration of the movement of the bearing base, and determine the bearing base by integrating the acceleration. seat speed.
  • the data collected by the attitude measurement unit may be the data in the coordinate system where the attitude measurement unit is located, in some scenarios, after obtaining the data collected by the attitude measurement unit, the coordinate system conversion of the data collected by the attitude measurement unit can be performed to obtain the bearing capacity The movement speed of the base in the world coordinate system.
  • a target following speed of the rotating part to follow the moving of the carrying base can be determined according to the moving speed of the carrying base, and the rotating part is controlled to follow the moving of the carrying base according to the target following speed.
  • the strategy of determining the target following speed according to the movement speed of the bearing base can be flexibly set according to actual needs. For example, the higher the movement speed of the bearing base, the higher the target following speed, or it can be set in stages, such as the movement of the bearing base If the speed is greater than a certain value, the target following speed is the A speed, otherwise the target following speed is the B speed.
  • other determination strategies can also be used, which are not limited in this application.
  • the rotating part can follow the movement of the bearing base in only one axis, or it can follow the movement of the bearing base in multiple axes.
  • the axis gimbal includes three axes: Pitch, Yaw, and Roll. In the process of following the bearing base, it can be only Yaw to follow, the Pitch and Roll axes to be fixed, or two of the axes to follow, and the other to be fixed. All three axes may follow at the same time, which is not limited in this application.
  • the target following speed is positively correlated with the moving speed of the carrying base, that is, the higher the moving speed of the carrying base, the greater the target following speed.
  • a proportional coefficient between the following speed and the moving speed of the carrying base may be preset, and the current target following speed may be determined according to the moving speed and the proportional coefficient of the target following the carrying base.
  • the target following speed can also be designed in segments.
  • different speed gears can be preset. When the movement speed of the bearing base meets different conditions, the target following speed is automatically switched to different gears.
  • the following speed of the rotating member may include at least two gears, for example, may include two gears of fast and slow, or may include three gears of fast, medium and slow, or more gears. Different gears correspond to different following speeds, or different gears correspond to different following speed determination strategies.
  • a target gear can be determined from the at least two gears according to the movement speed of the bearing base and the preset speed threshold, and then a target gear can be determined according to the movement speed of the bearing base and the preset speed threshold.
  • the following speed determines the target following speed.
  • the preset speed threshold may be set according to actual needs, the preset speed threshold may be one or more, and different speed thresholds may be used to switch between two gears following the speed.
  • the attitude deviation between the attitude of the load and the attitude of the bearing base may be determined first, and then the following speeds corresponding to different gears are determined according to the attitude deviation, for example, For different gears, when determining the corresponding following speed, it may be determined based on the attitude deviation and a preset coefficient, and the coefficients corresponding to different gears may be different.
  • the attitude of the load can be measured by the attitude measurement unit set at the load, such as the attitude measured by the IMU.
  • the attitude of the load can also be measured by the attitude measurement unit on the load base.
  • the obtained movement speed of the carrying base is integrated to obtain the desired attitude of the load, which can be specifically set according to actual requirements, and the implementation of this application is not limited.
  • the following speeds corresponding to different gears may also be determined directly according to the moving speed of the bearing base.
  • the following speeds corresponding to different gears may be the moving speed of the bearing base multiplied by different proportional coefficients, or The speed of the bearing base is obtained by adding or subtracting a certain threshold.
  • the following speeds corresponding to different gears may also be determined in combination with the attitude deviation between the load and the carrying base and the speed of the carrying base.
  • the following speed corresponding to some gears can be directly determined based on the attitude deviation, and the following speed corresponding to some gears can be determined by combining the attitude deviation and the movement speed of the bearing base at the same time.
  • the rotating member may include two gears, such as a first gear and a second gear, wherein the following speed corresponding to the first gear is smaller than the following speed corresponding to the second gear.
  • the following speed corresponding to the first gear can be used for normal tracking and shooting scenes, so the following speed can be small, and the following speed corresponding to the second gear can be used for fast-moving objects. It requires a large following speed.
  • a speed threshold for switching the following speed between the first gear and the second gear may be preset, and according to the speed threshold, it is determined whether the user currently wants to follow at a slower speed or to quickly capture .
  • the target gear is determined as the first gear
  • the target gear is determined is the second gear, and then the final speed at which the rotating member follows the movement of the bearing base can be determined according to the following speed corresponding to the target gear.
  • the following speed corresponding to the first gear can be used for slow or normal following scenarios, in this scenario, as long as the attitude of the load aligns with the attitude of the bearing base as much as possible, a better following effect can be achieved. Therefore, in some embodiments, the following speed corresponding to the first gear may be determined based on the attitude deviation of the load and the bearing base and a preset first coefficient. For example, the attitude deviation between the load and the bearing base is error, and assuming that the first coefficient is K1, the following speed V1 corresponding to the first gear can be calculated by formula (1):
  • the following speed corresponding to the second gear can be used for fast capture scenes, which require a higher following speed than the first gear. Therefore, in some embodiments, the following speed corresponding to the second gear may be determined based on the attitude deviation of the load and the bearing base and a preset second coefficient, and the second coefficient is different from the first coefficient. For example, the second coefficient may be greater than the first coefficient. Assuming that the attitude deviation between the load and the bearing base is error, and the second coefficient is K2, the following speed V2 corresponding to the second gear can be calculated by formula (2):
  • V2 K2 ⁇ error, formula (2), where K2>K1
  • a speed when determining the following speed corresponding to the second gear, a speed may be determined based on the attitude deviation between the load and the bearing base and the first coefficient, and then the speed and the movement speed of the bearing base are superimposed Get the following speed corresponding to the second gear.
  • the attitude deviation between the load and the carrying base is error, assuming that the first coefficient is K1 and the movement speed of the carrying base is V0, then the following speed V2 corresponding to the second gear can be calculated by formula (3):
  • the movement speed of the bearing base can also be directly used as the following speed corresponding to the second gear.
  • the target following speed is determined according to the attitude of the load and the attitude of the carrying base, there is always a certain deviation between the attitude of the load and the attitude of the carrying base, so that the attitude change of the load cannot keep up with the attitude change of the carrying base.
  • the user turns the gimbal around himself to take a selfie.
  • the following speed is determined only based on the attitude of the load and the attitude of the load-bearing base, there will always be a certain deviation between the attitude of the load and the attitude of the load-bearing base.
  • the movement speed is directly assigned to the rotating part, or the movement speed of the bearing base is superimposed with the speed determined according to the attitude deviation to obtain the target following speed of the rotating part.
  • the movement speed of the bearing base can be obtained by the attitude measurement unit set on it, Therefore, the movement speed of the bearing base can be used as the feedforward for controlling the target following speed of the rotating component, so as to ensure that the attitude change of the load can quickly keep up with the attitude change of the bearing base, so as to realize the rapid capture in the second gear.
  • the movement speed of the base is detected due to bumps or shaking. If it is too large, it may exceed the preset speed threshold, causing the following speed of the rotating parts to continuously switch between different gears. At this time, the user does not want to switch the following speed of the rotating parts of the gimbal. Considering that the duration of such a scenario is relatively short, only the movement speed of the carrying base suddenly increases in a short period of time.
  • the carrying base The movement speed of the seat may be an average movement speed of the carrying base within a preset time period. For example, the average value of the movement speed of the bearing base within 10s can be counted. The average value is greater than the preset threshold, indicating that the user is continuously capturing the target object at a relatively fast speed, not just accidentally shaking the gimbal. Switch the following speed. In this way, the user's intent can be accurately identified.
  • the rotation is automatically adjusted.
  • the component follows the target attitude of the rotation of the bearing base, so that there is a certain gap between the target attitude and the attitude of the bearing base, so as to avoid hitting the limit, which will cause the rotating part and the bearing base to be out of alignment when the rotating part stops rotating.
  • the current joint angle of the rotating part can be combined.
  • the following speed can be adjusted to make the following speed larger, so that both The problem of the collision limit is solved, and the rotating part and the bearing base can also be aligned. Therefore, in some embodiments, when the current joint angles of the rotating components are in different angle intervals, the target following speeds corresponding to the rotating components are also different. For example, when the rotating component rotates to the vicinity of the limit value of the joint angle, its following speed may be greater than the corresponding following speed of other angle intervals, so as to avoid hitting the limit.
  • the joint angle of the current rotating member can be determined. If the joint angle is not within the specified angle range, the target following speed of the rotating member following the bearing base is The following speed corresponding to the target gear. In some embodiments, if it is determined that the current joint angle of the rotating component is within the specified angle range, the target following speed may be superimposed with a preset evasive speed on the basis of the following speed corresponding to the target gear to increase its following speed speed to avoid hitting the limit.
  • the specified angle interval may be an avoidance interval determined according to the limit value of the joint angle of the rotating component, and the specific range may be set according to actual requirements.
  • the avoidance speed may be determined based on the difference between the current joint angle of the rotating member and the end value of the specified angle interval, where the end value of the specified angle interval includes the end value of the joint angle range of the rotating member.
  • the avoidance speed may also be a preset fixed speed, which may be specifically set according to the actual application scenario.
  • the target following speed is the following speed corresponding to the target gear.
  • the target following speed is the following speed corresponding to the target gear plus an avoidance speed, where the avoidance speed Vg in the angle range (A, C1) can be determined by formula (4):
  • Vg K ⁇ (D-C1) formula (4)
  • the avoidance velocity Vg in the angular range (A, C1) can be determined by formula (5):
  • Vg K ⁇ (D-C2) formula (5)
  • K is a preset coefficient, which can take a negative value
  • D is the current joint angle of the rotating part.
  • the gimbal can include different control modes, and under different control modes, the determination strategy of the target following speed can be different.
  • the gimbal includes a first control mode and a second control mode, and the determination strategy of the target following speed in the first control mode is different from the determination strategy of the target following speed in the second control mode. Therefore, when determining Before the target following speed, the current control mode of the gimbal can be determined first. If the gimbal is in the first control mode, the target following speed of the rotating part is determined according to the movement speed of the bearing base. In some embodiments, if it is determined that the current control mode of the gimbal is the second control mode, the target following speed is determined according to the deviation between the attitude of the load and the attitude of the carrying base.
  • the first control mode and the second control mode can be switched through buttons set on the PTZ or controls on the PTZ interactive interface.
  • the load on the gimbal includes an imaging device, and the gimbal may include a self-portrait mode.
  • the target following speed of the rotating member following the movement of the bearing base is the movement of the bearing base. speed.
  • the pan-tilt can include a user interaction interface, and when it is detected that the orientation of the lens of the imaging device on the pan-tilt is consistent with the orientation of the user-interaction interface, it can be determined that the pan-tilt is in a selfie mode at this time.
  • the target following speed is only determined based on the attitude of the load and the attitude of the bearing base, and there is always a certain deviation between the attitude of the load and the attitude of the bearing base, it is impossible to ensure that the user is always in a fixed position in the screen. position, such as the center of the screen. Since the movement speed of the bearing base can be measured by the attitude measurement unit in the embodiment of the present application, the movement speed of the bearing base can be directly assigned to the rotating part, so that the movement speed of the bearing base and the movement speed of the rotating part can be guaranteed Consistent, so that the user is always in a central position such as the screen.
  • the embodiment of the present application also provides another control method of a pan/tilt head, the pan/tilt head includes a bearing base and a rotating component, and the rotating component is used to stabilize the load.
  • the method is shown in FIG. 3 . shown, including the following steps:
  • control method for the pan-tilt can refer to the descriptions in the embodiments of the control method for the pan-tilt, which will not be repeated here.
  • the embodiment of the present application also provides another control method of a pan/tilt head, the pan/tilt head includes a bearing base and a rotating part, and the rotating part is used to stabilize the load; the pan/tilt head includes a first control mode and the second control mode, the determination strategy of the following speed of the rotating part following the movement of the carrying base in the first control mode is different from that of the rotating part following the carrying base in the second control mode.
  • the determination strategy of the following speed of the seat movement, the first control mode and the second control mode are switched through the designated controls on the PTZ; as shown in Figure 4, the method includes the following steps:
  • control method for the pan-tilt can refer to the descriptions in the embodiments of the control method for the pan-tilt, which will not be repeated here.
  • FIG. 5 which is a schematic diagram of an application scenario of the embodiment of the present application
  • a three-axis gimbal 51 can be used to stabilize the mobile phone 50
  • the three-axis gimbal 51 includes a bearing base 511 and a rotating Part 512
  • an inertial measurement unit IMU 5111 is provided on the bearing base 511
  • the rotating part 512 includes three motors and three shaft arms, and the three shaft arms can be respectively driven by the motors around Pitch, Yaw, Roll three The shaft rotates, thereby driving the mobile phone 50 to rotate.
  • the rotating member 512 can follow the movement of the carrying base 511 in certain axial directions.
  • the PTZ 50 also includes a control mode switch button 513 , and the PTZ 50 can be switched between the first control mode and the second control mode through the switch button 513 .
  • the following speed of the rotating member 512 to follow the bearing base 511 is determined according to the movement speed of the bearing base 511;
  • the following speed of the rotating member 512 is determined according to The deviation between the posture of the mobile phone 50 and the posture of the carrying base 511 is determined.
  • the following speed of the rotating member 512 following the movement of the bearing base 511 includes two gears, a fast gear and a slow gear. It is used for tracking shooting of normal or slow moving objects.
  • the gimbal 51 can automatically switch between the fast gear and the slow gear according to the movement speed of the carrying base 511.
  • the following speed V1 of the fast gear in the first control mode of the gimbal, the following speed V2 of the slow gear in the first control mode, and the following speed V3 in the second control mode are respectively determined by the following exemplary formulas:
  • error represents the deviation between the attitude of the mobile phone and the attitude of the carrying base
  • B1 and B2 are preset coefficients
  • B2 is greater than B1
  • V0 is the movement speed of the carrying base.
  • the gimbal 51 can detect whether it is currently in the first control mode or the second control mode, and if it is in the second control mode, the following speed is V3. If it is in the first control mode, the movement speed of the carrying base 511 collected by the attitude measurement unit on the carrying base 511 can be counted every preset time period (for example, 5s), and then averaged. If the average speed is greater than the preset threshold, Then the following speed of the rotating member 512 is automatically switched to the fast gear, and its following speed is V2. If the average speed is less than the preset threshold, the following speed of the rotating member 512 is automatically switched to the slow gear, and its following speed is V1.
  • preset time period for example, 5s
  • an avoidance interval can also be set in advance, assuming that the joint angle of the gimbal 51 is (A, B), and the avoidance interval is (A, C1), (C2, B). If the joint angle of the gimbal is not within the avoidance range, the follow speed is the follow speed of the corresponding gear. If the joint angle of the gimbal is within the avoidance range, the follow speed is superimposed on the follow speed of the corresponding gear with an avoidance speed.
  • the avoidance speed Vg in the angle range (A, C1) can be determined by formula (4):
  • Vg ⁇ B1 ⁇ (D-C1) ⁇
  • the avoidance velocity Vg in the angular range (A, C1) can be determined by formula (5):
  • Vg ⁇ B1 ⁇ (D-C2) ⁇
  • D is the current joint angle of the rotating part.
  • the following speed of the rotating part is the speed of the carrying base.
  • the pan-tilt control method provided by the embodiment of the present application can automatically adjust the following speed of the rotating part based on the speed of the bearing base, and realize the automatic switching of the following speed of the rotating part, which is more intelligent than manual adjustment, and can also solve the problem of The problem of hitting the limit during rotation.
  • an embodiment of the present application also provides a pan/tilt head, as shown in FIG. 6 , the pan/tilt head 60 includes a bearing base and a rotating part, the rotating part is used to stabilize the load, and the bearing base is provided with There is an attitude measurement unit 61, the pan/tilt includes a processor 62, a memory 63 and a computer program stored in the memory 63 and executable by the processor 62, when the processor 62 executes the computer program, the following steps are implemented :
  • a target following speed is determined according to the movement speed of the carrying base, so as to control the rotating member to follow the movement of the carrying base according to the target following speed.
  • the target following speed is positively related to the speed of movement of the carrier base.
  • the following speed of the rotating member includes at least two gears, and when the processor is configured to determine the target following speed according to the movement speed of the carrying base, it is specifically used for:
  • the target following speed is determined according to the following speed corresponding to the target gear.
  • the at least two gear positions include a first gear position and a second gear position, and the following speed corresponding to the first gear position is smaller than the following speed corresponding to the second gear position.
  • the processor when the processor is configured to determine the target gear according to the movement speed of the carrying base and a preset speed threshold, the processor is specifically configured to:
  • the target gear is determined as the second gear.
  • the following speeds corresponding to the at least two gears are determined based on an attitude deviation and/or a movement speed of the carrying base, where the attitude deviation is the relationship between the attitude of the load and the carrying base. attitude deviation.
  • the following speed corresponding to the first gear is determined based on the attitude deviation and a preset first coefficient.
  • the following speed corresponding to the second gear is determined based on the attitude deviation and a preset second coefficient, and the second coefficient is different from the first coefficient;
  • the following speed corresponding to the second gear is obtained by superimposing the speed determined based on the attitude deviation and the first coefficient and the movement speed of the bearing base; or
  • the following speed corresponding to the second gear is the movement speed of the carrying base.
  • the moving speed of the carrying base is an average moving speed of the carrying base within a preset time period.
  • the rotating components when the current joint angles of the rotating components are in different angle intervals, the rotating components correspond to different target following speeds.
  • the processor when the processor is configured to determine the target following speed according to the following speed corresponding to the target gear, the processor is specifically configured to:
  • the target following speed is the following speed corresponding to the target gear.
  • the processor when the processor is configured to determine the target following speed according to the following speed corresponding to the target gear, the processor is specifically configured to:
  • the target following speed is obtained by superimposing the following speed corresponding to the target gear and a preset avoidance speed.
  • the avoidance speed is determined based on a difference between the current joint angle of the rotating member and an endpoint value of the specified angle interval;
  • the end value of the specified angle interval includes the end value of the joint angle range of the rotating part.
  • the pan/tilt head includes a first control mode and a second control mode, and the determination strategy of the target following speed in the first control mode is different from the target following speed in the second control mode A determination strategy in mode; the processor is also used to:
  • control mode is the first control mode
  • determine the movement speed of the bearing base according to the data collected by the attitude measurement unit and determine the target of the rotating part according to the movement speed of the bearing base follow the steps of the speed.
  • the processor is further configured to:
  • the target following speed is determined according to the deviation between the attitude of the load and the attitude of the carrying base.
  • the switching between the first control mode and the second control mode is triggered by a designated control on the pan/tilt head.
  • the payload includes an imaging device, and the gimbal includes a selfie mode;
  • the target following speed is the movement speed of the carrying base.
  • pan/tilt head includes a bearing base and a rotating member, the rotary member is used for stabilizing a load, the pan/tilt head includes a processor, a memory, and a storage unit stored in the A computer program executable by the processor is stored in the memory, and when the processor executes the computer program, the following steps are implemented:
  • the following speed is positively related to the moving speed of the carrying base.
  • pan/tilt head further provides a pan/tilt head
  • the pan/tilt head includes a bearing base and a rotating member
  • the rotary member is used for stabilizing a load
  • the pan/tilt head includes a first control mode and a second control mode
  • the determination strategy of the following speed of the rotating part following the movement of the carrying base in the first control mode is different from the following speed of the rotating part following the movement of the carrying base in the second control mode
  • the determination strategy, the first control mode and the second control mode are switched through the designated controls on the PTZ;
  • the pan/tilt includes a processor, a memory, and a computer program executable by the processor stored in the memory.
  • the processor executes the computer program, the following steps are implemented:
  • the moving speed of the carrying base driven by the user is detected, and the rotating part is adjusted to follow the carrying base according to the moving speed of the carrying base
  • the following speed of the seat movement, the following speed is positively related to the movement speed of the carrying base
  • the following speed of the rotating member to follow the movement of the carrying base is determined according to the deviation between the attitude of the load and the attitude of the carrying base.
  • 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 control method of the pan-tilt 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 cartridges, 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 cartridges magnetic tape magnetic disk storage or other magnetic storage devices or any other non-

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  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
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  • Accessories Of Cameras (AREA)
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Abstract

La présente invention concerne un procédé de commande de cardan et un cardan. Le cardan comprend une base de palier (11) et un composant rotatif (12), le composant rotatif étant utilisé pour stabiliser une charge, et la base de palier comportant une unité de mesure d'attitude. Le procédé consiste à : selon des données collectées par une unité de mesure d'attitude, déterminer la vitesse de déplacement d'une base de palier ; et, selon la vitesse de déplacement de la base de palier, déterminer une vitesse de suivi de cible, de façon à amener un composant rotatif à se déplacer avec la base de palier à la vitesse de suivi de cible. Une intention d'un utilisateur peut être identifiée en détectant la vitesse de déplacement d'une base de palier sous la commande de l'utilisateur, et, selon la vitesse de la base de palier, la vitesse de suivi d'un composant rotatif est ajustée, de telle sorte qu'une commutation automatique de la vitesse de suivi peut être réalisée de manière plus intelligente, sans qu'un utilisateur ait besoin d'effectuer un ajustement manuel.
PCT/CN2020/122236 2020-10-20 2020-10-20 Procédé de commande de cardan et cardan WO2022082442A1 (fr)

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CN202080040790.XA CN113939788A (zh) 2020-10-20 2020-10-20 云台的控制方法及云台

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