CN105739544A - Gimbal course following method and device - Google Patents
Gimbal course following method and device Download PDFInfo
- Publication number
- CN105739544A CN105739544A CN201610173307.0A CN201610173307A CN105739544A CN 105739544 A CN105739544 A CN 105739544A CN 201610173307 A CN201610173307 A CN 201610173307A CN 105739544 A CN105739544 A CN 105739544A
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- cloud terrace
- head
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- described robot
- course
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- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000005484 gravity Effects 0.000 claims description 8
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000035772 mutation Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
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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
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The application provides a gimbal course following method and device. The method comprises the following steps: a gimbal of an unmanned robot periodically obtains an inclined angle between a gimbal course shaft and a machine head of the robot, the gimbal obtains a following proportion through a calculation according to the inclined angle between the gimbal course shaft and the machine head of the robot, and the gimbal is controlled to rotate with the machine head of the robot according to the proportion. The gimbal course shaft of the unmanned robot can smoothly follow the machine head.
Description
Technical field
The application relates to The Cloud Terrace technical field, is applied to the unmanned machine people such as unmanned plane field in The Cloud Terrace field, particularly relates to The Cloud Terrace course follower method and device and unmanned machine people.
Background technology
Unmanned machine people, such as unmanned plane, has that volume is little, cost is low, maneuverability, easy to use and environmental condition is required the plurality of advantages such as relatively low.From unmanned machine people birth, it just constantly improves along with improving constantly of scientific and technological level, and be progressively widely used in the various fields such as military, civilian, police, performed task includes: target reconnaissance, trace and monitor, target hit, injure assessment, rescue and relief work, personnel's search and rescue, terrain prospecting etc..
Unmanned machine people is in running, operation area is carried out captured in real-time and obtains image information by the video camera on The Cloud Terrace, image information sends back ground by radio frequency signal after overcompression, and ground carries out decompressing restoring original image again, it is achieved the monitoring to specific region.
When the head of unmanned machine people rotates, the course axle of The Cloud Terrace should with rotating with it so that video camera can photograph the image in expected range.The follower method generally adopted at present is, the angle between course axle and the head of The Cloud Terrace periodic measurement The Cloud Terrace；When this angle is less than predetermined threshold value, do not follow, namely following proportion is 0, when this angle is more than predetermined threshold value, then adjusted default more than 0 by 0 follow rate of specific gravity by following proportion, cradle head controllor is followed proportion according to this and is adopted PID (ProportionIntegrationDifferentiation, proportional-integral-differential) controller calculate obtain a model-following control amount, this model-following control amount is sent to electric machine controller, electric machine rotation is controlled according to this model-following control amount by electric machine controller, to reduce the angle between The Cloud Terrace course axle and head, until angle is reduced to below predetermined threshold value.
The shortcoming of said method is: the angle between course axle and the head of The Cloud Terrace, by when arriving predetermined threshold value less than predetermined threshold value, is followed proportion and can be undergone mutation.Such as: when predetermined threshold value is 5 degree, preset and follow proportion when being 8, when angle between course axle and the head of The Cloud Terrace is less than 5 degree, follow proportion is 0 always, and the angle between course axle and the head of The Cloud Terrace is when starting more than 5 degree, following proportion and increase to suddenly 8, this will make The Cloud Terrace course axle rotate quickly suddenly at short notice, so that the visual field of monopod video camera changes suddenly, the image photographed can be caused not smooth.
Summary of the invention
The embodiment of the present application provides The Cloud Terrace course follower method and device and unmanned machine people, and to realize, The Cloud Terrace course is smooth follows head.
The technical scheme of the application is achieved in that
A kind of The Cloud Terrace course follower method, the method includes:
The The Cloud Terrace of unmanned machine people periodically obtains the angle between The Cloud Terrace course axle and the head of described robot；
Described The Cloud Terrace, according to the angle between the head of The Cloud Terrace course axle and described robot, calculates and obtains following proportion, follows specific gravity control The Cloud Terrace according to this and follows the head rotation of described robot.
A kind of The Cloud Terrace course following device, is positioned on the The Cloud Terrace of unmanned machine people, and this device includes:
Angle acquisition module: periodically obtain the angle between The Cloud Terrace course axle and the head of described robot；
Follow processing module: judge that whether the angle between The Cloud Terrace course axle and the head of described robot that angle acquisition module periodically obtains is more than predetermined threshold value, if more than, then according to the angle between the head of The Cloud Terrace course axle and described robot, calculating obtains following proportion, follows specific gravity control The Cloud Terrace according to this and follows the head rotation of described robot.
A kind of unmanned machine people, this robot includes said apparatus.
Visible, the embodiment of the present application periodically obtains the angle between The Cloud Terrace course axle and the head of unmanned machine people, according to the angle between The Cloud Terrace course axle and the head of this robot, calculating obtains following proportion, follow specific gravity control The Cloud Terrace course axle according to this and follow the head rotation of this robot, it is achieved that The Cloud Terrace course smooths the head following this robot.
Accompanying drawing explanation
The The Cloud Terrace course follower method flow chart that Fig. 1 provides for the application one embodiment；
The The Cloud Terrace course follower method flow chart that Fig. 2 provides for another embodiment of the application；
The composition schematic diagram of the The Cloud Terrace course following device that Fig. 3 provides for the embodiment of the present application.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is further described in more detail.
The The Cloud Terrace course follower method flow chart that Fig. 1 provides for the application one embodiment, it specifically comprises the following steps that
Step 101: the The Cloud Terrace of unmanned machine people periodically obtains the angle between The Cloud Terrace course axle and the head of this robot.
Step 102: this The Cloud Terrace, according to the angle between The Cloud Terrace course axle and the head of this robot, calculates and obtains following proportion, follows specific gravity control The Cloud Terrace according to this and follows the head rotation of this robot.
In one embodiment, in step 101, the angle that The Cloud Terrace periodically obtains between The Cloud Terrace course axle and the head of this robot includes:
The Cloud Terrace and this robot being connected in advance, the angle periodically recorded by The Cloud Terrace course shaft potential device is as the angle between The Cloud Terrace course axle and the head of this robot；
Or, when this robot initial runs, The Cloud Terrace obtains the inceptive direction of head to this robot, and using the inceptive direction of the head inceptive direction as this The Cloud Terrace course axle, afterwards, The Cloud Terrace periodically obtains the current direction of head, the inceptive direction according to the current direction of head Yu head from this robot, calculates the angle obtaining between The Cloud Terrace course axle and the head of this robot.
In one embodiment, in step 102, according to the angle between The Cloud Terrace course axle and the head of this robot, calculating obtains following proportion and includes:
If the angle between The Cloud Terrace course axle and the head of this robot is x, following proportion is y, then:
Y=a│x│, wherein, " │ │ " accords with for signed magnitude arithmetic(al), and a is preset value, and a > 1；
Or, y=x2。
The The Cloud Terrace course follower method flow chart that Fig. 2 provides for another embodiment of the application, it specifically comprises the following steps that
Step 201: the controller of the The Cloud Terrace of unmanned machine people periodically obtains the angle x between The Cloud Terrace course axle and the head of this robot.
This step can realize one of in the following way:
Mode one, which require that The Cloud Terrace and this robot are connected, then the angle that The Cloud Terrace course shaft potential device records is exactly the angle x between The Cloud Terrace course axle and the head of this robot.
When mode two, this robot initial run, The Cloud Terrace obtains the inceptive direction of head to this robot, and using the inceptive direction of the head inceptive direction as this The Cloud Terrace course axle, afterwards, The Cloud Terrace periodically obtains the current direction of head from this robot, current direction according to head and the inceptive direction (i.e. the inceptive direction of this The Cloud Terrace course axle) of head, calculate the angle x obtaining between The Cloud Terrace course axle and head.
Step 202: the controller of the The Cloud Terrace of this robot, according to the angle x between The Cloud Terrace course axle and head, calculates and obtains following proportion y=a│x│, wherein, " │ │ " accords with for signed magnitude arithmetic(al), and a is empirically determined preset value, and a > 1.
Or, y=x2。
Step 203: the controller of the The Cloud Terrace of this robot follows proportion according to this, controls The Cloud Terrace and follows head rotation.
It can be seen that when the angle between The Cloud Terrace course axle and head increases, follow the smooth increase of proportion, so that The Cloud Terrace course axle can smooth and follow head.
The composition schematic diagram of the The Cloud Terrace course following device that Fig. 3 provides for the embodiment of the present application, this device is positioned on the The Cloud Terrace of unmanned machine people, and this device specifically includes that angle acquisition module and follows processing module, wherein:
Angle acquisition module: periodically obtain the angle between The Cloud Terrace course axle and the head of unmanned machine people, the angle of acquisition is sent to and follows processing module.
Follow processing module: receive the angle between The Cloud Terrace course axle and the head of this robot that angle acquisition module is sent, according to the angle between The Cloud Terrace course axle and the head of this robot, calculating obtains following proportion, follows specific gravity control The Cloud Terrace according to this and follows the head rotation of this robot.
In one embodiment, the angle that angle acquisition module periodically obtains between The Cloud Terrace course axle and the head of this robot includes:
When The Cloud Terrace and this robot are connected, the angle periodically recorded by The Cloud Terrace course shaft potential device is as the angle between The Cloud Terrace course axle and the head of this robot；
Or, when this robot initial runs, the inceptive direction of head is obtained to this robot, and using the inceptive direction of the head inceptive direction as this The Cloud Terrace course axle, afterwards, periodically obtain the current direction of head, the inceptive direction according to the current direction of head Yu head from this robot, calculate the angle obtaining between The Cloud Terrace course axle and the head of this robot.
In one embodiment, following processing module according to the angle between The Cloud Terrace course axle and the head of this robot, calculating obtains following proportion and includes:
If the angle between The Cloud Terrace course axle and the head of this robot is x, following proportion is y, then:
Y=a│x│, wherein, " │ │ " accords with for signed magnitude arithmetic(al), and a is preset value, and a > 1；
Or, y=x2。
Unmanned machine people in the embodiment of the present application can be unmanned plane etc..
The foregoing is only the preferred embodiment of the application, not in order to limit the application, all within spirit herein and principle, any amendment of making, equivalent replacements, improvement etc., should be included within the scope that the application protects.
Claims (8)
1. a The Cloud Terrace course follower method, it is characterised in that the method includes:
The The Cloud Terrace of unmanned machine people periodically obtains the angle between The Cloud Terrace course axle and the head of described robot；
Described The Cloud Terrace, according to the angle between the head of The Cloud Terrace course axle and described robot, calculates and obtains following proportion, follows specific gravity control The Cloud Terrace according to this and follows the head rotation of described robot.
2. method according to claim 1, it is characterised in that the angle that the The Cloud Terrace of described unmanned machine people periodically obtains between The Cloud Terrace course axle and the head of described robot includes:
The Cloud Terrace and described robot being connected in advance, the angle periodically recorded by The Cloud Terrace course shaft potential device is as the angle between the head of The Cloud Terrace course axle and described robot；
Or, when described robot initial runs, The Cloud Terrace obtains the inceptive direction of head to described robot, and using the inceptive direction of the head inceptive direction as this The Cloud Terrace course axle, afterwards, The Cloud Terrace periodically obtains the current direction of head, the inceptive direction according to the current direction of head Yu head from described robot, calculates the angle between the head obtaining The Cloud Terrace course axle and described robot.
3. method according to claim 1, it is characterised in that described according to the angle between the head of The Cloud Terrace course axle and described robot, calculating obtains following proportion and includes:
If the angle between the head of The Cloud Terrace course axle and described robot is x, following proportion is y, then:
Y=a│x│, wherein, " │ │ " accords with for signed magnitude arithmetic(al), and a is preset value, and a > 1；
Or, y=x2。
4. a The Cloud Terrace course following device, is positioned on the The Cloud Terrace of unmanned machine people, it is characterised in that this device includes:
Angle acquisition module: periodically obtain the angle between The Cloud Terrace course axle and the head of described robot；
Follow processing module: judge that whether the angle between The Cloud Terrace course axle and the head of described robot that angle acquisition module periodically obtains is more than predetermined threshold value, if more than, then according to the angle between the head of The Cloud Terrace course axle and described robot, calculating obtains following proportion, follows specific gravity control The Cloud Terrace according to this and follows the head rotation of described robot.
5. device according to claim 4, it is characterised in that the angle that described angle acquisition module periodically obtains between The Cloud Terrace course axle and the head of described robot includes:
When The Cloud Terrace and described robot are connected, the angle periodically recorded by The Cloud Terrace course shaft potential device is as the angle between the head of The Cloud Terrace course axle and described robot；
Or, when described robot initial runs, to the inceptive direction obtaining head of described robot, and using the inceptive direction of the head inceptive direction as this The Cloud Terrace course axle, afterwards, periodically from the current direction obtaining head of described robot, the inceptive direction according to the current direction of head Yu head, calculate the angle between the head obtaining The Cloud Terrace course axle and described robot.
6. device according to claim 4, it is characterised in that described in follow processing module according to the angle between the head of The Cloud Terrace course axle and described robot, calculate and obtain following proportion and include:
If the angle between the head of The Cloud Terrace course axle and described robot is x, following proportion is y, then:
Y=a│x│, wherein, " │ │ " accords with for signed magnitude arithmetic(al), and a is preset value, and a > 1；
Or, y=x2。
7. a unmanned machine people, it is characterised in that this robot include as arbitrary in claim 4 to 6 as described in device.
8. unmanned machine people according to claim 7, it is characterised in that the described artificial unmanned plane of unmanned machine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610173307.0A CN105739544B (en) | 2016-03-24 | 2016-03-24 | Course following method and device of holder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610173307.0A CN105739544B (en) | 2016-03-24 | 2016-03-24 | Course following method and device of holder |
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| Publication Number | Publication Date |
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| CN105739544A true CN105739544A (en) | 2016-07-06 |
| CN105739544B CN105739544B (en) | 2020-02-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610173307.0A Expired - Fee Related CN105739544B (en) | 2016-03-24 | 2016-03-24 | Course following method and device of holder |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109074087A (en) * | 2017-12-25 | 2018-12-21 | 深圳市大疆创新科技有限公司 | Yaw attitude control method, unmanned plane, computer readable storage medium |
| CN109213207A (en) * | 2017-06-29 | 2019-01-15 | 天津远翥科技有限公司 | Platform-lens method of adjustment, device and hand-held holder |
| CN109725652A (en) * | 2018-11-16 | 2019-05-07 | 广州昂宝电子有限公司 | The method with control is resolved for unmanned machine head course |
| CN110300941A (en) * | 2018-08-31 | 2019-10-01 | 深圳市大疆创新科技有限公司 | A kind of method for controlling rotation of holder, device and control equipment, mobile platform |
| CN111742278A (en) * | 2019-04-30 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Simulation control method, control device, equipment and computer storage medium of holder |
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| CN111742278A (en) * | 2019-04-30 | 2020-10-02 | 深圳市大疆创新科技有限公司 | Simulation control method, control device, equipment and computer storage medium of holder |
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| CN105739544B (en) | 2020-02-04 |
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