WO2022198663A1 - Dispositif de stabilisation de charge et son procédé de commande, plate-forme mobile, et dispositif de charge - Google Patents

Dispositif de stabilisation de charge et son procédé de commande, plate-forme mobile, et dispositif de charge Download PDF

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Publication number
WO2022198663A1
WO2022198663A1 PCT/CN2021/083393 CN2021083393W WO2022198663A1 WO 2022198663 A1 WO2022198663 A1 WO 2022198663A1 CN 2021083393 W CN2021083393 W CN 2021083393W WO 2022198663 A1 WO2022198663 A1 WO 2022198663A1
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WO
WIPO (PCT)
Prior art keywords
ground
load
carrier
stabilization device
sensor
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PCT/CN2021/083393
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English (en)
Chinese (zh)
Inventor
李兵
杜圆森
谢振生
庞少阳
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深圳市大疆创新科技有限公司
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Priority to PCT/CN2021/083393 priority Critical patent/WO2022198663A1/fr
Publication of WO2022198663A1 publication Critical patent/WO2022198663A1/fr

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    • 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

Definitions

  • the present application relates to the technical field of stabilization, and in particular, to a load stabilization device and a control method thereof, a movable platform, and a load device.
  • a gimbal device In order to achieve the purpose of stabilizing the load (such as a photographing device), many loads are used with a gimbal device, and the gimbal device can realize the stabilization function of the load rotation direction.
  • a three-axis pan/tilt head can be used to stabilize the load by compensating for the jitter of the load by driving the motor to rotate on the pitch, yaw, and roll axes.
  • the present application provides a load stabilization device and a control method thereof, a movable platform, a load device and a storage medium, which can better realize stabilization of the load device.
  • an embodiment of the present application provides a method for controlling a load stabilization device, the method comprising:
  • the load stabilization device is controlled to adjust the posture according to the distance between the carrier and the ground, so as to stabilize the load device carried on the carrier.
  • an embodiment of the present application provides a load stabilization device, and a bearing member of the load stabilization device can carry the load device;
  • the load stabilizing device includes one or more processors, operating individually or collectively, for performing the steps of:
  • an embodiment of the present application provides a movable platform capable of carrying a load stabilization device, and a bearing member of the load stabilization device can carry the load device;
  • the movable platform also includes one or more processors, operating individually or collectively, for performing the steps of:
  • the load stabilization device is controlled to adjust the posture according to the distance between the carrier and the ground, so as to stabilize the load device carried on the carrier.
  • an embodiment of the present application provides a load device of a load stabilization device, where the load device can be mounted on a bearing member of the load stabilization device;
  • the load device also includes one or more processors, operating individually or collectively, for performing the steps of:
  • the load stabilization device is controlled to adjust the posture according to the distance between the carrier and the ground, so as to stabilize the load device carried on the carrier.
  • an embodiment of the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements the foregoing method.
  • Embodiments of the present application provide a load stabilization device and a control method thereof, a movable platform, a load device, and a storage medium.
  • the load stabilization device adjusts the attitude to stabilize the load device carried on the bearing member, which can partially offset or compensate for the jitter of the load device in the direction of gravity, so as to realize the stabilization of the load device carried, for example, it can improve the shooting time. Screen shake caused by camera shake.
  • FIG. 1 is a schematic flowchart of a control method of a load stabilization device provided by an embodiment of the present application
  • FIG. 2 is a schematic structural diagram of a load stabilization device in an embodiment
  • 3 is a schematic diagram of the distance between the bearing member of the load stabilization device and the ground in one embodiment
  • FIG. 4 is a schematic diagram of the distance between the bearing member of the load stabilization device and the ground in another embodiment
  • FIG. 5 is a schematic diagram of the stabilization of the load device by the load stabilization device in one embodiment
  • FIG. 6 is a schematic structural diagram of some components of a load stabilization device in an embodiment
  • FIG. 7 is a schematic diagram of another working state of the load stabilization device in an embodiment
  • FIG. 8 is a schematic block diagram of a load stabilization device provided by an embodiment of the present application.
  • FIG. 9 is a schematic block diagram of a movable platform provided by an embodiment of the present application.
  • FIG. 10 is a schematic block diagram of a load device of a load stabilization device provided by an embodiment of the present application.
  • FIG. 1 is a schematic flowchart of a control method of a load stabilization device provided by an embodiment of the present application.
  • the control method can be applied to a load stabilization device, a movable platform equipped with the load stabilization device, and/or a load device mounted on the load stabilization device, to control the process of adjusting the attitude of the load stabilization device.
  • the control method of the load stabilization device by determining the distance between the bearing member of the load stabilization device and the ground, and controlling the load stabilization device to adjust the posture according to the distance between the bearing member and the ground, In order to stabilize the load device carried on the bearing member, it can partially offset or compensate the jitter of the load device in the direction of gravity, so as to realize the stabilization of the load device carried, for example, it can improve the stability of the shooting device due to the jitter of the shooting device during shooting. cause the screen to shake.
  • the load stabilization device 10 includes a carrier 101 , and the carrier 101 of the load stabilization device 10 can carry the load device 30 .
  • the present application mainly describes that the control method of the load stabilization device is applied to the load stabilization device.
  • the control method of the load stabilization device includes steps S110 to S120 .
  • S110 Determine the distance between the bearing member of the load stabilization device and the ground, where the bearing member can support the load device.
  • the determining the distance between the bearing member of the load augmentation device and the ground includes: acquiring first sensor data of a first sensor on the load augmentation device, and/or the load augmentation device second sensor data of the second sensor on the device; determining the distance between the carrier of the load stabilization device and the ground according to the first sensor data and/or the second sensor data.
  • the first sensor and the second sensor can detect the distance between the carrier and the ground.
  • the first sensor and the second sensor can determine ground form information such as the normal and/or slope of the ground, and adjust the sensing direction according to the ground form information, so that the sensing direction is parallel to the normal direction of the ground, so that it can be determined the distance.
  • the first sensor and the second sensor can detect the relative height from the ground, that is, the height from the ground in the direction of gravity.
  • the distance between the carrier and the ground can be determined according to the height of the first sensor and the second sensor in the direction of gravity and the ground.
  • the relative height H between the carrier and the ground detected by the first sensor and the second sensor is equal to the distance L between the carrier and the ground.
  • the angle between the ground and the horizontal plane is greater than a certain value, that is, when the slope of the ground is greater than a certain value, the relative height H between the carrier and the ground detected by the first sensor and the second sensor, The distance L from the carrier to the ground is not equal.
  • the determining the distance between the bearing member of the load stabilization device and the ground according to the first sensor data and/or the second sensor data includes: according to the first sensor data and/or the The second sensor data determines the height of the carrier in the direction of gravity and the ground; the distance between the carrier and the ground is determined according to the height of the carrier in the direction of gravity and the ground, and the ground shape information of the ground.
  • the ground shape information of the ground includes at least one of the following: slope, normal vector, and radian of the ground.
  • the distance L between the carrier and the ground can be determined according to the relative height H between the carrier and the ground and the cosine value of the slope of the ground.
  • the height of the carrier in the direction of gravity and the ground can be determined according to the height of the first sensor in the direction of gravity and the ground.
  • the height of the carrier in the direction of gravity and the ground may be determined according to the preset height difference between the first sensor and the carrier, and the height of the first sensor in the direction of gravity and the ground.
  • the first sensor includes a sensor disposed on the carrier.
  • the first sensor includes one or more of a visual sensor, a radar, and an ultrasonic sensor, wherein the visual sensor includes but is not limited to at least one of the following: a binocular camera, a structured light camera, a time of flight (Time of Flight) Flight, TOF) sensor, laser ranging sensor.
  • the first sensor for determining the distance between the carrier and the ground such as a visual sensor, a radar, and an ultrasonic sensor
  • a visual sensor such as a radar, and an ultrasonic sensor
  • the sensing direction of ranging sensors such as visual sensors, radars, and ultrasonic sensors can be vertical (in the direction of gravity) downward, and of course, it can also be inclined in the direction of gravity and face the ground.
  • the first sensor data includes the height of the first sensor in the direction of gravity and the ground; the height of the carrier in the direction of gravity and the ground is determined according to the height of the first sensor in the direction of gravity and the ground.
  • the first sensor can detect the distance to the ground downward in the direction of gravity, that is, the distance to the ground.
  • the downward-looking depth information can be acquired through the first sensor, and the height of the carrier in the direction of gravity and the ground can be determined according to the downward-looking depth information.
  • the first sensor data may include a distance from the first sensor to a location point on the ground, and attitude information when the first sensor faces the location point.
  • the determining of the height of the carrier from the ground in the direction of gravity according to the second sensor data includes: according to the distance from the first sensor to a position on the ground, and when the first sensor faces the position
  • the attitude information of the carrier is determined to determine the height of the carrier in the direction of gravity and the ground.
  • the sensing direction of a distance measuring sensor such as a visual sensor, a radar, and an ultrasonic sensor may be inclined in the direction of gravity, and the point on the ground may not be a position on the ground directly below the first sensor. Based on the geometric relationship, according to the distance from the first sensor to a location point on the ground, and the inclination angle of the first sensor toward the location point, the height of the first sensor in the direction of gravity and the ground can be determined.
  • the second sensor data of the second sensor on the load device includes the height of the second sensor in the direction of gravity and the ground, and the attitude information of the second sensor.
  • the determining of the height of the carrier in the direction of gravity and the ground according to the data of the second sensor includes: determining the height of the carrier according to the height of the second sensor in the direction of gravity and the ground and the attitude information of the second sensor. The height of the carrier in the direction of gravity and the ground.
  • the height difference between the second sensor and the carrier may be determined according to the attitude information of the second sensor, and the carrier may be determined according to the height of the second sensor in the direction of gravity and the ground determined by the second sensor, and the height difference.
  • the second sensor on the load device may include, but is not limited to, one or more ranging sensors among visual sensors, radar, and ultrasonic sensors, as well as attitude sensors, inertial measurement units (IMUs), and the like.
  • the load stabilization device moves relative to the ground with the load device, by controlling the load stabilization device to adjust the attitude, the jitter of the load device in the direction of gravity can be partially offset or compensated, so as to realize the stability of the load.
  • the loading device is used for stabilization, for example, the phenomenon of picture shaking caused by the shaking of the camera during shooting can be improved.
  • the controlling the load stabilization device to adjust the attitude according to the distance between the carrier and the ground includes: according to the distance between the carrier and the ground, and the target distance between the carrier and the ground, The load stabilization device is controlled to adjust the attitude.
  • the load stabilization device is controlled to adjust the attitude, so that the adjusted distance between the carrier and the ground is close to or equal to the target distance.
  • the carrier and the load device vibrate in the direction of gravity.
  • H1 the height of the bearing member in the direction of gravity and the ground
  • L1 the distance between the bearing member and the ground
  • the load stabilizing device is at B
  • L1 the height of the bearing member in the direction of gravity and the ground
  • the height is denoted as H2
  • the distance between the carrier and the ground is denoted as L2.
  • the target distance between the carrier and the ground is determined according to the distance between the carrier and the ground at historical moments. For example, as shown in Fig. 5 , the distance L1 between the bearing member and the ground when the load stabilization device is at A can be determined as the target distance.
  • the attitude of the load stabilization device it can partially offset or compensate the jitter of the load device in the direction of gravity, for example, partially offset or compensate for the jitter of the load device in the direction of gravity caused by user jitter or movable platform jitter, or terrain changes. .
  • the controlling the load stabilization device to adjust the posture according to the distance between the carrier and the ground includes: controlling the stabilization motor of the load stabilization device according to the distance between the carrier and the ground,
  • the parallelogram mechanism of the load stabilization device is driven by the stabilization motor to rotate relative to the base of the load stabilization device to stabilize the load device carried on the carrier; the parallelogram mechanism One end is rotatably connected with the base, and the other end is connected with the carrier.
  • the load stabilization device 10 includes a base 11 , a parallelogram mechanism 12 , a carrier 101 and a stabilization motor 15 .
  • One end of the parallelogram mechanism 12 is rotatably connected with the base 11 , and the other end is connected with the carrier 101 .
  • the parallelogram mechanism 12 includes a first end and a second end away from the first end, the first end of the parallelogram mechanism 12 is rotatably connected to the base 11 , and the second end of the parallelogram mechanism 12 is connected to the carrier 101 . , used to carry the load device 30 .
  • the load device 30 is detachably mounted on the carrier 101 of the load stabilization device 10 .
  • the loading device 30 may include a photographing device, and the photographing device may be an optical camera, a thermal infrared camera, or other types of devices with a photographing function, such as a camera, a mobile phone, and the like.
  • the stabilization motor 15 includes a first stabilization motor 151 and a second stabilization motor 152 , the first stabilization motor 151 and the second stabilization motor 152 are used to jointly drive the parallelogram mechanism 12 to face each other. Rotate on the base 11 .
  • the load stabilization device 10 includes a motor drive logic circuit, which can output a control command to the motor drive logic circuit, so that the motor drive logic circuit drives the stabilization motor 15 to rotate according to the control command. 15 Drive the parallelogram mechanism 12 to rotate relative to the base 11 according to the control command to stabilize the load device 30 carried on the carrier 101 .
  • the load stabilization device 10 further includes a first transmission part 153 and a second transmission part 154 , wherein the first transmission part 153 is connected with the first stabilization motor 151 and the parallelogram mechanism 12
  • the second transmission part 154 is rotatably connected with the second stabilization motor 152 and the parallelogram mechanism 12; the first stabilization motor 151 and the second stabilization motor 152 pass through the first transmission part 153 and the second transmission part 154 jointly drives the mechanism to rotate relative to the base 11 .
  • first transmission part 153 and the second transmission part 154 are rotatably connected to the rotors of the first stabilization motor 151 and the second stabilization motor 152 respectively, and the other ends of the first transmission part 153 and the second transmission part 154 One end is rotatably connected to the parallelogram mechanism 12 .
  • first stabilization motor 151 and the second stabilization motor 152 rotate, the first stabilization motor 151 and the second stabilization motor 152 respectively drive the first transmission part 153 and the second transmission part 154 to move, and then the first transmission part 153 and the second transmission member 154 can drive the included angle between the parallelogram mechanism 12 and the base 11 to change, thereby driving the parallelogram mechanism 12 to rotate relative to the base 11 .
  • the parallelogram mechanism 12 may include a four-bar linkage mechanism 120 .
  • One end of the four-bar linkage mechanism 120 is connected to the carrier 101 , and the other end is rotatably connected to the base 11 .
  • the carrier 101 can be provided with a quick release interface for carrying the load device 30 to realize mechanical coupling.
  • the quick release interface is also used for an electrical interface, and the electrical interface is used to transmit power signals and/or data signal.
  • the four-bar linkage mechanism 120 can rotate around the base 11 .
  • the carrier 101 and the load device 30 it carries can move in the direction of gravity.
  • the shaking amount of the load device 30 in the direction of gravity can be at least partially offset to stabilize the load device 30 .
  • the four-bar linkage mechanism 120 includes a first crossbar portion 1201 , a second crossbar portion 1202 opposite to the first crossbar portion 1201 , and a second crossbar portion 1202 connected to the first crossbar portion 1201 and the second crossbar portion 1202 .
  • the vertical rod portion 1203 between the horizontal rod portions 1202, wherein the vertical rod portion 1203 is connected with the carrier 101, for example, the vertical rod portion 1203 and the carrier 101 may be integrally provided.
  • One ends of the first and second transverse rod parts 1201 and 1202 are connected to the vertical rod part 1203 , and the other ends of the first and second transverse rod parts 1201 and 1202 are connected to a certain part 112 of the base 11 .
  • the fixed portion 112 may be a part of the base 11, for example, may be fixedly connected to the support member 111 of the base 11, wherein the support member 111 may be used to install the first stabilization motor 151 and the second stabilization motor 152, and the stationary portion 112 It is arranged opposite to the vertical rod portion 1203 .
  • the first transverse rod portion 1201 , the second transverse rod portion 1202 and the vertical rod portion 1203 move around the fixed portion 112 .
  • the first transverse rod portion 1201, the second transverse rod portion 1202 and the vertical rod portion 1203 can be regarded as the rods of the four-bar linkage mechanism 120.
  • both ends of the first transverse rod portion 1201 are hinged with the vertical rod portion 1203 and the fixed portion 112 respectively, and the hinge points are S1 and S3 respectively.
  • Both ends of the second horizontal rod portion 1202 are hinged with the vertical rod portion 1203 and the fixed portion 112 respectively, and the hinge points are S2 and S4 respectively.
  • the line connecting the hinge points S1 and S3 is S1S3
  • the line connecting the hinge points S2 and S4 is S2S4
  • S1S3 and S2S4 are parallel and equal.
  • the stabilization motor can drive the first cross bar part 1201 or the second cross bar part 1202 directly or through a transmission component, so that the first cross bar part 1201 and the second cross bar part 1202 are clockwise relative to the fixed part 112 of the base 11 or
  • the counterclockwise rotation drives the vertical rod portion 1203 to ascend or descend.
  • the bearing member 101 moves synchronously with the vertical rod portion 1203 .
  • the first stabilization motor and the second stabilization motor 152 are fixed on the base 11 , and the first crossbar portion 1201 and the second crossbar are formed by the first transmission member 153 and the second transmission member 154 .
  • Section 1202 provides the power to rotate.
  • the load stabilization device 10 may further include an elastic member 16 , wherein the elastic member 16 may be installed in the receiving space formed by the parallelogram mechanism 12 .
  • the elastic member 16 may be installed in the receiving space formed by the parallelogram mechanism 12 .
  • one working end of the elastic member 16 may be installed on the fixed portion 112 , and the other working end may be installed on the vertical rod portion 1203 .
  • the component of the elastic force (balance force) generated by the elastic member 16 in the direction of gravity can be used to balance the gravity of the load device 30 and the self-weight of the load stabilization device.
  • the load stabilization device can balance the gravity of the load device 30 and/or the parallelogram mechanism 12 by means of the elastic force of the elastic member 16 .
  • the base 11 may further include a support member 111 .
  • the support 111 may include a hand-held support device that can be held by a user, and in some embodiments, the support 111 may include attachment means for attaching the load stabilization device 10 to a movable platform (aircraft, ground robot, etc.) .
  • the load stabilization device 10 can be mounted on a movable platform.
  • the movable platform may include at least one of an unmanned aerial vehicle, a gimbal, an unmanned vehicle, and the like.
  • the aircraft may be a rotary-wing UAV, such as a quad-rotor UAV, a hexa-rotor UAV, an octa-rotor UAV, or a fixed-wing UAV.
  • the pan/tilt includes, for example, a hand-held pan/tilt.
  • the load stabilization device 10 can have two operating states, such as a forward state and an inverted state.
  • the load stabilization device 10 in FIG. 2 may be referred to as a load stabilization device in a forward state
  • the load stabilization device 10 in FIG. 7 may be referred to as a load stabilization device in an inverted state.
  • the load stabilization device 10 in FIG. 2 can also be referred to as a load stabilization device in an inverted state
  • the load stabilization device 10 in FIG. 7 can be referred to as a load stabilization device in a forward state.
  • the stabilization motor 15 controls the stabilization motor 15 to drive the parallelogram mechanism 12 to move relative to the base 11, so as to be able to at least partially offset or compensate for the jitter of the load device 30 carried on the second end of the parallelogram mechanism 12 in the direction of gravity, actively The disturbance generated by the first end of the parallelogram mechanism 12 is suppressed, so as to realize stabilization of the load device 30 carried on the second end, which can improve the picture shaking phenomenon caused by the shaking of the photographing device during shooting.
  • the load stabilization device 10 further includes a three-axis head 40 , wherein the carrier 101 carries the load device 30 through the three-axis head 40 .
  • the body of the load stabilization device 10 is detachably connected to the three-axis pan/tilt head 40 .
  • the method further includes: controlling the three-axis pan/tilt head 40 mounted on the load stabilization device 10 to face the load device 30 in one or more directions of the yaw direction, the roll direction and the pitch direction. Stabilize.
  • the second end of the parallelogram mechanism 12 carries the load through the three-axis gimbal 40, and the three-axis gimbal 40 can be controlled to load the load in one or more of the yaw, roll, and pitch directions. Stabilize.
  • the three-axis pan/tilt head 40 itself can eliminate the shaking in the rotational direction, but cannot eliminate the shaking in translation.
  • the load stabilization device 10 can eliminate shaking in translation, such as shaking in the direction of gravity.
  • control method further includes: determining ground form information of the ground according to the first sensor data and/or the second sensor data. In order to determine the distance between the carrier and the ground according to the height of the carrier in the direction of gravity and the ground, and the ground shape information of the ground.
  • the ground shape information of the ground includes at least one of the following: slope, normal vector, and radian of the ground.
  • control method further includes: determining the ground shape information of the ground according to the height of the carrier in the direction of gravity and the ground at multiple times.
  • the ground form information of the ground is determined according to the first sensor data of the first sensor on the load stabilization device and/or the second sensor data of the second sensor on the load stabilization device.
  • the first sensor data and/or the second sensor data include downward looking depth information
  • the downward looking depth information is used to indicate the depth of the ground directly below, that is, the height of the sensor in the direction of gravity and the ground.
  • the determining the ground shape information of the ground according to the heights of the carrier in the direction of gravity and the ground at multiple times includes: determining the lower part of the carrier according to the heights of the carrier in the direction of gravity and the ground. The position point of the ground; the position points at multiple times are fitted to obtain the ground shape information of the ground.
  • the first sensor data and/or the second sensor data include orientation information of several position points on the ground, and a fitting plane on the ground within a certain range can be obtained through the fitting process, so that the larger one of the several position points can be obtained. Some of the location points are located on the fitting plane or have a small distance from the fitting plane.
  • the ground shape information of the ground can be determined according to the fitting plane.
  • the result of the fitting process that is, the fitting plane can be represented by a normal vector and the distance between the sensor or the carrier and the ground, and of course, it can also be represented by other forms.
  • the performing fitting processing on the position points at multiple times includes: determining the curvature corresponding to each of the position points; and performing fitting processing on the position points whose curvature is less than or equal to a preset curvature.
  • the ground shape information is obtained by fitting points with smaller curvatures, which can eliminate the influence of positions with larger curvature radius, such as small pits or stair steps, so that the fitting plane is relatively stable, and it is convenient to control the load increase.
  • the stabilizer adjusts the posture.
  • the control method of the load stabilization device by determining the distance between the bearing member of the load stabilization device and the ground, and controlling the load stabilization device to adjust the posture according to the distance between the bearing member and the ground, In order to stabilize the load device carried on the bearing member, it can partially offset or compensate the jitter of the load device in the direction of gravity, so as to realize the stabilization of the load device carried, for example, it can improve the stability of the shooting device due to the jitter of the shooting device during shooting. cause the screen to shake.
  • FIG. 8 is a schematic block diagram of a load stabilization apparatus 600 provided by an embodiment of the present application.
  • the carrier of the load stabilization device 600 can carry the load device, and the load stabilization device 600 can adjust the posture to stabilize the load device carried on the carrier.
  • the load stabilization apparatus 600 includes one or more processors 601 , and the one or more processors 601 work individually or together to execute the aforementioned control method of the load stabilization apparatus.
  • the load stabilization device 600 further includes a memory 602 .
  • the processor 601 and the memory 602 are connected through a bus 603, and the bus 603 is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 601 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU), or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 602 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 601 is configured to run the computer program stored in the memory 602, and implement the aforementioned control method of the load stabilization device when the computer program is executed.
  • the processor 601 is configured to run a computer program stored in the memory 602, and implement the following steps when executing the computer program:
  • the load stabilization device is controlled to adjust the posture according to the distance between the carrier and the ground, so as to stabilize the load device carried on the carrier.
  • the processor when the processor performs the determining of the distance between the bearing member of the load stabilization device and the ground, the following steps are used:
  • the distance between the carrier of the load stabilization device and the ground is determined based on the first sensor data and/or the second sensor data.
  • the first sensor includes a sensor disposed on the carrier.
  • the first sensor includes one or more of a visual sensor, a radar, and an ultrasonic sensor.
  • the processor when the processor performs the determining of the distance between the bearing member of the load stabilization device and the ground according to the first sensor data and/or the second sensor data, the following steps are used:
  • the distance between the carrier and the ground is determined according to the height of the carrier in the direction of gravity and the ground, and the ground shape information of the ground.
  • the ground shape information of the ground includes at least one of the following: slope, normal vector, and radian of the ground.
  • the processor is also used to:
  • Ground form information of the ground is determined according to the first sensor data and/or the second sensor data.
  • the ground shape information of the ground is determined according to the height of the bearing member in the direction of gravity and the ground at a plurality of times.
  • the processor when the processor performs the determining of the ground shape information of the ground according to the height of the carrier in the direction of gravity and the ground at multiple times, the following steps are used:
  • the position points at multiple times are fitted to obtain the ground shape information of the ground.
  • the processor when the processor performs the fitting process on the position points at multiple times, it is used for:
  • the processor when the processor controls the load stabilization device to adjust the attitude according to the distance between the carrier and the ground, the processor is configured to:
  • the target distance between the carrier and the ground is determined according to the distance between the carrier and the ground at a historical moment.
  • the processor when the processor controls the load stabilization device to adjust the attitude according to the distance between the carrier and the ground and the target distance between the carrier and the ground, the processor is configured to:
  • the processor when the processor controls the load stabilization device to adjust the attitude according to the distance between the carrier and the ground, the processor is configured to:
  • the stabilization motor of the load stabilization device is controlled according to the distance between the carrier and the ground, so that the stabilization motor drives the parallelogram mechanism of the load stabilization device relative to the base of the load stabilization device Rotating to stabilize the load device carried on the carrier; one end of the parallelogram mechanism is rotatably connected to the base, and the other end is connected to the carrier.
  • the processor is further configured to: control the three-axis pan/tilt head to stabilize the payload in one or more of the yaw, roll, and pitch directions.
  • the first sensor data includes the height of the first sensor in the direction of gravity and the ground;
  • the height of the carrier in the direction of gravity and the ground is determined according to the height of the first sensor in the direction of gravity and the ground.
  • the first sensor data includes a distance from the first sensor to a location point on the ground, and attitude information when the first sensor faces the location point;
  • the processor When the processor performs the determining according to the second sensor data, the height of the carrier in the direction of gravity and the ground is used for:
  • the second sensor data includes the height of the second sensor in the direction of gravity and the ground, and the attitude information of the second sensor
  • the processor When the processor performs the determining according to the second sensor data, the height of the carrier in the direction of gravity and the ground is used for:
  • the height of the second sensor in the direction of gravity and the ground is determined.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor enables the processor to implement the load stabilization apparatus provided in the foregoing embodiments steps of the control method.
  • the computer-readable storage medium may be an internal storage unit of the load stabilization apparatus described in any of the foregoing embodiments, such as a hard disk or a memory of the load stabilization apparatus.
  • the computer-readable storage medium may also be an external storage device of the load stabilization device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital ( Secure Digital, SD) card, flash memory card (Flash Card), etc.
  • FIG. 9 is a schematic block diagram of a movable platform 700 provided by an embodiment of the present application.
  • the movable platform 700 can be equipped with the aforementioned load stabilization device, the carrier of the load stabilization device can carry the load device, and the load stabilization device can adjust the posture to adjust the load to the load device carried on the carrier. Stabilize.
  • the movable platform 700 includes one or more processors 701 , and the one or more processors 701 work individually or together to execute the aforementioned control method of the load stabilizing device.
  • removable platform 700 also includes memory 702 .
  • the processor 701 and the memory 702 are connected through a bus 703, and the bus 703 is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 701 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • ROM Read-Only Memory
  • the memory 702 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, a mobile hard disk, and the like.
  • the processor 701 is configured to run the computer program stored in the memory 702, and implement the aforementioned control method of the load stabilization device when executing the computer program.
  • the processor 701 is configured to run a computer program stored in the memory 702, and implement the following steps when executing the computer program:
  • the load stabilization device is controlled to adjust the posture according to the distance between the carrier and the ground, so as to stabilize the load device carried on the carrier.
  • the computer-readable storage medium may be an internal storage unit of the removable platform described in any of the foregoing embodiments, such as a hard disk or a memory of the removable platform.
  • the computer-readable storage medium can also be an external storage device of the removable platform, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital) equipped on the removable platform , SD) card, flash memory card (Flash Card), etc.
  • FIG. 10 is a schematic block diagram of a load device 800 of a load stabilization device provided by an embodiment of the present application.
  • the load device 800 can be carried on the bearing member of the load stabilization device.
  • the load stabilization device can adjust the attitude to stabilize the load device carried on the carrier.
  • the loading device 800 may include a photographing device, but of course, it is not limited thereto.
  • the load device 800 includes one or more processors 801, and the one or more processors 801 work individually or together to execute the aforementioned control method of the load stabilization device.
  • the load device 800 further includes a memory 802 .
  • the processor 801 and the memory 802 are connected through a bus 803, and the bus 803 is, for example, an I2C (Inter-integrated Circuit) bus.
  • I2C Inter-integrated Circuit
  • the processor 801 may be a micro-controller unit (Micro-controller Unit, MCU), a central processing unit (Central Processing Unit, CPU) or a digital signal processor (Digital Signal Processor, DSP) or the like.
  • MCU Micro-controller Unit
  • CPU Central Processing Unit
  • DSP Digital Signal Processor
  • the memory 802 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a removable hard disk, or the like.
  • ROM Read-Only Memory
  • the memory 802 may be a Flash chip, a read-only memory (ROM, Read-Only Memory) magnetic disk, an optical disk, a U disk, or a removable hard disk, or the like.
  • the processor 801 is configured to run the computer program stored in the memory 802, and implement the aforementioned control method of the load stabilization device when executing the computer program.
  • the processor 801 is configured to run a computer program stored in the memory 802, and implement the following steps when executing the computer program:
  • the load stabilization device is controlled to adjust the posture according to the distance between the carrier and the ground, so as to stabilize the load device carried on the carrier.
  • Embodiments of the present application further provide a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the processor enables the processor to implement the load stabilization apparatus provided in the foregoing embodiments steps of the control method.
  • the computer-readable storage medium may be an internal storage unit of the load device described in any of the foregoing embodiments, such as a hard disk or a memory of the load device.
  • the computer-readable storage medium may also be an external storage device of the load device, such as a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) equipped on the load device ) card, Flash Card, etc.
  • the load stabilization device, the movable platform, the load device, and the computer-readable storage medium can determine the distance between the carrier of the load stabilization device and the ground, and control the load stabilization according to the distance between the carrier and the ground.
  • the device adjusts the attitude to stabilize the load device carried on the bearing member, which can partially offset or compensate the jitter of the load device in the direction of gravity, so as to realize the stabilization of the loaded load device, for example, it can improve the stability of the load device when shooting.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Accessories Of Cameras (AREA)

Abstract

L'invention concerne un procédé de commande pour un dispositif de stabilisation de charge, comprenant : étape S110 : déterminer une distance entre un élément porteur (101) du dispositif de stabilisation de charge (10) et le sol, l'élément porteur (101) étant apte à transporter un dispositif de charge (30) ; et étape S120 : en fonction de la distance entre l'élément porteur (101) et le sol, commander le dispositif de stabilisation de charge (10) pour ajuster une attitude, de façon à effectuer une stabilisation sur le dispositif de charge (30) transporté sur l'élément porteur (101). La stabilisation du dispositif de charge peut être mieux réalisée. L'invention concerne également le dispositif de stabilisation de charge, une plate-forme mobile et le dispositif de charge.
PCT/CN2021/083393 2021-03-26 2021-03-26 Dispositif de stabilisation de charge et son procédé de commande, plate-forme mobile, et dispositif de charge WO2022198663A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/083393 WO2022198663A1 (fr) 2021-03-26 2021-03-26 Dispositif de stabilisation de charge et son procédé de commande, plate-forme mobile, et dispositif de charge

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2021/083393 WO2022198663A1 (fr) 2021-03-26 2021-03-26 Dispositif de stabilisation de charge et son procédé de commande, plate-forme mobile, et dispositif de charge

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140185013A1 (en) * 2009-10-07 2014-07-03 Garrett W. Brown Gimbaled handle stabilizing controller assembly
CN204228153U (zh) * 2014-12-05 2015-03-25 北京大学 定向激光扫描系统
CN205787903U (zh) * 2016-06-30 2016-12-07 深圳市大疆创新科技有限公司 农业无人机
CN205920057U (zh) * 2015-09-29 2017-02-01 柳州欧维姆机械股份有限公司 检测结构件表面裂缝的多旋翼无人机检测平台系统
CN111734928A (zh) * 2020-07-06 2020-10-02 深圳万拓科技创新有限公司 增稳云台
CN112351173A (zh) * 2020-10-30 2021-02-09 南方电网数字电网研究院有限公司 一种基于双变倍镜头的增稳云台、无人机及目标识别方法

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20140185013A1 (en) * 2009-10-07 2014-07-03 Garrett W. Brown Gimbaled handle stabilizing controller assembly
CN204228153U (zh) * 2014-12-05 2015-03-25 北京大学 定向激光扫描系统
CN205920057U (zh) * 2015-09-29 2017-02-01 柳州欧维姆机械股份有限公司 检测结构件表面裂缝的多旋翼无人机检测平台系统
CN205787903U (zh) * 2016-06-30 2016-12-07 深圳市大疆创新科技有限公司 农业无人机
CN111734928A (zh) * 2020-07-06 2020-10-02 深圳万拓科技创新有限公司 增稳云台
CN112351173A (zh) * 2020-10-30 2021-02-09 南方电网数字电网研究院有限公司 一种基于双变倍镜头的增稳云台、无人机及目标识别方法

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