CN108700252B - Control method of holder and holder - Google Patents
Control method of holder and holder Download PDFInfo
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- CN108700252B CN108700252B CN201780004873.1A CN201780004873A CN108700252B CN 108700252 B CN108700252 B CN 108700252B CN 201780004873 A CN201780004873 A CN 201780004873A CN 108700252 B CN108700252 B CN 108700252B
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- 238000005259 measurement Methods 0.000 description 7
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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
- F16M11/06—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting
- F16M11/12—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand allowing pivoting in more than one direction
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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
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
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- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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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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- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Studio Devices (AREA)
Abstract
A control method of a cloud platform and the cloud platform are provided, the control method comprises the following steps: determining first attitude information of a holder; determining the rotation angle of a driving motor of one or more shafts of the holder; determining error attitude information of the attitude sensor according to the first attitude information and the rotation angle; and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder. The pan/tilt head (400) comprises an attitude sensor (401) for determining first attitude information of the pan/tilt head (400); an angle sensor (402) for determining the rotation angle of the drive motor of one or more axes of the head (401); a processor (403) for determining error information of the attitude sensor (401) from the first attitude information and the rotation angle; and correcting the first attitude according to the error attitude information to obtain the current attitude information of the holder (400). The control method of the cloud platform and the cloud platform can effectively avoid the drift problem existing in the prior art when the accelerometer is used for correcting the attitude information obtained by the gyroscope, and can enable the attitude of the cloud platform obtained after correction to be stable for a long time, so that the shooting equipment erected on the cloud platform can shoot the scene of a fixed machine position for a long time without generating the shooting angle drift problem of the shooting equipment.
Description
Technical Field
The invention relates to the field of control, in particular to a control method of a cloud deck and the cloud deck.
Background
The holder is a system for increasing stability of the load. The cloud deck is used for fixing the shooting equipment, so that stability of the shooting equipment can be increased, and stable and smooth pictures can be shot even under the motion condition. However, when the pan-tilt fixed shooting device is used to shoot a scene of a fixed position for a long time, the axes (e.g., the yaw axis, the pitch axis, and the roll axis) of the pan-tilt may drift, so that the shot picture may drift, and the shooting quality is reduced. Therefore, when the scene of the fixed machine position needs to be shot, the shooting equipment needs to be detached from the tripod head and then installed on the tripod and debugged again, when the scene of the moving machine position needs to be shot, the shooting equipment needs to be detached from the tripod again, the tripod head needs to be installed again, and the debugging is performed again, so that the shooting efficiency is reduced, the time and the labor are wasted, and the usefulness of the tripod head can be reduced under certain conditions.
Disclosure of Invention
The invention needs to provide a control method of a cradle head and the cradle head, so that the cradle head can be kept stable on each shaft for a long time, shooting equipment erected on the cradle head can shoot scenes of fixed machine positions for a long time without deviation, and shooting quality is improved.
A first aspect of an embodiment of the present invention provides a method for controlling a pan/tilt head, including the steps of:
determining first attitude information of a holder;
determining the rotation angle of a driving motor of one or more shafts of the holder;
determining error attitude information of an attitude sensor according to the first attitude information and the rotation angle;
and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder.
A second aspect of an embodiment of the present invention provides a pan/tilt head, including:
the attitude sensor is used for determining first attitude information of the holder;
an angle sensor for determining the rotation angle of the drive motor of one or more axes of the head;
the processor is used for determining error posture information of the posture sensor according to the first posture information and the rotation angle;
and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder.
In the embodiment of the invention, the rotating angle of the driving motor of one or more shafts of the tripod head and the first attitude information are determined, the error attitude information of the attitude sensor is determined, the first attitude information is corrected according to the error attitude information, the drift problem existing when the attitude information obtained by a gyroscope is corrected by using an accelerometer in the prior art can be effectively avoided, and the attitude of the tripod head obtained after correction can be kept stable for a long time, so that the shooting equipment erected on the tripod head can shoot the scene of the fixed machine position for a long time without generating the shooting angle drift problem of the shooting equipment.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1 is a schematic flow chart of a control method of a pan/tilt head according to some embodiments of the present invention.
Fig. 2 is a schematic structural view of a pan and tilt head according to some embodiments of the present invention.
Fig. 3 is a schematic diagram of a method of controlling a pan/tilt head according to some embodiments of the present invention, in which first attitude information is corrected.
Fig. 4 is a schematic structural view of a pan and tilt head according to some embodiments of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
In the description of the present invention, it is to be understood that the terms "first", "second" and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
The following disclosure provides many different embodiments, or examples, for implementing different features of the invention. To simplify the disclosure of the present invention, the components and arrangements of specific examples are described below. Of course, they are merely examples and are not intended to limit the present invention. Furthermore, the present invention may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, the present invention provides examples of various specific processes and materials, but one of ordinary skill in the art may recognize applications of other processes and/or uses of other materials.
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative only for the purpose of explaining the present invention, and are not to be construed as limiting the present invention.
At present, a pan-tilt mainly uses an Inertial Measurement Unit (IMU) as a feedback element and a driving motor of each axis of the pan-tilt as an output element to control the attitude of the pan-tilt, wherein in the process of controlling the attitude of the pan-tilt, a controlled variable is the attitude of the pan-tilt, and a target attitude is given, and the current attitude of the pan-tilt is corrected to the target attitude through feedback control, so that the pan-tilt approaches to the target attitude from the current attitude.
The inertial measurement unit mainly comprises a gyroscope and an accelerometer, the gyroscope can measure the rotating angular velocity of each axis of the holder, and the current attitude (pitch, roll and yaw) of the holder can be determined by integrating the measured angular velocity, but the angular velocity output of each axis of the gyroscope has zero offset, and the zero offset cannot be completely eliminated, so that the current attitude of the holder obtained by integrating the angular velocity output measured by the gyroscope is inaccurate. At present, an accelerometer is mainly used for giving a cradle head attitude reference, the current attitude of the cradle head obtained by angular velocity integral measured by a gyroscope is corrected, and finally the cradle head obtains a stable attitude. However, the accelerometer itself has drift, and the current attitude is corrected by using the data of the accelerometer, and the drift is also generated, and the attitude of the pan-tilt is not very stable for a long time, so that the shooting equipment erected on the pan-tilt cannot shoot the scene of the fixed machine position for a long time; in addition, when the current posture of the pan/tilt head is corrected by using the accelerometer, the current posture of the pan/tilt head can be corrected only for a pitch axis and a roll axis of the pan/tilt head, and cannot be corrected for a yaw axis of the pan/tilt head, so that the posture of the yaw axis integrated by the gyroscope may quickly drift, and finally, the yaw axis of the whole pan/tilt head continuously moves towards one direction when the scene of the fixed machine position is photographed by using the pan/tilt head, and thus, the scene of the fixed machine position cannot be photographed for a long time by using the photographing device erected on the pan/tilt head.
In view of the above problem, referring to fig. 1, a method for controlling a pan/tilt head according to an embodiment of the present invention includes:
s101: determining first attitude information of a holder;
specifically, the pan/tilt head according to the embodiment of the present invention may be a two-axis pan/tilt head, and may also be a three-axis pan/tilt head, and for convenience of explanation, as shown in fig. 2, a three-axis pan/tilt head 200 is schematically illustrated in the embodiment of the present invention. Wherein the camera 9 is fixedly mounted on the camera fixing mechanism 6 on the pan/tilt head 200, wherein the fixing mechanism 6 can be fixedly or movably connected with the shaft arm 7 of the pitch shaft of the pan/tilt head, wherein the attitude sensor can be mounted on the fixing mechanism 6 of the camera, on a part fixedly connected with the fixing mechanism 6, or on any other part fixedly connected with the shaft arm 7 of the pitch shaft. In the shooting process, the pan-tilt is stabilized for the shooting device, and the attitude sensor can measure the attitude of the shooting device 9, that is, the first attitude information of the pan-tilt, wherein the attitude sensor may include a gyroscope, the gyroscope here may be an independent gyroscope, and may also be a gyroscope in the inertial measurement unit. The attitude has a plurality of expression forms, quaternion is an expression method of attitude information, and common expression forms of common attitude also include Euler angles, matrixes and the like. The first posture information may be a posture angle (euler angle) of the first posture, or may be a quaternion corresponding to the first posture, and is not particularly limited herein. The following sections of the present document refer to attitude information, which may be attitude angles corresponding to the attitude or quaternions corresponding to the attitude, and will not be explained further hereinafter.
S102: determining the rotation angle of a driving motor of one or more shafts of the holder;
specifically, as shown in fig. 2, the shaft arm 8 of the roll axis of the pan/tilt head 200 is used to support the shaft arm 7 of the roll axis and the driving motor 1 of the roll axis, the shaft arm 5 of the yaw axis of the pan/tilt head 200 is used to support the driving motor 3 of the yaw axis and the driving motor 2 of the roll axis, the shaft arm 7 of the pitch axis of the pan/tilt head is used to support the photographing device 9, and angle sensors may be installed in the driving motors (the driving motor 1 of the roll axis, the driving motor 2 of the roll axis, and the driving motor 3 of the yaw axis) of each axis of the pan/tilt head 200, wherein a circuit board is disposed in the driving motors, the angle sensors may be electrically connected to the circuit board, and when the driving motor of the pan/tilt head rotates, the angle sensor may measure the rotation angle of the driving motor, and the angle sensor may be one or more of a potentiometer, a hall sensor, and a photoelectric encoder. Wherein the head can be connected to a hand stick (not shown) or a movable platform via the base 4.
It should be noted that, in the embodiment of the present invention, the sequence of step S101 and step S102 may be executed sequentially, where the specific sequence is not specifically limited, and step S101 and step S102 may also be executed simultaneously.
S103: determining error attitude information of the attitude sensor according to the first attitude information and the rotation angle;
specifically, after the rotation angle of the driving motor of one or more axes of the pan/tilt head is measured, the error attitude information of the gyroscope is determined according to the rotation angle and the first attitude information of the pan/tilt head determined by the gyroscope, that is, the error attitude information can represent the drift of the gyroscope.
S104: and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder.
Specifically, when the gyroscope is used for data measurement, the measured attitude information is inaccurate due to drift of the gyroscope, so that after error attitude information representing drift of the gyroscope is determined, a closed-loop control strategy can be used for correcting the first attitude information obtained by the gyroscope according to the error attitude information to obtain the current attitude information of the pan/tilt head. Specifically, the first attitude information may be modified according to the error attitude information by using at least one of extended kalman filtering, complementary filtering, or smooth filtering, so as to obtain current attitude information of the pan/tilt head.
In the embodiment of the invention, the error attitude information of the attitude sensor is determined through the rotating angle of the driving motor of one or more shafts of the pan-tilt and the first attitude information, the first attitude information is corrected according to the error attitude information, the drift problem existing when the attitude information obtained by the gyroscope is corrected by using the accelerometer in the prior art can be effectively avoided, and the attitude of the pan-tilt obtained after correction can be kept stable for a long time, so that the shooting equipment erected on the pan-tilt can shoot the scene of the fixed machine position for a long time without generating the shooting angle drift problem of the shooting equipment.
In some embodiments, reference attitude information of the pan/tilt head is determined based on the angle of rotation, and error attitude information of the attitude sensor is determined based on the reference attitude information and the first attitude information.
Specifically, when a fixed scene is photographed by using the pan/tilt. The specific process of determining the reference attitude information by the rotation angle of the driving motor of one or more axes of the pan/tilt head will be explained in detail below.
In some embodiments, the step of determining the reference attitude information of the pan/tilt head according to the rotation angle comprises:
and converting each rotation angle into a corresponding quaternion, and determining the reference attitude information of the holder according to the quaternion of the rotation angle.
After the rotation angles of the driving motors of the three axes (pitch axis, yaw axis, roll axis) of the pan-tilt are determined, the rotation angles of the driving motors of the three axes can be converted into corresponding quaternions respectively, and the reference attitude information is determined according to the three quaternions obtained after conversion.
In some embodiments, the step of determining the reference attitude information of the pan/tilt head according to the rotation angle comprises:
and setting attitude information of a base of the holder, and determining reference attitude information of the holder according to the attitude information of the base and the rotation angle.
The attitude information of the base of the cradle head can be solidified in a processor or a memory of the cradle head, and can also be set through a control terminal connected with the cradle head and an interaction device configured on the cradle head. Specifically, the attitude information of the base of the pan/tilt head may be related to the installation condition of the base, and when the pan/tilt head is used to erect the shooting device to shoot a scene of a fixed station for a long time, the base of the pan/tilt head is generally considered to be approximately fixed, so that the attitude information of the base of the pan/tilt head may be set as fixed attitude information. The specific process of determining the reference attitude information based on the rotation angle and the attitude information of the base of the pan/tilt head will be described in detail below.
In some embodiments, the step of determining the reference attitude information of the pan/tilt head according to the attitude information of the base on which the pan/tilt head is mounted and the attitude information of the base and the rotation angle includes:
and setting a quaternion of the attitude of the base of the holder, and determining reference attitude information of the holder according to the quaternion of the attitude of the base and the quaternion obtained by converting each rotation angle.
Specifically, the rotational angle of each driving motor may be determined by using an angle sensor mounted on a driving motor of each axis of the pan/tilt head, each angle is converted into a corresponding quaternion, for example, the pan/tilt head is a three-axis pan/tilt head, the rotational angles of the driving motors of the yaw axis, the pitch axis, and the roll axis of the pan/tilt head are measured according to the angle sensors mounted on the three driving motors, the quaternion corresponding to the rotational angles of the driving motors of the yaw axis, the pitch axis, and the roll axis can be obtained by conversion, and the quaternion of the base of the pan/tilt head is set, for example, the quaternion of the posture of the base can be set to (1,0,0, 0). Further, the quaternion of the attitude of the base and the quaternion obtained by converting each rotation angle are multiplied respectively, the reference attitude information is determined according to the quaternion obtained by multiplying, namely, the quaternion of the attitude of the base is multiplied by the quaternion corresponding to the rotation angle of the drive motor of the yaw axis, the pitch axis and the roll axis respectively, and the attitude information after the effective load rotates on the basis of the base by using the yaw axis, the pitch axis and the roll axis as the rotation axis respectively can be known through the quaternion multiplication, so that the quaternion obtained by multiplying can be used for representing the quaternion of the reference attitude of the holder, namely, the reference attitude information of the holder is determined according to the quaternion obtained by multiplying.
In some embodiments, the step of determining error pose information for the pose sensor based on the reference pose information and the first pose information comprises:
error attitude information is determined from the quaternion of the reference attitude and the quaternion of the first attitude.
Wherein the error attitude information is attitude difference information between the first attitude information and the reference attitude information, when the reference attitude information of the pan/tilt head is expressed in the form of a quaternion, and the first attitude is expressed in the form of a quaternion, then the error attitude information may be determined based on the quaternion of the reference attitude and the quaternion of the first attitude, and in particular, the quaternion of the reference attitude may be multiplied by the quaternion of the first attitude information, determining error attitude information according to the quaternion obtained by multiplication, wherein the quaternion obtained by multiplication can represent the error attitude between the reference attitude and the first attitude, the quaternion obtained by multiplication is the quaternion of the error attitude, the euler angle corresponding to the error attitude can be converted according to the quaternion of the error attitude, and the first attitude information of the gyroscope can be corrected according to the quaternion or the euler angle of the determined error attitude information. In addition, when determining the quaternion of the reference attitude, the quaternion of the reference attitude may be converted into a corresponding euler angle, the euler angle corresponding to the first attitude information may be determined from the gyroscope, an error attitude between the reference attitude and the first attitude may be obtained by comparing the quaternion of the reference attitude with the euler angle corresponding to the first attitude information, the error attitude may represent a drift of the gyroscope, and a difference between the euler angle of the reference attitude and the euler angle corresponding to the first attitude information may be converted into the quaternion corresponding to the error attitude information by conversion.
The quaternion is a mathematical expression of the posture, and in general, the quaternion may be expressed in the form of q ═ w + xi + yj + zk. Where q ═ w + xi + yj + zk can be divided into scalar w and vector xi + y j + z k, so for convenience of representation, q is represented as (S, V), where S represents scalar w and V represents vector x i + y j + z k, so quaternion multiplication can be represented again as: q1 × q2 ═ S1+ V1 ═ S2+ V2 ═ S1 × S2-V1 × V2+ V1XV2+ S1 × V2+ S2V 1.
Euler angles are another representation of the attitude, in which quaternions and euler angles can be converted into each other by corresponding formulas. In addition, the specific formula for converting from Euler angles to quaternions isIn addition, the specific formula for converting the Euler angle into the corresponding quaternion is
One embodiment of correcting the first attitude information according to the error attitude information to obtain the current attitude information of the pan/tilt head will be described below, and those skilled in the art can also use a technical means other than this embodiment to correct the first attitude information according to the error attitude information to obtain the current attitude information of the pan/tilt head. Specifically, as shown in fig. 3, during the time from 0 to t1, since the output data drifts during the measurement of the gyroscope, if the measured first attitude information of the gyroscope is not corrected, during the time from 0 to t1, the first attitude information att1 determined by the gyroscope may be as shown, wherein the curve of the first attitude information att1 is only for illustrative purposes. Therefore, the first attitude information measured by the gyroscope must be corrected. When the reference attitude information att1-mot1 is obtained through calculation by the method as described above at the time t1, the first attitude information att1-gyr1 is obtained through measurement by the gyroscope, the error attitude information att1-d1 between the reference attitude information att1-mot1 and the first attitude information att1-gyr is compared, the corrected current attitude information att1-r1 is obtained by correcting the first attitude information att1-gyr output by the gyroscope according to the error attitude information att1-d1 within the time t1 to t2, and if the first attitude information att1-gyr is not corrected within the time t1 to t2, the data output by the gyroscope continues to obtain the first attitude information att 1-f. At time t2, reference attitude information att1-mot2 may be calculated by the method as described above, first attitude information att1-gyr2 obtained by gyroscope measurement, and error attitude information att1-d2 between reference attitude information att1-mot2 and first attitude information att1-gyr2 is compared, so that the first attitude information att1-d2 may be corrected within time t2 to t3 (not shown) to obtain current attitude information att1-r2 of the pan/tilt head, and thus the above correction process is repeated to obtain the corrected first attitude information. In addition, the attitude information obtained after correction can be filtered, and the filtered attitude information is used as the current attitude information of the holder. Therefore, the current attitude information of the holder can be smoother, and errors possibly generated in the correction process are reduced.
In some embodiments, the step S104 of modifying the first attitude information according to the error attitude information to obtain the current attitude information of the pan/tilt head includes:
and determining the error attitude correction amount of the unit time according to the error attitude information, and correcting the first attitude information according to the error attitude information correction amount to obtain the current attitude information of the holder.
With reference to fig. 3, at time t1, the error posture information is att1-d1, the drift amount of the first posture information is att1-d1 relative to the reference posture information within a time period from 0 to t1, the error correction amount per unit time is att1-d1/t1 within a time period from 0 to t1, and after the error posture correction amount per unit time is determined, the first posture information determined by the gyroscope can be corrected within a time period from t1 to t2 according to the error posture correction amount per unit time, specifically, the first posture information determined by the gyroscope at each time can be subtracted from or added with the error posture correction amount to obtain the current posture holder information.
In some embodiments, the step of modifying the first attitude information according to the error attitude information in S104 to obtain the current attitude information of the pan/tilt head includes:
and correcting the first attitude information according to the error attitude information by utilizing one or more of extended Kalman filtering, complementary filtering and smooth filtering to obtain the current attitude information of the holder. Specifically, the first attitude information may be modified according to the error attitude information by one or more of extended kalman filtering, complementary filtering, and smooth filtering in several feasible manners as follows:
one possible way is: filtering the corrected attitude information, for example, subtracting or adding an error attitude correction amount to the first attitude information determined by the attitude sensor at each moment to obtain corrected attitude information, filtering the corrected attitude information at each moment, and taking the filtered attitude information as the current attitude information of the pan/tilt head;
another possible way is: and filtering the error attitude correction amount of the unit time, and correcting the first attitude information determined by the attitude sensor according to the filtered error attitude correction amount of the unit time so as to obtain the current attitude information of the holder.
Embodiments of the present invention provide a computer storage medium having stored therein program instructions executable by a processor to perform the above-described control method.
As shown in fig. 4, an embodiment of the present invention further provides a pan/tilt head, where the pan/tilt head may be a two-axis pan/tilt head, and may also be a three-axis pan/tilt head, where the pan/tilt head 400 includes:
an attitude sensor 401, configured to determine first attitude information of the pan/tilt head;
an angle sensor 402 for determining the rotation angle of the drive motor of one or more axes of the head;
a processor 403 configured to:
determining error attitude information of the attitude sensor according to the first attitude information and the rotation angle;
and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder.
Optionally, the processor 403 is specifically configured to:
and determining reference attitude information of the holder according to the rotation angle, and determining error attitude information of the attitude sensor according to the reference attitude information and the first attitude information.
Optionally, the processor 403 is specifically configured to:
and converting each rotation angle into a corresponding quaternion, and determining the reference attitude information of the holder according to the quaternion of the rotation angle.
Optionally, the processor 403 is specifically configured to:
setting attitude information of a base of the holder;
and determining the reference attitude information of the holder according to the attitude information and the rotation angle of the base.
Optionally, the processor 403 is specifically configured to:
and setting a quaternion of the attitude of the base of the holder, and determining reference attitude information of the holder according to the quaternion of the attitude of the base and the quaternion obtained by converting each rotation angle.
Optionally, the processor 403 is specifically configured to:
and multiplying the quaternion of the attitude of the base by the quaternion obtained by converting each rotation angle respectively, and determining reference attitude information according to the quaternion obtained after multiplication.
Optionally, the processor 403 is specifically configured to:
error attitude information is determined from the reference attitude quaternion and the first attitude quaternion.
Optionally, the processor 403 is specifically configured to:
and multiplying the reference attitude quaternion by the first attitude quaternion, and determining error attitude information according to the multiplied quaternion.
Optionally, the error posture information is posture difference information between the first posture information and the reference posture information.
Optionally, the processor 403 is specifically configured to:
and determining the error attitude correction amount of the unit time according to the error attitude information, and correcting the first attitude information according to the error attitude information correction amount to obtain the current attitude information of the holder.
Optionally, the processor 403 is specifically configured to:
and correcting the first attitude information according to the error attitude information by utilizing one or more of extended Kalman filtering, complementary filtering and smooth filtering to obtain the current attitude information of the holder.
Optionally, the angle sensor comprises at least one of a potentiometer, a hall sensor, and a photoelectric encoder.
It should be noted that the cradle head 400 according to the embodiment of the present invention can be implemented by the control method of the cradle head according to the above-mentioned embodiment, and the unextended portions refer to the same or similar portions of the control method in the above-mentioned embodiment, which are not described herein again.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present invention.
The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
It will be understood by those skilled in the art that all or part of the steps carried out to implement the above-described implementation method can be implemented by hardware related to instructions of a program, which can be stored in a computer-readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.
In addition, functional units in the embodiments of the present invention may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.
The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc. Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (24)
1. A control method of a pan-tilt head is characterized by comprising the following steps:
determining first attitude information of the holder through an attitude sensor;
determining the rotation angle of a driving motor of one or more shafts of the holder;
determining error attitude information of an attitude sensor according to the first attitude information and the rotation angle;
and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder.
2. The control method according to claim 1,
the step of determining error attitude information of the attitude sensor based on the first attitude information and the rotation angle includes:
and determining reference attitude information of the holder according to the rotation angle, and determining error attitude information of an attitude sensor according to the reference attitude information and the first attitude information.
3. The control method according to claim 2,
the step of determining the reference attitude information of the holder according to the rotation angle comprises the following steps:
and converting each rotation angle into a corresponding quaternion, and determining the reference attitude information of the holder according to the quaternion of the rotation angle.
4. The control method according to claim 2 or 3,
the step of determining the reference attitude information of the holder according to the rotation angle comprises the following steps:
setting attitude information of a base of the holder;
and determining reference attitude information of the holder according to the attitude information of the base and the rotation angle.
5. The control method according to claim 4,
the method for determining the reference attitude information of the holder according to the attitude information of the base and the rotation angle comprises the following steps:
and setting a quaternion of the attitude of the base of the holder, and determining reference attitude information of the holder according to the quaternion of the attitude of the base and the quaternion obtained by converting each rotation angle.
6. The control method according to claim 5,
the step of determining the reference attitude information of the holder according to the quaternion of the attitude of the base and the quaternion obtained by converting each of the rotation angles includes:
and multiplying the quaternion of the attitude of the base by the quaternion obtained by converting each rotation angle respectively, and determining the reference attitude information according to the quaternion obtained after multiplication.
7. The control method according to any one of claims 2 to 3 and 5 to 6,
the step of determining error attitude information of an attitude sensor based on the reference attitude information and the first attitude information comprises:
and determining the error attitude information according to the quaternion of the reference attitude and the quaternion of the first attitude.
8. The control method according to claim 7,
determining the error attitude information from the quaternion of the reference attitude and the quaternion of the first attitude comprises:
and multiplying the quaternion of the reference attitude by the quaternion of the first attitude, and determining the error attitude information according to the multiplied quaternion.
9. The control method according to any one of claims 2 to 3, 5 to 6 and 8,
the error attitude information is attitude difference information between the first attitude information and the reference attitude information.
10. The control method according to any one of claims 1 to 3, 5 to 6 and 8,
the step of correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder comprises the following steps:
and determining an error attitude correction amount of unit time according to the error attitude information, and correcting the first attitude information according to the error attitude information correction amount to obtain the current attitude information of the holder.
11. The control method according to any one of claims 1 to 3, 5 to 6 and 8,
the step of correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder comprises the following steps:
and correcting the first attitude information according to the error attitude information by utilizing one or more of extended Kalman filtering, complementary filtering and smooth filtering to obtain the current attitude information of the holder.
12. The control method according to any one of claims 1 to 3, 5 to 6 and 8,
the determining the rotation angle of the driving motor of one or more axes of the pan/tilt head comprises:
and determining the rotation angle of the driving motor of one or more shafts of the holder system by using at least one of a potentiometer, a Hall sensor and a photoelectric encoder.
13. A head, comprising:
the attitude sensor is used for determining first attitude information of the holder;
an angle sensor for determining the rotation angle of the drive motor of one or more axes of the head;
a processor to:
determining error attitude information of an attitude sensor according to the first attitude information and the rotation angle;
and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder.
14. A head according to claim 13,
the processor is specifically configured to:
and determining reference attitude information of the holder according to the rotation angle, and determining error attitude information of an attitude sensor according to the reference attitude information and the first attitude information.
15. A head according to claim 14,
the processor is specifically configured to:
and converting each rotation angle into a corresponding quaternion, and determining the reference attitude information of the holder according to the quaternion of the rotation angle.
16. A head according to claim 14 or 15,
the processor is specifically configured to:
setting attitude information of a base of the holder;
and determining reference attitude information of the holder according to the attitude information of the base and the rotation angle.
17. A head according to claim 16,
the processor is specifically configured to:
and setting a quaternion of the attitude of the base of the holder, and determining reference attitude information of the holder according to the quaternion of the attitude of the base and the quaternion obtained by converting each rotation angle.
18. A head according to claim 17,
the processor is specifically configured to:
and multiplying the quaternion of the attitude of the base by the quaternion obtained by converting each rotation angle respectively, and determining the reference attitude information according to the quaternion obtained after multiplication.
19. A head according to any one of claims 14-15 and 17-18,
the processor is specifically configured to:
and determining the error attitude information according to the quaternion of the reference attitude and the quaternion of the first attitude.
20. A head according to claim 19,
the processor is specifically configured to:
and multiplying the quaternion of the reference attitude by the quaternion of the first attitude, and determining the error attitude information according to the multiplied quaternion.
21. A head according to any one of claims 14-15, 17-18 and 20,
the error attitude information is attitude difference information between the first attitude information and the reference attitude information.
22. A head according to any one of claims 13-15, 17-18 and 20,
the processor is specifically configured to:
and determining an error attitude correction amount of unit time according to the error attitude information, and correcting the first attitude information according to the error attitude information correction amount to obtain the current attitude information of the holder.
23. A head according to any one of claims 13-15, 17-18 and 20,
the processor is specifically configured to:
and correcting the first attitude information according to the error attitude information by utilizing one or more of extended Kalman filtering, complementary filtering and smooth filtering to obtain the current attitude information of the holder.
24. A head according to any one of claims 13-15, 17-18 and 20,
the angle sensor comprises at least one of a potentiometer, a Hall sensor and a photoelectric encoder.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2017/081471 WO2018191964A1 (en) | 2017-04-21 | 2017-04-21 | Camera mount control method, and camera mount |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108700252A CN108700252A (en) | 2018-10-23 |
| CN108700252B true CN108700252B (en) | 2020-02-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201780004873.1A Active CN108700252B (en) | 2017-04-21 | 2017-04-21 | Control method of holder and holder |
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| Country | Link |
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| CN (1) | CN108700252B (en) |
| WO (1) | WO2018191964A1 (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020087354A1 (en) * | 2018-10-31 | 2020-05-07 | 深圳市大疆创新科技有限公司 | Vertical stability augmentation mechanism and control method therefor, as well as movable device |
| CN112334855A (en) * | 2019-10-30 | 2021-02-05 | 深圳市大疆创新科技有限公司 | Method and device for calibrating holder system, holder system and computer readable medium |
| CN111707290A (en) * | 2020-06-12 | 2020-09-25 | 浙江大学 | Automatic calibration turntable of three-degree-of-freedom sensor |
| CN113316748A (en) * | 2020-08-25 | 2021-08-27 | 深圳市大疆创新科技有限公司 | Control method of holder, holder and storage medium |
| CN112135124A (en) * | 2020-09-24 | 2020-12-25 | 苏州科达科技股份有限公司 | Method, device and system for calibrating and detecting position of holder |
| CN113791646A (en) * | 2021-08-16 | 2021-12-14 | 上海智能网联汽车技术中心有限公司 | Road side intelligent holder multi-sensor fusion control method and equipment |
| CN114115364A (en) * | 2021-12-03 | 2022-03-01 | 重庆市亿飞智联科技有限公司 | Holder control method, holder control device, holder control equipment and storage medium |
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| CN108700252A (en) | 2018-10-23 |
| WO2018191964A1 (en) | 2018-10-25 |
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