CN110914781A - Control method and control device of holder, holder and moving trolley - Google Patents

Control method and control device of holder, holder and moving trolley Download PDF

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Publication number
CN110914781A
CN110914781A CN201880039845.8A CN201880039845A CN110914781A CN 110914781 A CN110914781 A CN 110914781A CN 201880039845 A CN201880039845 A CN 201880039845A CN 110914781 A CN110914781 A CN 110914781A
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China
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axis
attitude
preset
component
pan
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CN201880039845.8A
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Chinese (zh)
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刘帅
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SZ DJI Technology Co Ltd
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SZ DJI Technology Co Ltd
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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
    • G05D1/02—Control of position or course in two dimensions
    • 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
    • G05D1/10—Simultaneous control of position or course in three dimensions

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  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Studio Devices (AREA)

Abstract

A control method of a pan-tilt comprises the following steps: acquiring a measurement attitude of the holder, wherein the measurement attitude comprises a measurement component of a preset axis, and the preset axis is an axis which does not need attitude control in the holder; and controlling the difference between the measured component of the preset axis and the expected component of the preset axis in the expected attitude of the holder to be within a preset difference range. By the control method, the influence of the output of the preset shaft on the attitude control of the holder can be reduced, and the condition of control saturation is avoided. The control device of the cradle head, the cradle head comprising the control device and the mobile trolley comprising the cradle head are further included.

Description

Control method and control device of holder, holder and moving trolley Technical Field
The application relates to the technical field of holder control, in particular to a holder control method, a holder control device, a holder and a mobile trolley.
Background
In the related art, the three-axis pan/tilt head includes a yaw (yaw) axis, a roll (roll) axis, and a pitch (pitch) axis. The two-axis tripod head comprises two axes of a yaw axis, a roll axis and a pitch axis. The single-shaft holder comprises one shaft of a yaw shaft, a roll shaft and a pitch shaft. However, for example, a two-axis pan/tilt only needs to control two axes, and a single-axis pan/tilt only needs to control one axis, but when the attitude control is performed on the two-axis pan/tilt or the single-axis pan/tilt, the output control is still performed on the axes that do not exist in the pan/tilt. Therefore, in this case, performing output control on an axis that does not exist originally easily causes control saturation, and affects output control on other axes that exist in the pan/tilt head, which is not favorable for attitude control of the pan/tilt head.
Disclosure of Invention
The embodiment of the application provides a control method and a control device of a cloud deck, the cloud deck and a mobile trolley.
The application provides a control method of a cloud deck, which comprises the following steps:
acquiring a measurement attitude of the holder, wherein the measurement attitude comprises a measurement component of a preset axis, and the preset axis is an axis which does not need attitude control in the holder;
and controlling the difference between the measurement component of the preset axis and the expected component of the preset axis in the expected attitude of the holder to be within a preset difference range.
According to the control method of the cloud platform, the difference between the measurement component and the expected component of the preset shaft is within the preset difference range, so that the influence of the output of the preset shaft on the attitude control of the cloud platform can be reduced, and the situation of control saturation is avoided.
The application provides a control device of a tripod head, the control device comprises one or more processors, which work individually or jointly, and the processors are electrically connected with the tripod head; the processor is configured to:
acquiring a measurement attitude of the holder, wherein the measurement attitude comprises a measurement component of a preset axis, and the preset axis is an axis which does not need attitude control in the holder;
and controlling the difference between the measurement component of the preset axis and the expected component of the preset axis in the expected attitude of the holder to be within a preset difference range.
The control device of the cloud platform of this application embodiment makes the difference of predetermineeing the measurement component of axle and expectation component predetermineeing the difference scope, can reduce the influence of the output of predetermineeing the axle to the control of cloud platform gesture like this to avoid appearing the condition of control saturation.
The application provides a cloud platform, includes above-mentioned embodiment controlling means.
The cloud platform of this application embodiment makes the difference of the measurement component of presetting the axle and expectation component at the difference scope of presetting, can reduce the influence of the output of presetting the axle to cloud platform attitude control like this to avoid appearing the condition of control saturation.
The application provides a travelling car, include above-mentioned embodiment the cloud platform, the cloud platform sets up on the fuselage of travelling car.
The travelling car of this application embodiment makes the difference of predetermineeing the measurement component of axle and expectation component predetermineeing the difference scope, can reduce the output of predetermineeing the axle like this and to the attitude control's of cloud platform influence to avoid appearing the condition of control saturation.
Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.
Drawings
The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:
fig. 1 is a schematic flow chart of a control method of a pan/tilt head according to an embodiment of the present application;
fig. 2 is another schematic flow chart of a control method of a pan/tilt head according to an embodiment of the present disclosure;
fig. 3 is another schematic flow chart of a control method of a pan/tilt head according to an embodiment of the present disclosure;
FIG. 4 is a block schematic diagram of a pan and tilt head according to an embodiment of the present application;
fig. 5 is a schematic structural view of a pan/tilt head according to an embodiment of the present application;
fig. 6 is a block diagram of a mobile cart according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to embodiments of the present application, 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 and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
In the description of the present application, it is to be understood that the terms "first", "second" 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 application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, it is to 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 meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application 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, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Reference will now be made in detail to embodiments of the present application, 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 and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.
Referring to fig. 1 to 6, the method for controlling a pan/tilt head according to the embodiment of the present disclosure may be implemented by the control device 10 of the pan/tilt head according to the embodiment of the present disclosure, and is applied to the mobile cart 100 according to the embodiment of the present disclosure. The control method of the holder comprises the following steps:
step S10: acquiring a measurement attitude of the pan/tilt head 20, wherein the measurement attitude comprises a measurement component of a preset axis, and the preset axis is an axis which does not need attitude control in the pan/tilt head 20;
step S20: and controlling the difference between the measured component of the preset axis and the expected component of the preset axis in the expected posture of the pan-tilt 20 to be within a preset difference range.
According to the control method of the cloud platform, the difference between the measurement component and the expected component of the preset shaft is in the preset difference range, so that the influence of the output of the preset shaft on the attitude control of the cloud platform 20 can be reduced, and the situation of control saturation is avoided.
It is understood that the pan/tilt head 20 includes a preset axis and an adjustable axis (wherein the pan/tilt head 20 includes the preset axis and does not mean that the preset axis exists in the structural entity of the pan/tilt head 20). The attitude of the pan/tilt head 20 includes a component of a preset axis and a component of an adjustable axis. The preset axis is an axis without degree of freedom in the pan/tilt head 20, that is, the attitude control is not required. The inability to control the adjustable axis of the head 20 is understood to mean the inability to control the rotation of the adjustable axis arm. In practical application, the expected component of the preset axis is usually set to be zero, and when the measurement component of the preset axis is large, the total angle error calculated by the measurement attitude and the expected attitude of the pan/tilt head 20 will be large, so that the condition of small angle approximation cannot be met, and the measurement attitude and the expected attitude cannot be processed by using the condition of small angle approximation. Meanwhile, since the preset axis is an axis that does not need to be subjected to attitude control, when the attitude of the pan/tilt head 20 is controlled, since the components of the axes in the attitude measurement are still actually measured, when the difference between the measurement attitude and the expected attitude is controlled, the error output is saturated due to the fact that the deviation between the measurement component of the preset axis in the measurement attitude and the expected component of the preset axis in the expected attitude is too large, and the adjustable axis of the pan/tilt head 20 cannot be controlled or is not well controlled, that is, the control saturation occurs. In this application, make the difference of the measurement component of predetermineeing the axle and expectation component keep predetermineeing the difference scope, can reduce the total angle error of measurement gesture and expectation gesture, avoided original angle error to satisfy the approximate condition of small-angle, and can use the approximate condition processing of small-angle to measure gesture and expectation gesture and can not use the approximate condition processing's of small-angle the condition, simultaneously, also effectively avoided error output saturation, make the adjustable axle of cloud platform 20 can control. Thus, the situation of control saturation of the pan/tilt head 20 is avoided.
The attitude of the pan/tilt head 20 can be expressed by quaternion or euler angle, and the quaternion and euler angle can be converted into each other by a corresponding formula. It is understood that the representation form of the attitude in terms of quaternion or euler angle and the formula interconversion relationship between quaternion and euler angle can refer to the relevant technology of the holder attitude control, and the specific calculation process is not expanded in detail here.
The measurement attitude is obtained by real-time measurement, and the expected attitude can be set by a user or a default setting and can be manually input by the user. In the present application, for example, the measurement attitude and the desired attitude of the pan/tilt head 20 are represented by quaternions, and the measurement attitude and the desired attitude of the pan/tilt head are converted from quaternions to euler angles, so that the measurement component and the desired component of the preset axis can be obtained. The preset difference range may include zero, a preset value, and a range between zero and the preset value. The preset value can be specifically set according to the control precision.
Specifically, the cradle head 20 may be a stability enhancing device and a supporting device for mounting and fixing the load 110 such as a camera, a sensor, or a shooting device. The pan/tilt head 20 may be a single-axis pan/tilt head, a two-axis pan/tilt head, or a three-axis pan/tilt head. In the present embodiment, the holder 20 is a three-axis holder as an example for further explanation. Referring to fig. 5, the pan/tilt head 20 may include a yaw axis arm 21, a roll axis arm 23, a pitch axis arm 25, a yaw axis motor 22 for controlling the yaw axis arm 21 to rotate, a roll axis motor 24 for controlling the roll axis arm 23 to rotate, and a pitch axis motor 26 for controlling the pitch axis arm 25 to rotate, and the yaw axis motor 22, the roll axis motor 24, and the pitch axis motor 26 correspondingly control the yaw axis arm 21, the roll axis arm 23, and the pitch axis arm 25 to rotate, so as to control the attitude of the pan/tilt head 20.
When one or two of them axles of triaxial cloud platform are for predetermineeing the axle (predetermine the motor that the axle corresponds and locked, predetermine the axle arm and can not rotate, predetermine each axle promptly and can correspond one and predetermine axle arm), the triaxial cloud platform can be used as diaxon cloud platform or unipolar cloud platform. For example, the roll axis of the three-axis pan/tilt head is a preset axis, i.e. the roll axis motor 24 is locked and the roll axis arm 23 cannot rotate.
Referring to fig. 2, in some embodiments, after step S20, the control method further includes:
step S30: the attitude of the pan/tilt head 20 is controlled based on the measured attitude and the desired attitude.
Specifically, referring to fig. 3, step S30 includes:
step S32: determining a pose difference between the desired pose and the measured pose;
step S34: and controlling the adjustable axis of the holder 20 according to the attitude difference to meet the expected component of the adjustable axis in the expected attitude, wherein the adjustable axis is the axis in the holder 20 which needs attitude control.
It is understood that the measurement attitude of the pan/tilt head 20 is converted from quaternion to euler angle to obtain the measurement component of the preset axis, and the desired attitude of the pan/tilt head 20 is converted from quaternion to euler angle to obtain the desired measurement component of the preset axis. By changing the measurement component or the desired component of the preset axis, the difference between the measurement component of the preset axis and the desired component of the preset axis in the desired attitude of the pan/tilt head 20 is controlled to be within the preset difference range. The modified components of the preset axis and the measured components of the adjustable axis, expressed in euler angles, are then converted into the actually used measurement poses, expressed in quaternions. The attitude difference can be obtained by subtracting the expected attitude from the actually adopted measured attitude. The adjustable axis is an axis of the pan/tilt head 20 that needs to be controlled by the attitude, that is, the arm of the adjustable axis can be controlled to rotate. In this way, it is effectively prevented that the deviation between the measurement component of the preset axis in the measurement attitude and the expected component of the preset axis in the expected attitude is too large, which may affect the control of the adjustable axis in the pan/tilt head 20.
Specifically, step S34 includes: the attitude difference is processed using a small angle approximation to control the adjustable axis of the pan/tilt head 20 to meet the desired component of the adjustable axis in the desired attitude.
It will be appreciated that the desired attitude qtar and the actually used measured attitude qmeas may both be represented by quaternions, with qtar ═ qmeas × qerr, and qerr representing the attitude difference. Therefore, the difference between the desired attitude qtar and the actually used measured attitude qmeas may be used to obtain an inverse of the attitude difference qerr — qmea in the body coordinate system (e.g., a coordinate system established with reference to the load 110). And after obtaining the attitude difference qerr, converting the attitude difference qerr into angular errors ang-err-x, ang-err-y and ang-err-z of three coordinate axes XYZ on the body coordinate system by using a small-angle approximation formula. Since the angular differences of the three coordinate axes XYZ are proportional to the desired body angular velocity, the angular differences of the three coordinate axes XYZ can be converted from the body coordinate system to a joint coordinate system (e.g., a coordinate system established with reference to the base 30 of the pan/tilt head) by an inverse jacobian matrix to obtain the desired joint angular velocity. The desired angular velocity of the joint is processed in a closed loop manner to obtain a desired torque, and the desired torque is sent to a motor driver corresponding to the adjustable shaft to drive the adjustable shaft arm to rotate by the motor, so that the adjustable shaft of the holder 20 meets a desired component of the adjustable shaft in a desired posture, and the holder 20 is rotated to the desired posture.
Further, the small angle approximation formula is: when theta is less than 5 degrees, sin theta is approximately equal to theta, and cos theta is approximately equal to theta1-θ2And/2, tan theta is approximately equal to theta. When the difference between the measurement component and the expected component of the preset axis of the pan/tilt 20 is within the preset difference range, the total angle error (the total angle error includes the angle errors ang-err-x, ang-err-y and ang-err-z of the three coordinate axes XYZ on the coordinate system of the machine body) can be reduced, so that the angle error can process the expected attitude and the measurement attitude by using the condition of small angle approximation under the condition of meeting the condition of small angle approximation, the control of the adjustable axis in the pan/tilt 20 is realized, meanwhile, the error output saturation is avoided, and the adjustable axis of the pan/tilt 20 can be better controlled. Therefore, the situation of control saturation of the pan/tilt 20 can be avoided, the expected attitude and the measurement attitude can be processed by using the small-angle approximate condition when the small-angle approximate condition can be used originally, and the processing modes of the expected attitude and the measurement attitude are increased. Wherein, three coordinate axes X-axis, Y-axis and Z-axis respectively correspond to the pitch axis, the roll axis and the yaw axis.
In certain embodiments, step S20 includes: the measured component of the control preset axis is equal to the desired component of the preset axis in the desired attitude of the head 20.
It can be understood that the preset axis is an axis having no degree of freedom in the pan/tilt head 20, and does not need to be subjected to attitude control. In order to reduce the influence of the output of the preset axis on the attitude control of the pan/tilt head 20 (i.e., the attitude control of the adjustable axis) to avoid the occurrence of control saturation, the difference between the measurement component of the preset axis and the expected component of the preset axis in the expected attitude of the pan/tilt head 20 may be controlled within a preset difference range. Preferably, the measured component of the preset axis is controlled to be equal to the expected component of the preset axis in the expected attitude of the pan/tilt head 20, i.e. the difference between the measured component of the preset axis and the expected component of the preset axis in the expected attitude of the pan/tilt head 20 is zero. Specifically, the desired component of the preset axis in the desired attitude of the pan/tilt head 20 may be adjusted to the measured component of the preset axis. Of course, the measured component of the preset axis may also be adjusted to the desired component of the preset axis in the desired attitude of the pan/tilt head 20. Preferably, the desired component of the preset axis is zero.
In some embodiments, the pan/tilt head 20 is not provided with a preset axis, i.e. there is no preset axis in the structural entity of the pan/tilt head 20. That is, the preset axis arm does not exist in the structural entity of the pan/tilt head 20.
It can be appreciated that when cloud platform 20 is the unipolar cloud platform, cloud platform 20 is provided with an adjustable axle, and can not set up one or two and predetermine the axle, and for example the unipolar cloud platform can be yaw axis unipolar cloud platform, or roll axis unipolar cloud platform, or pitch axis unipolar cloud platform. In one example, when the single-axis pan/tilt head is a yaw axis single-axis pan/tilt head, the adjustable axis is a yaw axis and the preset axis is a roll axis and/or a pitch axis.
When the cradle head 20 is a two-axis cradle head, the cradle head 20 is provided with two adjustable axes, and may not be provided with one preset axis. In one example, the adjustable axes of the two-axis pan-tilt head are a pitch axis and a yaw axis, and the preset axis is a roll axis.
In some embodiments, the head 20 may comprise a preset axis, i.e. a preset axis is present in the structural entity of the head 20. At this time, the relative attitude of the preset axis to the base 30 of the head remains unchanged. That is, the relative attitude of the preset-axis arm to the base 30 of the head remains unchanged.
It can be understood that, when the holder 20 is a two-axis holder, one of the axes that actually exists can be used as a preset axis, and the other axis that actually exists can be used as an adjustable axis, and at this time, the two-axis holder can be used as a single-axis holder.
When the holder 20 is a three-axis holder, one of the axes can be a preset axis, the other two axes can be an adjustable axis, and the three-axis holder can be used as a two-axis holder. Of course, the three-axis pan-tilt may also be such that two of the axes are preset axes, and the other axis is an adjustable axis, and at this time, the three-axis pan-tilt can be used as a single-axis pan-tilt. In one example, the preset axis may comprise a roll axis. In some embodiments, before controlling the difference between the measured component of the preset axis and the desired component of the preset axis in the desired attitude of the pan/tilt head to be within the preset difference range, the control method further comprises: and locking the preset shaft to keep the relative posture of the preset shaft and the base of the tripod head unchanged.
It can be understood that, when the pan/tilt head 20 includes the preset shaft actually existing in the solid structure and does not need to be subjected to the attitude control, the preset shaft may be locked (for example, a motor corresponding to the preset shaft is locked) through a user input instruction or a default setting, so that the preset shaft has no degree of freedom, the preset shaft arm cannot rotate, and the relative attitude of the preset shaft arm and the base 30 of the pan/tilt head remains unchanged.
In some embodiments, after locking the preset axis so that the relative attitude of the preset axis and the base of the head remains unchanged, the method further comprises: and unlocking the preset shaft to enable the preset shaft to perform attitude control.
It can be understood that when the preset shaft needs to be subjected to attitude control, the preset shaft can be unlocked through a user input instruction (namely, the motor corresponding to the preset shaft is unlocked), so that the preset shaft arm can rotate to perform attitude control. Of course, whether the preset shaft needs to be unlocked or not can be automatically judged through detection, for example, whether a motor corresponding to the preset shaft is unlocked or not can be detected, and the preset shaft can be automatically unlocked by default when the preset shaft needs to be unlocked or can be unlocked.
So, through locking or unblock the preset axle that actually exists in the structural entity to cloud platform 20, can avoid presetting the control saturation to cloud platform 20 that the difference between the measurement component of axle and the expectation component leads to when not needing control to preset the axle, simultaneously, can control again and preset the axle as required, realize presetting the corresponding function of axle, and then control cloud platform 20 and accomplish corresponding operation.
In some embodiments, the measured attitude is obtained using inertial measurement unit measurements.
In one example, an Inertial Measurement Unit (IMU) may include three single-axis accelerometers and three single-axis gyroscopes. The accelerometer can detect the acceleration signal of the three axes of the holder 20 in the body coordinate system, and the gyroscope detects the angular velocity signal of the holder 20 relative to the body coordinate system. The inertial measurement unit measures the angular velocity and the acceleration of the pan/tilt head 20 in the three-dimensional space, that is, the measurement attitude of the pan/tilt head 20 can be calculated by using an integral method.
Referring to fig. 4, the control device 10 of the pan/tilt head according to the present embodiment of the invention comprises one or more processors 12, operating individually or jointly, the processors 12 being electrically connected to the pan/tilt head 20. The control device 10 of the pan/tilt head may include a memory 14, and the memory 14 may include a volatile memory (volatile memory) such as a random-access memory (RAM); the memory 14 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); for storing program instructions. The processor 12 may call a program instruction to implement a corresponding pan/tilt control method. Specifically, the processor 12 is configured to: acquiring a measurement attitude of the pan/tilt head 20, wherein the measurement attitude comprises a measurement component of a preset axis, and the preset axis is an axis which does not need attitude control in the pan/tilt head 20; and controlling the difference between the measured component of the preset axis and the expected component of the preset axis in the expected posture of the pan/tilt head 20 to be within a preset difference range.
That is, steps S10 and S20 of the control method of the pan/tilt head according to the embodiment of the present application may be implemented by the processor 12.
The control device 10 of the cradle head according to the embodiment of the present application enables the difference between the measurement component and the expected component of the preset shaft to be in the preset difference range, so that the influence of the output of the preset shaft on the attitude control of the cradle head 20 can be reduced, and the occurrence of the control saturation situation can be avoided.
It should be noted that the above explanation of the embodiments and advantageous effects of the control method of the pan/tilt head is also applicable to the control device 10 of the pan/tilt head of the present embodiment, and is not detailed here to avoid redundancy.
In some embodiments, the processor 12 is configured to: the attitude of the pan/tilt head 20 is controlled based on the measured attitude and the desired attitude.
That is, step S30 of the control method of the pan/tilt head may be implemented by the processor 12.
In some embodiments, the processor 12 is configured to: determining a pose difference between the desired pose and the measured pose; and controlling the adjustable axis of the holder 20 according to the attitude difference to meet the expected component of the adjustable axis in the expected attitude, wherein the adjustable axis is the axis in the holder 20 which needs attitude control.
That is, steps S32 and S34 of the control method of the pan/tilt head may be implemented by the processor 12.
In some embodiments, the processor 12 is configured to: the attitude difference is processed using a small angle approximation to control the adjustable axis of the pan/tilt head 20 to meet the desired component of the adjustable axis in the desired attitude.
In some embodiments, the processor 12 is configured to: the measured component of the control preset axis is equal to the desired component of the preset axis in the desired attitude of the head 20.
In some embodiments, the processor 12 is configured to: the desired component of the preset axis in the desired attitude of the pan/tilt head 20 is adjusted to the measured component of the preset axis.
In some embodiments, the processor 12 is configured to: the measured component of the preset axis is adjusted to the desired component of the preset axis in the desired attitude of the pan/tilt head 20.
In some embodiments, the desired component of the preset axis is zero.
In some embodiments, the pan/tilt head 20 is not provided with a preset axis.
In some embodiments, the head 20 comprises a preset axis, the relative attitude of which to the base 30 of the head remains unchanged.
In some embodiments, before controlling the difference between the measured component of the preset axis and the desired component of the preset axis in the desired attitude of the pan/tilt head to be within a preset difference range, the processor 12 is configured to: and locking the preset shaft to keep the relative posture of the preset shaft and the base of the tripod head unchanged.
In some embodiments, after locking the preset axis so that the relative attitude of the preset axis and the base of the head remains unchanged, the processor 12 is further configured to: and unlocking the preset shaft to enable the preset shaft to perform attitude control.
In some embodiments, the preset axis comprises a roll axis.
In certain embodiments, the pan/tilt head 20 comprises a single axis pan/tilt head, a two axis pan/tilt head, or a three axis pan/tilt head.
In some embodiments, the measured attitude is obtained using inertial measurement unit measurements.
Referring to fig. 4, the embodiment of the present application further provides a cradle head 20. The head 20 may include a control device 10 of the head, and in particular, the head 20 includes a shaft assembly 210, one or more processors 12, and a memory 14. The processors 12 are electrically connected to the shaft assembly 210, and one or more of the processors 12 individually or collectively operate as a control method for the pan and tilt head implementing the above-described embodiments.
The cloud platform 20 of this application embodiment makes the difference of the measurement component of predetermineeing the axle and expectation component predetermine the difference scope, can reduce the influence of the output of predetermineeing the axle to cloud platform 20's attitude control like this to avoid appearing the condition of control saturation.
Alternatively, the pan/tilt head 20 may comprise a single axis pan/tilt head, a two axis pan/tilt head, or a three axis pan/tilt head. The cradle head 20 is connected with a cradle head base 30. In the present embodiment, the holder 20 is a three-axis holder as an example for further explanation. Specifically, for the three-axis pan-tilt, the shaft assembly 210 includes a yaw axis arm 21, a roll axis arm 23, a pitch axis arm 25, a yaw axis motor 22 for controlling the yaw axis arm 21 to rotate, a roll axis motor 24 for controlling the roll axis arm 23 to rotate, and a pitch axis motor 26 for controlling the pitch axis arm 25 to rotate, and by the rotation of the yaw axis arm 21, the roll axis arm 23, and the pitch axis arm 25, the attitude of the three-axis pan-tilt can be controlled.
When one or two of the axes of the three-axis holder are preset axes (for example, the motor corresponding to the preset axes is locked), the three-axis holder can be used as a two-axis holder or a single-axis holder. For example, the roll axis of the three-axis pan/tilt head is a preset axis, i.e. the roll axis motor 24 is locked and the roll axis arm 23 cannot rotate. The difference between the measurement component and the expected component of the preset axis of the cradle head 20 is controlled within the preset difference range, so that the total angle error can be reduced, the angle error possibly meets the condition of small-angle approximation, the expected attitude and the measurement attitude can be processed by utilizing the condition of small-angle approximation when the condition of small-angle approximation is met, meanwhile, the error output saturation is avoided, and the adjustable axis of the cradle head 20 can be controlled. Thus, the situation of control saturation of the pan/tilt head 20 is avoided.
Further, referring to fig. 5, a load 110 may be mounted on the cradle head 20, the load 110 may be an image capturing device or an image capturing device (such as a camera, a camcorder, an infrared image capturing device, an ultraviolet image capturing device, or the like), an audio capturing device (such as a parabolic reflection microphone), an infrared image capturing device, a shooting device, or the like, and the load 110 may provide static sensing data (such as a picture) or dynamic sensing data (such as a video). The attitude of the load 110 may be controlled by the pan and tilt head 20.
It should be noted that the above explanation of the embodiments and advantageous effects of the control method and control device 10 for the pan/tilt head is also applicable to the pan/tilt head 20 of the present embodiment, and is not detailed here to avoid redundancy.
Referring to fig. 6, the mobile cart 100 according to the embodiment of the present disclosure includes the cradle head 20 according to the above embodiment, and the cradle head 20 is disposed on the body of the mobile cart 100. Further, the mobile cart 100 further includes a shooting device 40, and the shooting device 40 is disposed on the cradle head 20.
The moving trolley 100 according to the embodiment of the present application enables the difference between the measurement component and the expected component of the preset axis to be within the preset difference range, so that the occurrence of the control saturation condition can be avoided, and the influence of the output of the preset axis on the attitude control of the pan/tilt head 20 is reduced.
Specifically, the pan/tilt head 20 is disposed on the body of the mobile cart 100 through the base 30 of the pan/tilt head, and the shooting device 40 is disposed on the pan/tilt head 20. The moving cart 100 can realize attitude control of the pan/tilt head 20 by the control device 10 of the pan/tilt head to control the attitude of the shooting device 40.
In some embodiments, the pan/tilt head 20 may be a two-axis pan/tilt head, the adjustable axes include a yaw axis and a pitch axis, and the predetermined axis is a roll axis.
It should be noted that the above explanation of the embodiment and the advantageous effects of the pan/tilt head control method and the control device 10 are also applicable to the mobile cart 100 of the present embodiment, and are not detailed here to avoid redundancy.
In the description herein, references to the description of the terms "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 present application. In this specification, schematic representations of the above terms 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 in the process, and the scope of the preferred embodiments of the present application includes additional implementations 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 application.
The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions for implementing 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 application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be performed by software or firmware stored in a 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 known in the art, may be used: a discrete logic circuit having a logic gate circuit for performing 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 in the method of implementing the above embodiments may be implemented by hardware associated with instructions of a program, which may be stored in a computer-readable storage medium, and which, when executed, includes one or a combination of the steps of the method embodiments.
In addition, each functional unit in the embodiments of the present application 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 executed in the form of hardware or in the form of a software functional module. The integrated module, if executed 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 application have been shown and described above, it is to be understood that the above embodiments are exemplary and not to be construed as limiting the present application, and that changes, 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 application.

Claims (33)

  1. A control method of a pan-tilt head, the control method comprising:
    acquiring a measurement attitude of the holder, wherein the measurement attitude comprises a measurement component of a preset axis, and the preset axis is an axis which does not need attitude control in the holder;
    and controlling the difference between the measurement component of the preset axis and the expected component of the preset axis in the expected attitude of the holder to be within a preset difference range.
  2. The control method according to claim 1, wherein after the difference between the measured component for controlling the preset axis and the desired component for the preset axis in the desired attitude of the pan/tilt head is within a preset difference range, the control method further comprises:
    and controlling the attitude of the holder according to the measurement attitude and the expected attitude.
  3. The control method of claim 2, wherein said controlling the attitude of the pan/tilt head according to the measured attitude and the desired attitude comprises:
    determining a pose difference for the desired pose and the measured pose;
    and controlling an adjustable shaft of the holder according to the attitude difference to meet the expected component of the adjustable shaft in the expected attitude, wherein the adjustable shaft is a shaft needing attitude control in the holder.
  4. The control method according to claim 3, wherein said controlling the adjustable axis of the pan/tilt head according to the attitude difference satisfies a desired component of the adjustable axis in the desired attitude, comprising:
    and processing the attitude difference by utilizing a small-angle approximate condition to control the adjustable axis of the holder to meet the expected component of the adjustable axis in the expected attitude.
  5. The control method according to claim 1, wherein said controlling that the difference between the measured component of the preset axis and the desired component of the preset axis in the desired attitude of the pan/tilt head is within a preset difference range comprises:
    and controlling the measurement component of the preset axis to be equal to the expected component of the preset axis in the expected attitude of the holder.
  6. The control method according to claim 5, wherein said controlling the measured component of the preset axis to be equal to the desired component of the preset axis in the desired attitude of the head comprises:
    and adjusting the expected component of the preset axis in the expected attitude of the holder to be the measurement component of the preset axis.
  7. The control method according to claim 5, wherein said controlling the measured component of the preset axis to be equal to the desired component of the preset axis in the desired attitude of the pan/tilt head comprises:
    and adjusting the measurement component of the preset axis to be the expected component of the preset axis in the expected attitude of the holder.
  8. The control method of claim 7, wherein the desired component of the preset axis is zero.
  9. The control method according to any one of claims 1 to 8, wherein the pan/tilt head is not provided with the preset axis.
  10. The control method according to any one of claims 1 to 8, characterized in that said head comprises said preset axis, the relative attitude of which with respect to the base of said head remains unchanged.
  11. The control method according to claim 10, wherein before the difference between the measured component for controlling the preset axis and the desired component for the preset axis in the desired attitude of the pan/tilt head is within a preset difference range, the control method further comprises:
    and locking the preset shaft so as to keep the relative posture of the preset shaft and the base of the holder unchanged.
  12. The control method according to claim 11, wherein after said locking the preset axis so that the relative attitude of the preset axis and the base of the head remains unchanged, the method further comprises:
    and unlocking the preset shaft to enable the preset shaft to perform attitude control.
  13. The control method according to any one of claims 1 to 8, wherein the preset axis comprises a roll axis.
  14. The control method according to any one of claims 1 to 8, wherein the pan-tilt comprises a single-axis pan-tilt, a two-axis pan-tilt, or a three-axis pan-tilt.
  15. The control method according to any one of claims 1 to 8, characterized in that the measurement attitude is obtained using an inertial measurement unit measurement.
  16. A control device of a head, characterized in that it comprises one or more processors, working individually or jointly, said processors being electrically connected to said head;
    the processor is configured to:
    acquiring a measurement attitude of the holder, wherein the measurement attitude comprises a measurement component of a preset axis, and the preset axis is an axis which does not need attitude control in the holder;
    and controlling the difference between the measurement component of the preset axis and the expected component of the preset axis in the expected attitude of the holder to be within a preset difference range.
  17. The control device of claim 16, wherein the processor is further configured to:
    and controlling the attitude of the holder according to the measurement attitude and the expected attitude.
  18. The control device of claim 17, wherein the processor is configured to:
    determining a pose difference for the desired pose and the measured pose;
    and controlling an adjustable shaft of the holder according to the attitude difference to meet the expected component of the adjustable shaft in the expected attitude, wherein the adjustable shaft is a shaft needing attitude control in the holder.
  19. The control device of claim 18, wherein the processor is configured to:
    and processing the attitude difference by utilizing a small-angle approximate condition to control the adjustable axis of the holder to meet the expected component of the adjustable axis in the expected attitude.
  20. The control device of claim 16, wherein the processor is to:
    and controlling the measurement component of the preset axis to be equal to the expected component of the preset axis in the expected attitude of the holder.
  21. The control device of claim 20, wherein the processor is configured to:
    and adjusting the expected component of the preset axis in the expected attitude of the holder to be the measurement component of the preset axis.
  22. The control device of claim 20, wherein the processor is configured to:
    and adjusting the measurement component of the preset axis to be the expected component of the preset axis in the expected attitude of the holder.
  23. The control device of claim 22, wherein the desired component of the predetermined axis is zero.
  24. Control device according to any one of claims 16 to 23, characterized in that said head is not provided with said preset axis.
  25. Control device according to any one of claims 16 to 23, characterized in that said head comprises said preset axis, the relative attitude of which with respect to the base of said head remains unchanged.
  26. The control apparatus of claim 25, wherein the processor is configured to, before the difference between the measured component for controlling the preset axis and the desired component for the preset axis in the desired attitude of the pan/tilt head is within a preset difference range:
    and locking the preset shaft so as to keep the relative posture of the preset shaft and the base of the holder unchanged.
  27. The control device of claim 26, wherein after said locking the preset axis to maintain the relative attitude of the preset axis and the base of the pan/tilt head constant, the processor is further configured to:
    and unlocking the preset shaft to enable the preset shaft to perform attitude control.
  28. A control device according to any one of claims 16 to 23, wherein the predetermined axis comprises a roll axis.
  29. A control device according to any one of claims 16 to 23, wherein the pan-tilt comprises a single-axis pan-tilt, a two-axis pan-tilt or a three-axis pan-tilt.
  30. A control device according to any one of claims 16 to 23, wherein the measured attitude is measured using an inertial measurement unit.
  31. A head, characterized in that it comprises a control device according to any one of claims 16 to 30.
  32. A mobile trolley comprising a head according to claim 31, said head being mounted on the body of said trolley.
  33. The mobile cart of claim 32, further comprising a firing device, wherein the firing device is positioned on the pan/tilt head.
CN201880039845.8A 2018-07-27 2018-07-27 Control method and control device of holder, holder and moving trolley Pending CN110914781A (en)

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PCT/CN2018/097559 WO2020019319A1 (en) 2018-07-27 2018-07-27 Control method and control apparatus for gimbal, gimbal, and mobile car

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