CN114585881A - Control method of holder, equipment and storage medium - Google Patents
Control method of holder, equipment and storage medium Download PDFInfo
- Publication number
- CN114585881A CN114585881A CN202080066653.3A CN202080066653A CN114585881A CN 114585881 A CN114585881 A CN 114585881A CN 202080066653 A CN202080066653 A CN 202080066653A CN 114585881 A CN114585881 A CN 114585881A
- Authority
- CN
- China
- Prior art keywords
- signal
- determining
- motor
- angle
- converted
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 122
- 230000008569 process Effects 0.000 claims abstract description 63
- 230000009191 jumping Effects 0.000 claims abstract description 36
- 238000006243 chemical reaction Methods 0.000 claims description 60
- 230000015654 memory Effects 0.000 claims description 16
- 238000004590 computer program Methods 0.000 claims description 10
- 230000001960 triggered effect Effects 0.000 claims description 5
- 238000002360 preparation method Methods 0.000 claims 2
- 230000004044 response Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 4
- 230000000694 effects Effects 0.000 description 4
- 230000010354 integration Effects 0.000 description 4
- 238000004364 calculation method Methods 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 230000007704 transition Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000003116 impacting effect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000003595 mist Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Studio Devices (AREA)
- Accessories Of Cameras (AREA)
Abstract
A control method, apparatus, pan/tilt head and storage medium of a pan/tilt head determine a rotation direction of a motor in response to a power-on operation of the pan/tilt head (S101) so that the motor rotates in accordance with the rotation direction. In the rotating process, a first signal output by the photoelectric sensor is obtained, and an electrical angle corresponding to a jump point in the first signal is determined, wherein the electrical angle is the rotating angle of the photoelectric coded disc. And then, determining the mechanical angle of the jumping point, namely the rotation angle of the motor according to the electrical angle (S104), so that the corresponding relation between the electrical angle and the mechanical angle can be obtained, and the resetting of the holder is completed. The motor rotation may then be further controlled according to the mechanical angle (S105). In the method, the motor only needs to rotate along the rotation direction from the current position until the first signal has the jump point when being reset, and the motor does not need to impact the mechanical limiting structure, so that the rotation angle of the motor is smaller than the rotation angle of the motor from the current position to the mechanical limiting structure, and the resetting speed of the holder is greatly improved.
Description
The present invention relates to the field of device control technologies, and in particular, to a method for controlling a cradle head, a device, and a storage medium.
Movable platforms such as unmanned aerial vehicles, unmanned vehicles, self-moving robots, and the like, have been widely used. Taking unmanned aerial vehicle as an example, the cloud platform can be connected unmanned aerial vehicle with shooting equipment with the help of the cloud platform to make unmanned aerial vehicle can use in numerous fields such as street view shooting, electric power inspection, traffic monitoring, rescue after calamity etc..
In the prior art, the cradle head needs to be reset firstly and then enters an attitude control state, and the resetting process can be as follows: the cradle head receives the starting signal, and a motor arranged on the cradle head can start to rotate to a mechanical limiting structure arranged near the motor. When the motor collides with the mechanical limiting structure, the corresponding relation between the mechanical angle and the electrical angle of the motor when the motor is positioned in the mechanical limiting structure can be obtained, so that the resetting is completed, and the cradle head is also successfully started. The resetting speed of the holder can be greatly reduced by the mode of resetting through colliding the mechanical limiting structure.
Disclosure of Invention
The invention provides a control method of a holder, the holder, equipment and a storage medium, which are used for improving the resetting speed of the holder.
The invention provides a control method of a cloud platform, wherein the cloud platform comprises a cloud platform body, a motor for adjusting the posture of the cloud platform body, a photoelectric sensor and a photoelectric code disc; the photoelectric coded disc rotates along with the rotating part of the motor; the photoelectric sensor is used for acquiring a signal generated by the photoelectric code disc;
the method comprises the following steps:
responding to the starting operation of the holder, and determining the rotation direction of the motor;
acquiring the first signal output by the photoelectric sensor in the process that the motor rotates along the rotating direction;
determining an electrical angle corresponding to a trip point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric coded disc;
determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is a rotation angle of the motor;
and controlling the motor to rotate according to the mechanical angle.
A second aspect of the present invention is directed to a head, comprising: the device comprises a holder body, a motor for adjusting the posture of the holder body, a photoelectric sensor, a photoelectric code disc and a control device; the photoelectric coded disc rotates along with the rotating part of the motor; the photoelectric sensor is used for acquiring a signal generated by the photoelectric code disc;
the control device comprises a memory and a processor;
the memory for storing a computer program;
the processor is configured to execute the computer program stored in the memory to implement:
responding to the starting operation of the holder, and determining the rotation direction of the motor;
acquiring the first signal output by the photoelectric sensor in the process that the motor rotates along the rotating direction;
determining an electrical angle corresponding to a jump point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric code disc;
determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is a rotation angle of the motor;
and controlling the motor to rotate according to the mechanical angle.
A third aspect of the present invention is to provide a control apparatus for a pan/tilt head, where the pan/tilt head includes a pan/tilt head body, the motor for adjusting the posture of the pan/tilt head body, the photoelectric sensor, and the photoelectric encoder; the photoelectric coded disc rotates along with the rotating part of the motor; the photoelectric sensor is used for acquiring a signal generated by the photoelectric code disc;
the apparatus comprises:
a memory for storing a computer program;
a processor for executing the computer program stored in the memory to implement:
responding to the starting operation of the holder, and determining the rotation direction of the motor;
acquiring a first signal output by a photoelectric sensor in the process that the motor rotates along the rotating direction;
determining an electrical angle corresponding to a jump point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric coded disc;
determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is a rotation angle of the motor;
and controlling the motor to rotate according to the mechanical angle.
A fourth aspect of the present invention is to provide a computer-readable storage medium, which is a computer-readable storage medium having stored therein program instructions for the control method of the pan and tilt head according to the first aspect.
The invention provides a control method of a cloud platform, the cloud platform, equipment and a storage medium.
For the holder with the structure, the corresponding control method is as follows: and responding to the starting operation of the holder, determining the rotation direction of the motor, and enabling the motor to rotate according to the rotation direction. In the rotating process, a first signal output by the photoelectric sensor is obtained, and an electrical angle corresponding to the jump point in the first signal is determined according to the rotating direction of the motor and the first signal, wherein the electrical angle is the rotating angle of the photoelectric coded disc. And determining the mechanical angle of the jumping point according to the electrical angle, namely the rotation angle of the motor. By means of the unique jumping point in the first signal, the corresponding relation between the electrical angle and the mechanical angle can be obtained, and therefore the tripod head resetting is completed. After the resetting is successful, the motor can be further controlled to rotate according to the mechanical angle, so that the cradle head enters an attitude control state.
In the method, when the holder is reset, the motor only needs to rotate along the rotation direction from the current position until the first signal has a jumping point, the motor does not need to impact the mechanical limiting structure, the rotation angle of the motor is smaller than the angle rotated by the motor impacting the mechanical limiting structure from the current position, and the reset speed of the holder is improved.
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a schematic flow chart of a method for controlling a pan/tilt head according to an embodiment of the present invention;
fig. 2 is a schematic view of a motor in the pan/tilt head according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of respective output signals of a photoelectric sensor and a magnetic field sensor in the pan/tilt head;
fig. 4 is a flowchart of a transition threshold determination method according to an embodiment of the present invention;
fig. 5 is a schematic flow chart of another pan-tilt control method according to an embodiment of the present invention;
FIG. 6 is a schematic diagram of respective output signals of a photoelectric sensor and a magnetic field sensor in the pan/tilt head;
fig. 7 is a flowchart of a method for determining a preset electrical angle and a preset electrical period according to an embodiment of the present invention;
FIG. 8 is a flow chart of another transition threshold determination method provided by an embodiment of the present invention;
FIG. 9 is a schematic diagram of the output signal of the photoelectric sensor when the photoelectric encoder is polluted;
fig. 10 is a schematic flow chart of a control method of a pan/tilt head according to another embodiment of the present invention;
fig. 11 is a schematic structural diagram of a control device of a pan/tilt head according to an embodiment of the present invention;
fig. 12 is a schematic structural diagram of a pan/tilt head according to an embodiment of the present invention;
fig. 13 is a schematic structural diagram of a control device of a pan/tilt head according to an embodiment of the present invention.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention.
Some embodiments of the invention will now be described in detail with reference to the accompanying drawings. The features of the embodiments and examples described below may be combined with each other without conflict between the embodiments.
Before describing the control method of the cradle head provided by the embodiment of the invention in detail, the reset process of the cradle head can be simply described.
In practical application, the cradle head needs to be reset first, and then the cradle head enters an attitude control stage, namely a stage of adjusting the attitude of the cradle head according to a control instruction. For the resetting process, as mentioned in the background, it is usually possible to achieve this by the motor colliding with a mechanical stop. Because the mechanical limit structure is fixed, when the motor impacts the mechanical limit structure, the rotating angle of the motor is a fixed preset angle, and the corresponding relation between the electrical angle and the mechanical angle of the motor when the motor is in the mechanical limit structure, specifically the unique corresponding relation between the electrical integral angle and the mechanical angle, can be further obtained, so that the reset is completed. For the electrical integration angle, the following description of the embodiments may be referred to.
Because in the reset process, the motor needs to rotate to collide with the mechanical limiting mechanism, the rotating angle of the motor is large, and the rotating time is long, so that the reset speed is low. In order to increase the reset speed, the control method of the holder provided by the embodiment of the invention can be used.
After the resetting is successful, the controller can further respond to a control instruction generated by a user according to the corresponding relation between the mechanical angle and the electrical angle, and the motor is controlled to rotate, so that the posture of the holder is controlled.
In the attitude control stage, in one aspect, because the cloud platform starts at every turn and all resets to along with the increase of the number of times that resets, mechanical limit structure is very likely to take place wearing and tearing, thereby the angle that has rotated when making the motor collide mechanical limit structure is no longer the angle of predetermineeing, makes the corresponding relation between mechanical angle and the electric angle no longer accurate, makes the motor pivoted angle inaccurate, finally leads to the control of cloud platform gesture also inaccurate.
In another situation, the motor is easily blocked by an obstacle during the rotation to impact the mechanical limit structure. When the motor collides with the obstacle, the controller can misunderstand that the motor collides with the mechanical limiting structure, so that the corresponding relation between wrong mechanical angles and wrong electrical angles is obtained, and the attitude control of the holder is inaccurate.
In order to obtain an accurate corresponding relation between the mechanical angle and the electrical angle and ensure the accuracy of the posture control of the holder, the holder control method provided by the embodiment of the invention can also be used.
Fig. 1 is a flowchart of a control method of a pan/tilt head according to an embodiment of the present invention. The main execution body of the control method of the pan/tilt head is a control device. It will be appreciated that the control device may be implemented as software, or a combination of software and hardware. The control equipment executes the control method of the cradle head, so that the cradle head can be quickly reset, and the motor can accurately rotate in the attitude control stage, so that the accuracy of the attitude of the cradle head is ensured. The control device in this embodiment and the following embodiments may specifically be a controller in a pan/tilt or a mobile device, and the mobile device may specifically include an unmanned aerial vehicle, a self-moving robot, an unmanned vehicle, an unmanned ship, and the like. Specifically, the method may include:
and S101, responding to the starting operation of the holder, and determining the rotation direction of the motor.
The holder may include the following: the device comprises a holder body, a motor for adjusting the posture of the holder body, a photoelectric sensor and a photoelectric code disc. The photoelectric code disc rotates with the rotating part of the motor, and the photoelectric sensor acquires a signal generated by the photoelectric code disc. The position relationship of the motor and the photoelectric code disc can be shown in figure 2.
Alternatively, the number of motors in the pan/tilt head may be multiple, typically 3, that is, a pitch axis motor, a roll axis motor, and a translation axis motor. The motor mentioned in the embodiments of the present application may be any one of the motors. And each motor in the pan-tilt needs to execute the control method provided by each embodiment in the application to realize quick reset. After resetting, a plurality of motors need rotate simultaneously, realize the control of cloud platform gesture, be the gesture of adjustment cloud platform organism particularly.
It should be noted that, each step provided by this embodiment may be applied to the actual use stage of the pan/tilt head by the user.
Based on the above description, the user may trigger a power-on operation of the pan/tilt head, in response to which the control device determines the direction of rotation of the motor. At this time, the cradle head is in a state of waiting to reset.
In an alternative mode, when the motor is at the current position, the analog signal output by the photoelectric sensor can be acquired by the control device. Alternatively, the analog signal may be a voltage signal or a current signal. Since the motor does not rotate at this time, the analog signal should be a constant signal. The control device can determine the direction of rotation of the motor from the signal values of the analog signals:
and if the signal value is larger than the preset value, determining that the motor is to rotate anticlockwise at the current position. And if the signal value is smaller than or equal to the preset value, determining that the motor rotates clockwise. The signal value may be a voltage value or a current value.
Alternatively, the analog signal output by the photoelectric sensor can be converted into a digital signal, and the rotation direction of the motor can be determined according to the level state of the digital signal:
if the level state of the digital signal is high level, it is determined that the motor is to be rotated counterclockwise at the current position. And if the level state of the digital signal is low level, determining that the motor rotates clockwise.
It should be noted that the above-mentioned ways of determining the rotation direction all follow a principle: after the motor rotates along the rotating direction, a trip point exists in a signal output by the photoelectric sensor.
S102, acquiring a first signal output by the photoelectric sensor in the process that the motor rotates along the rotating direction.
During the rotation of the motor in the rotation direction determined in step 101, the photoelectric sensor may output a first signal in real time, where the first signal may be an analog signal. And the signal value of the first signal can change continuously along with the rotation of the motor, and jump when the motor rotates to a certain angle. The jump of the signal value may specifically be a change from a value greater than a preset signal value to a value less than or equal to the preset signal value, or a change from a value less than or equal to the preset signal value to a value greater than the preset signal value. Optionally, the occurrence of the trip point in the first signal is realized by means of a code track on an opto-electronic code disc. And in this embodiment and the embodiments described below, the signal output by the photosensor can be considered to be the signal generated by the photoelectric code disc.
In order to ensure the uniformity of the description manner, the constant analog signal output by the photosensor when the motor is not rotating in step 101 may be referred to as a second signal, and the digital signal obtained after analog-to-digital conversion may be referred to as a converted second signal.
S103, determining an electrical angle corresponding to the jump point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric code disc.
During the rotation of the motor in the rotation direction, in one case, when there is no trip point in the first signal output from the photosensor, the control device controls the motor to continue rotating in that direction. In another case, when the first signal output by the photoelectric sensor has a trip point, the motor does not need to rotate further, and the controller determines the electrical angle corresponding to the trip point. The electrical angle can be the rotation angle of the photoelectric code disc, in particular to the rotation angle of the electrode pair in the motor.
For the determination of the electrical angle, optionally, in addition to the photoelectric sensor, a magnetic field sensor, such as a hall sensor, is provided in the head. The magnetic field sensor can output signals reflecting the electrical angle in real time in the rotating process of the motor. The control device can determine the output time corresponding to the jump point in the first signal and find the electrical angle at the same output time, i.e. the electrical angle corresponding to the jump point, in the signal output by the magnetic field sensor. Meanwhile, the electric period corresponding to the jump point can be determined from the signal output by the magnetic field sensor. Wherein, the signals output by the photoelectric sensor and the magnetic field sensor can be as shown in fig. 3.
And S104, determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is the rotation angle of the motor.
Furthermore, an electrical integral angle of the trip point can be determined according to the electrical angle corresponding to the trip point and the electrical cycle corresponding to the trip point, and then a mechanical angle corresponding to the trip point is determined according to the electrical integral angle, that is, a corresponding relationship between the electrical integral angle and the mechanical angle at the trip point is established. Specifically, the mechanical angle is the electrical integral angle per number of pole pairs included in the motor. Wherein, the electrical integral angle is electrical angle +360 ° electrical period.
The cradle head can be successfully reset through the steps. And only one trip point exists in the first signal output by the photoelectric sensor, so that the corresponding relation between the electrical integral angle and the mechanical angle is unique.
And S105, controlling the motor to rotate according to the mechanical angle.
After resetting, the motor can be controlled to rotate according to the mechanical angle, and the cradle head enters an attitude control state at the moment. Specifically, the control device may receive a control instruction sent by a user, where the control instruction may include a target electrical angle and a target electrical cycle, and at this time, a target mechanical angle corresponding to the target electrical angle may be determined according to the correspondence relationship between the angles at the trip point established in step 104. The motor can rotate the target mechanical angle and adjust the posture of the holder, so that the response to a control instruction sent by a user is completed.
In this embodiment, the rotation direction of the motor is determined in response to the power-on operation of the pan/tilt head, so that the motor rotates according to the rotation direction. In the rotating process, a first signal output by the photoelectric sensor is obtained, and an electric angle corresponding to a jump point in the first signal is determined according to the rotating direction of the motor and the first signal. And determining the mechanical angle of the trip point according to the electrical angle. By means of the unique jumping point in the first signal, the corresponding relation between the electrical angle and the mechanical angle can be obtained, and therefore the cloud platform resetting is completed. After the resetting is successful, the motor can be further controlled to rotate according to the mechanical angle, so that the cradle head enters an attitude control state.
In the method, when the holder is reset, the motor only needs to rotate along the rotation direction from the current position until the first signal has a jumping point, and the motor does not need to impact the mechanical limiting structure, so that the rotation angle of the motor is smaller than the rotation angle of the motor from the current position to the mechanical limiting structure, and the reset speed of the holder is improved.
Step 101 of the embodiment of fig. 1 already mentions that an analog-to-digital conversion of the second signal is required when determining the direction of rotation of the motor. The switching of the second signal may be achieved by means of a switching threshold, and for the determination of the switching threshold, as shown in fig. 4, an alternative way may comprise the steps of:
s201, acquiring a third signal output by the photoelectric sensor in the process that the motor rotates from the first limit angle to the second limit angle.
S202, determining a conversion threshold value according to an extreme value in the third signal.
It should be noted that, compared to the embodiment shown in fig. 1, which is applied to the actual use stage of the user, the determination process of the conversion threshold provided by this embodiment may be applied to the factory setting stage of the pan/tilt head.
Before leaving factory, the cradle head responds to the starting operation, and the motor rotates from the first limit angle to the second limit angle. And during the rotation, the photoelectric sensor can output a third signal, and the third signal can also be an analog signal.
The two limit angles of the motor can be defined by the position of the mechanical limit structure. In practical application, the rotation angle range of the pitch axis motor is +45 degrees to-135 degrees; for a transverse rolling shaft motor, the rotating angle range is-45 degrees to +45 degrees; for a translation shaft motor, the rotation angle range is-150 degrees to +150 degrees. The two limit angles of the electric machine are the two limit values of the above-mentioned rotation angle range.
Next, a switching threshold is determined based on the signal value in the third signal. Alternatively, the extreme values, i.e. the maximum value and the minimum value, in the third signal may be determined first, and the difference between the maximum value and the minimum value may be calculated. And determining a first conversion threshold value according to the maximum value and the difference value in the third signal, and determining a second conversion threshold value according to the minimum value and the difference value in the third signal. Wherein the first switching threshold is greater than the second switching threshold.
Based on the obtained first conversion threshold and second conversion threshold, analog-to-digital conversion can be performed on the second signal acquired in the user use stage in the following manner:
and if the signal value of the target signal point is greater than the first conversion threshold value, setting the target signal point to be at a high level. And if the signal value of the target signal point is smaller than the second conversion threshold value, setting the target signal point to be at a low level. And if the signal value of the target signal point is between the two conversion threshold values, determining that the target signal point and the reference signal point have the same level value. The target signal point is any signal point in the second signal. The reference signal point and the target signal point correspond to adjacent output times in the second signal, and the reference signal point output time is earlier than the target signal point.
After the conversion in the above manner, step 101 in the above embodiment can be continuously executed.
As can be seen from the above description, the first signal output by the photosensor is an analog signal, and there is fluctuation in the signal value of the analog signal, as shown in fig. 3, which may interfere with the determination of the trip point. To avoid this problem, the method shown in fig. 4 may be used to determine the conversion threshold (i.e., the first conversion threshold and the second conversion threshold) to perform analog-to-digital conversion on the signal, and then determine the trip point according to the converted first signal. To effect a reset.
Based on the above description, fig. 5 is a flowchart of another control method for a pan/tilt head according to an embodiment of the present invention. As shown in fig. 5, the method may include the steps of:
and S301, responding to the starting operation of the holder, and determining the rotation direction of the motor.
S302, in the process that the motor rotates along the rotating direction, a first signal output by the photoelectric sensor is obtained.
The execution process of the above steps 301 to 302 is similar to the corresponding steps of the foregoing embodiment, and reference may be made to the relevant description in the embodiment shown in fig. 1, which is not repeated herein.
S303, converting the first signal according to the conversion threshold.
After the first signal output by the photosensor is obtained, analog-to-digital conversion can be performed according to the first conversion threshold and the second conversion threshold to obtain a converted first signal, and a jump point in the converted first signal is actually a point where level jump occurs in the digital signal. The conversion process of the first signal is the same as that of the second signal, and specific reference may be made to the related description in the embodiment shown in fig. 4.
Compared with an analog signal, the level of the digital signal is stable, the fluctuation is small, level jump in the signal is obvious, and the control equipment can accurately identify a jump point according to the converted first signal.
S304, judging whether the converted first signal has a trip point, if so, executing the step 305 to the step 307; otherwise, step 308 is performed.
S305, determining an electrical angle corresponding to the jump point in a signal output by the magnetic field sensor in the holder.
In the process that the motor rotates along the rotating direction, the photoelectric sensor and the magnetic field sensor arranged in the holder can output signals respectively. If the first signal after conversion has a trip point, the control device may determine the output time corresponding to the trip point in the first signal after conversion, and find the electrical angle and the electrical cycle to which the electrical angle belongs at the same output time, that is, the electrical angle and the electrical cycle corresponding to the trip point, in the signal output by the magnetic field sensor. The first signal output by the photoelectric sensor, the converted first signal, and the signal output by the magnetic field sensor may be as shown in fig. 6. This part of the content is similar to the content in step 103 in the embodiment shown in fig. 1, and reference can be made to the above description.
And S306, determining a mechanical angle corresponding to the jump point according to the electrical angle.
And S307, controlling the motor to rotate according to the mechanical angle.
The execution process of the above steps 306 to 307 is similar to the corresponding steps of the foregoing embodiment, and reference may be made to the related description in the embodiment shown in fig. 1, which is not repeated herein.
And S308, controlling the motor to continue rotating along the rotating direction.
If there is no trip point in the converted first signal, the control device may control the motor to continue rotating in the direction determined in step 301 until there is a trip point in the converted first signal.
In this embodiment, first, analog-to-digital conversion is performed on the first signal output by the photoelectric sensor, and a trip point is determined in a digital signal obtained after the conversion. Because the level jump of the digital signal is obvious in change, the control equipment can more accurately identify the only jump point in the converted first signal and obtain an accurate electrical angle and mechanical angle, so that the reset is successfully completed, and meanwhile, the angle of the motor needing to rotate can be accurately calculated, so that the control equipment can accurately respond to a control instruction sent by a user to control the posture of the holder.
Ideally, the position of the motor at which the trip point occurs should be the same for each reset, whether in the user use phase or the factory set phase. However, in practice, because there is an error in the rotation of the motor, there is a slight difference in the position of the motor when the trip point occurs in each reset process, so that the electrical angle, the electrical cycle and the mechanical angle corresponding to the trip point are also different. In order to obtain an accurate electrical angle and mechanical angle and ensure that the reset is successful, the electrical angle and mechanical angle of the trip point in the signal may be re-determined according to the methods provided in the above embodiments at each reset.
On the basis of the embodiment shown in fig. 1 or fig. 5, in order to further ensure the accuracy of the electrical angle and the mechanical angle, optionally, the electrical angle and the electrical period corresponding to the jump point in the first signal may also be adjusted by using a preset electrical angle and a preset electrical period.
Specifically, if the electrical angle corresponding to the trip point obtained in step 103 or step 305 is the same as the preset electrical angle, which indicates that there is no error in the rotation of the motor, the cradle head may be reset in the manner shown in fig. 1 or fig. 5.
If the obtained electrical angle corresponding to the jumping point is different from the preset electrical angle, which indicates that an error exists in the rotation of the motor, the electrical period to which the electrical angle corresponding to the jumping point belongs can be adjusted according to the preset electrical period, and then the mechanical angle corresponding to the jumping point is determined according to the adjusted electrical period and the electrical angle corresponding to the jumping point. And finally, resetting the holder according to the adjustment result.
And assuming that the preset electrical period is the P-th electrical period, if the difference value between the electrical angle of the trip point and the preset electrical angle is less than 180 degrees, determining that the electrical period of the trip point is the same as the preset electrical period and is the P-th period. At this time, the mechanical angle corresponding to the trip point is equal to the electrical integration angle/the number of pole pairs included in the motor. Wherein, the electrical integral angle is electrical angle +360 ° P.
And if the difference value between the electrical angle of the trip point and the preset electrical angle is larger than 180 degrees, determining that the electrical cycle to which the trip point belongs is adjusted to be within the P-1 electrical cycle. At this time, the mechanical angle corresponding to the trip point is equal to the electrical integration angle/the number of pole pairs included in the motor. Wherein, the electrical integral angle is electrical angle +360 ° (P-1).
For the preset electrical angle and the preset electrical period used in the above process, as shown in fig. 7, the following method can be optionally adopted:
s401, acquiring a fourth signal output by the photoelectric sensor in the process that the motor rotates from the second limit angle to the first limit angle.
S402, converting the fourth signal according to the conversion threshold value.
It should be noted that the conversion threshold determining process provided in this embodiment is also applied to the factory setting stage of the pan/tilt head.
In the factory setting stage, as described in the embodiment shown in fig. 4, the motor may first rotate from the first limit angle to the second limit angle, and determine the conversion threshold according to the output third signal, and then perform analog-to-digital conversion on the second signal by using the conversion threshold.
The motor then rotates from the second limit angle back to the first limit angle, during which the photosensor can output a fourth signal, which is also an analog signal. The fourth signal may be analog-to-digital converted according to the conversion threshold determined in the embodiment shown in fig. 4, so as to obtain a converted fourth signal.
That is, the execution sequence of the embodiment shown in fig. 4 and 7 is: and in the factory setting stage, the conversion threshold value is determined, and then the preset electrical angle and the preset electrical period are determined.
And S403, determining a trip point in the converted fourth signal according to the signal value of the converted fourth signal.
S404, determining an electrical angle corresponding to a jump point in the converted fourth signal as a preset electrical angle and determining an electrical cycle corresponding to the jump point in the converted fourth signal as a preset electrical cycle in the signal output by the magnetic field sensor.
Then, the trip point in the signal is determined based on the level value, which is the signal value of the converted fourth signal. Meanwhile, according to the output time of the trip point in the converted fourth signal, the electric angle corresponding to the trip point, namely the preset electric angle, can be determined according to the signal output by the magnetic field sensor; and simultaneously, determining an electrical cycle corresponding to the jump point, namely a preset electrical cycle. The specific process can be referred to the relevant description in step 103 or step 305.
In this embodiment, the preset electrical angle and the preset electrical period may be generated in advance at a factory setting stage, and the preset electrical angle and the preset electrical period may be used as reference values to adjust the electrical angle and the electrical period obtained by the user at a use stage, so as to further ensure accuracy of the mechanical angle and achieve quick reset.
For the conversion threshold generated in advance in the factory setting stage, in parallel with the embodiment shown in fig. 4, another alternative generation manner may be as shown in fig. 8, and the manner may include the following steps.
S501, acquiring a fifth signal output by the photoelectric sensor in the process that the motor rotates from the first limit angle to the second limit angle.
The fifth signal is actually the same as the "third signal" in the embodiment shown in fig. 4, but different names are selected for clarity of the two conversion threshold generation methods. The execution process of step 501 is similar to the corresponding steps in the foregoing embodiment, and reference may be made to the relevant description in the embodiment shown in fig. 4, which is not repeated herein.
S502, determining a differential signal corresponding to the fifth signal according to the signal values of the adjacent signal points in the fifth signal.
And S503, determining a conversion threshold according to the extreme value in the differential signal.
Then, the difference calculation is performed on the fifth signal, that is, the signal value of the reference signal point in the fifth signal is subtracted from the signal value of the target signal point, and then the difference value corresponding to each target signal point is used to generate a difference signal. And the target signal point is any signal point in the fifth signal. In the fifth signal, the reference signal point is adjacent to the output time of the target signal point, and the output time of the reference signal point is earlier than the target signal point.
Then, an extreme value in the differential signal is determined, and a difference between a maximum value and a minimum value in the extreme value is calculated. Determining a third conversion threshold value according to the maximum value, the difference value and a preset compensation coefficient; and determining a fourth conversion threshold according to the minimum value, the difference value and a preset compensation coefficient. Wherein the third switching threshold is greater than the fourth switching threshold. The predetermined offset is typically set to a value less than 1, such as 0.25.
Based on the obtained third and fourth switching thresholds, the second signal acquired in the user use stage may be switched in the following manner:
and if the signal value of the target signal point is greater than the third conversion threshold value, setting the target signal point to be at a high level. And if the signal value of the target signal point is smaller than the fourth conversion threshold value, setting the target signal point to be at a low level. If the signal value of the target signal point is between the two conversion threshold values, the target signal point and the reference signal point are determined to have the same level value.
In practical applications, the switching threshold may be determined by using any one of the manners shown in fig. 4 or fig. 8 according to actual requirements.
In addition, in practical application, the photoelectric code disc may be polluted by dust and water mist or interfered by light, so that the first signal output by the photoelectric sensor fluctuates, that is, the first signal may include a plurality of small peaks and a large peak, as shown in fig. 9, and the trip point usually appears near the large peak. At this time, if the pan-tilt reset is implemented using the embodiment shown in fig. 5, these wavelet peaks will affect the determination of the jumping point in the signal.
In order to avoid the above problem, fig. 10 is a flowchart of a method for controlling a cradle head according to another embodiment of the present invention, based on determining the switching thresholds (i.e. the third switching threshold and the fourth switching threshold) in the manner shown in fig. 8. As shown in fig. 10, the method may include the steps of:
s601, responding to the starting operation of the holder, and determining the rotation direction of the motor.
S602, in the process that the motor rotates along the rotating direction, a first signal output by the photoelectric sensor is obtained.
The execution process of steps 601 to 602 is similar to the corresponding steps of the foregoing embodiment, and reference may be made to the related description in the embodiment shown in fig. 5, which is not repeated herein.
S603, the first signal is converted according to the conversion threshold.
Alternatively, the conversion threshold may be obtained as shown in fig. 4 or fig. 8, and the first signal output by the photosensor is analog-to-digital converted to obtain a converted first signal.
S604, determining the probability of the existence of the trip point in the converted first signal according to the converted first signal and the differential signal corresponding to the first signal.
In one aspect, a maximum differential value may be determined in the differential signal, and a ratio of a signal value in the differential signal to the maximum differential value may be determined as the first weight value. On the other hand, a second weight value corresponding to the converted first signal may be calculated, where the second weight value is M × N. Wherein M is a preset coefficient, and N is a result value. If it is determined in the embodiment shown in fig. 1 or fig. 5 that a trip point exists in the converted first signal, the result value is 1, otherwise the result value is 0.
Finally, the probability of the existence of the trip point may be calculated from the first weight value and the second weight value. Such as determining the sum of the two as the probability of whether a trip point is present in the converted first signal.
In the step, when the probability of whether the signal has the trip point is calculated, the converted first signal and the converted differential signal are comprehensively considered, so that the accuracy of identifying the trip point is ensured.
S605, judging whether the probability is larger than or equal to a preset value, if so, executing steps 606-608, otherwise, executing step 609.
S606, determining an electrical angle corresponding to the jump point in the converted first signal.
The execution process of step 606 is similar to the corresponding steps in the foregoing embodiment, and reference may be made to the relevant description in the embodiment shown in fig. 5, which is not repeated herein.
And S607, determining the mechanical angle corresponding to the jump point according to the electrical angle corresponding to the jump point and a preset electrical cycle.
And the mechanical angle corresponding to the jump point is equal to the electric integral angle/pole pair number contained in the motor. Wherein, the electrical integration angle is the electrical angle +360 ° P, and P is the preset electrical period.
The obtaining of the preset electrical cycle can also be implemented in the factory setting stage, and can be obtained in the process of determining the conversion threshold in the implementation of the embodiment shown in fig. 8.
Optionally, the motor may acquire the signal output by the magnetic field sensor during the process of rotating from the first limit angle to the second limit angle; meanwhile, a differential signal corresponding to the fourth signal output by the photoelectric sensor can be calculated. Then, the output time corresponding to the extreme value in the differential signal is determined, and the electrical cycle corresponding to the extreme value, that is, the preset electrical cycle, is determined in the signal output by the magnetic field sensor.
It should be noted that, for the switching threshold, the preset electrical angle and the preset electrical period, which are obtained separately in the example shown in fig. 5, specific processes may refer to the embodiments shown in fig. 4 and fig. 7, and are obtained synchronously in this embodiment, so that the process of factory setting can also be simplified.
And S608, controlling the motor to rotate according to the mechanical angle.
And S609, controlling the motor to continuously rotate along the rotation direction.
The execution process of steps 608 to 609 is similar to the corresponding steps of the foregoing embodiment, and reference may be made to the relevant description in the embodiment shown in fig. 1, which is not repeated herein.
In this embodiment, the motor reset is realized by the aid of the differential signal corresponding to the first signal output by the photoelectric sensor, and a plurality of small wave crests in the first signal can be eliminated through differential calculation, so that accuracy of determining the trip point is ensured, and the cradle head reset is completed.
Fig. 11 is a schematic structural diagram of a control device of a pan/tilt head according to an embodiment of the present invention; referring to fig. 11, the present embodiment provides a control apparatus of a pan/tilt head, which can execute the above-mentioned control method of the pan/tilt head; specifically, the controlling means of cloud platform includes:
and the direction determining module 11 is used for responding to the starting operation of the holder and determining the rotating direction of the motor.
And the acquisition module 12 is configured to acquire the first signal output by the photoelectric sensor in a process that the motor rotates in the rotation direction.
And an electrical angle determining module 13, configured to determine, according to the rotation direction and the first signal, an electrical angle corresponding to a jump point in the first signal, where the electrical angle is a rotation angle of the optical encoder.
And a mechanical angle determining module 14, configured to determine a mechanical angle corresponding to the jump point according to the electrical angle, where the mechanical angle is a rotation angle of the motor.
And the control module 15 is used for controlling the motor to rotate according to the mechanical angle.
The holder comprises a holder body, a motor for adjusting the posture of the holder body, a photoelectric sensor and a photoelectric coded disc; the photoelectric code disc rotates along with the rotating part of the motor; the photoelectric sensor is used for acquiring signals generated by the photoelectric code disc.
The apparatus shown in fig. 11 can also perform the method of the embodiment shown in fig. 1 to 10, and the related description of the embodiment shown in fig. 1 to 10 can be referred to for the part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to fig. 10, and are not described herein again.
Fig. 12 is a schematic structural diagram of a pan/tilt head according to an embodiment of the present invention; referring to fig. 12, a holder according to an embodiment of the present invention is provided. Specifically, this cloud platform includes: the device comprises a tripod head body 21, a motor 22 for adjusting the posture of the tripod head body, a photoelectric sensor 23, a photoelectric coded disc 24 and a control device 25; the photoelectric coded disc 24 rotates along with the rotating part of the motor 22; the photoelectric sensor 23 acquires a signal generated by the photoelectric code disc 24;
the control means 25 comprises a memory and a processor;
the memory 251 is used for storing computer programs;
the processor 252 is configured to execute the computer program stored in the memory to implement:
responding to the starting operation of the holder, and determining the rotation direction of the motor;
acquiring a first signal output by the photoelectric sensor in the process that the motor rotates along the rotating direction;
determining an electrical angle corresponding to a jump point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric code disc;
determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is a rotation angle of the motor;
and controlling the motor to rotate according to the mechanical angle.
Further, the processor 252 is further configured to: acquiring a second signal output by the photoelectric sensor based on the position of the motor when the starting operation is triggered; switching the second signal according to a switching threshold; and determining the rotation direction of the motor according to the level state of the converted second signal.
Further, the processor 252 is further configured to: if the level state of the converted second signal is a low level, determining that the motor rotates clockwise; and if the level state of the converted second signal is high level, determining that the motor rotates anticlockwise.
Further, before determining the rotation direction of the motor, the processor 252 is further configured to: acquiring a third signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle; and determining the switching threshold according to an extreme value in the third signal.
Further, the processor 252 is further configured to: converting the first signal according to the conversion threshold; and if the jumping point exists in the converted first signal according to the signal value of the converted first signal, determining the electric angle corresponding to the jumping point in the signal output by the magnetic field sensor in the holder.
Further, the processor 252 is further configured to: and if the fact that the jumping point does not exist in the converted first signal is determined according to the signal value of the converted first signal, controlling the motor to continue rotating along the rotating direction.
Further, the processor 252 is further configured to: if the electrical angle corresponding to the jump point is different from the preset electrical angle, adjusting the electrical cycle of the electrical angle corresponding to the jump point according to the preset electrical cycle; and determining the mechanical angle corresponding to the jumping point according to the electrical angle corresponding to the jumping point and the adjusted electrical period.
Further, before determining the rotation direction of the motor, the processor 252 is further configured to: acquiring a fourth signal output by the photoelectric sensor in the process that the motor rotates to the first limit angle from the second limit angle; switching the fourth signal according to the switching threshold; determining a trip point in the converted fourth signal according to a signal value of the converted fourth signal; and determining an electrical angle corresponding to a jump point in the converted fourth signal as the preset electrical angle and determining an electrical cycle corresponding to the jump point in the converted fourth signal as the preset electrical cycle in the signal output by the magnetic field sensor.
Further, before determining the rotation direction of the motor, the processor 252 is further configured to: acquiring a fifth signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle; determining a differential signal corresponding to the fifth signal according to the signal values of adjacent signal points in the fifth signal; and determining the switching threshold according to an extreme value in the differential signal.
Further, the processor 252 is further configured to: converting the first signal according to the conversion threshold; determining the probability of the existence of a trip point in the converted first signal according to the converted first signal and the differential signal corresponding to the first signal; if the probability is larger than or equal to a preset value, determining an electrical angle corresponding to a jump point in the converted first signal; and determining the mechanical angle corresponding to the jump point according to the electrical angle corresponding to the jump point and a preset electrical cycle.
Further, the processor 252 is further configured to: and if the probability is smaller than the preset value, controlling the motor to continue rotating along the rotating direction.
Further, before determining the rotation direction of the motor, the processor 252 is further configured to: acquiring a signal output by the magnetic field sensor in the process that the motor rotates from a first limit angle to a second limit angle; and determining an electrical cycle corresponding to an extreme value in the differential signal as the preset electrical cycle in the signal output by the magnetic field sensor.
The holder shown in fig. 12 can execute the method of the embodiment shown in fig. 1 to 10, and the details of this embodiment, which are not described in detail, can refer to the related description of the embodiment shown in fig. 1 to 10. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to fig. 10, and are not described herein again.
In one possible design, the structure of the control device of the pan/tilt head shown in fig. 13 may be implemented as an electronic device, where the electronic device may be a controller in the pan/tilt head or the movable platform, a terminal device used by a user, a remote server, a remote control device such as a remote controller matched with the movable platform, or the like. As shown in fig. 13, the electronic device may include: one or more processors 31 and one or more memories 32. The memory 32 is used for storing a program for supporting the electronic device to execute the control method of the pan/tilt head provided in the embodiments shown in fig. 1 to 10. The processor 31 is configured to execute programs stored in the memory 32.
In particular, the program comprises one or more computer instructions, wherein the one or more computer instructions, when executed by the processor 31, enable the following steps to be performed:
responding to the starting operation of the holder, and determining the rotation direction of the motor;
acquiring a first signal output by a photoelectric sensor in the process that the motor rotates along the rotating direction;
determining an electrical angle corresponding to a jump point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric coded disc;
determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is a rotation angle of the motor;
controlling the motor to rotate according to the mechanical angle;
the holder comprises a holder body, a motor for adjusting the posture of the holder body, a photoelectric sensor and a photoelectric coded disc; the photoelectric coded disc rotates along with the rotating part of the motor; and the photoelectric sensor acquires a signal generated by the photoelectric code disc.
The control device of the pan/tilt head may further include a communication interface 23 in the structure, for the electronic device to communicate with other devices or a communication network.
Further, the processor 31 may be configured to: acquiring a second signal output by the photoelectric sensor based on the position of the motor when the starting operation is triggered; switching the second signal according to a switching threshold; and determining the rotation direction of the motor according to the level state of the converted second signal.
Further, the processor 31 may be configured to: if the level state of the converted second signal is a low level, determining that the motor rotates clockwise; and if the level state of the converted second signal is high level, determining that the motor rotates anticlockwise.
Further, before said determining the direction of rotation of said motor, the processor 21 may be configured to: acquiring a third signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle; and determining the switching threshold according to an extreme value in the third signal.
Further, the processor 31 may be configured to: converting the first signal according to the conversion threshold; and if the jumping point exists in the converted first signal according to the signal value of the converted first signal, determining the electric angle corresponding to the jumping point in the signal output by the magnetic field sensor in the holder.
Further, the processor 31 may be configured to: and if the fact that the jumping point does not exist in the converted first signal is determined according to the signal value of the converted first signal, controlling the motor to continuously rotate along the rotating direction.
Further, the processor 31 may be configured to: if the electrical angle corresponding to the jump point is different from the preset electrical angle, adjusting the electrical cycle of the electrical angle corresponding to the jump point according to the preset electrical cycle; and determining a mechanical angle corresponding to the jumping point according to the electrical angle corresponding to the jumping point and the adjusted electrical period.
Further, before said determining the direction of rotation of said motor, the processor 21 may be configured to: acquiring a fourth signal output by the photoelectric sensor in the process that the motor rotates to the first limit angle from the second limit angle; switching the fourth signal according to the switching threshold; determining a trip point in the converted fourth signal according to a signal value of the converted fourth signal; and in the signals output by the magnetic field sensor, determining that the electrical angle corresponding to the jump point in the converted fourth signal is the preset electrical angle, and determining that the electrical cycle corresponding to the jump point in the converted fourth signal is the preset electrical cycle.
Further, before said determining the direction of rotation of said motor, the processor 31 may be configured to: acquiring a fifth signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle; determining a differential signal corresponding to the fifth signal according to the signal values of adjacent signal points in the fifth signal; and determining the switching threshold according to an extreme value in the differential signal.
Further, the processor 31 may be configured to: converting the first signal according to the conversion threshold; determining the probability of the existence of a trip point in the converted first signal according to the converted first signal and the differential signal corresponding to the first signal; if the probability is larger than or equal to a preset value, determining an electrical angle corresponding to a jump point in the converted first signal; and determining the mechanical angle corresponding to the jump point according to the electrical angle corresponding to the jump point and a preset electrical cycle.
Further, the processor 31 may be configured to: and if the probability is smaller than the preset value, controlling the motor to continue rotating along the rotating direction.
Further, before said determining the direction of rotation of said motor, the processor 31 may be configured to: acquiring a signal output by the magnetic field sensor in the process that the motor rotates from a first limit angle to a second limit angle; and determining an electrical cycle corresponding to an extreme value in the differential signal as the preset electrical cycle in the signal output by the magnetic field sensor.
The apparatus shown in fig. 13 can perform the method of the embodiment shown in fig. 1 to 10, and the related description of the embodiment shown in fig. 1 to 10 can be referred to for the part not described in detail in this embodiment. The implementation process and technical effect of the technical solution refer to the descriptions in the embodiments shown in fig. 1 to fig. 10, and are not described herein again.
In addition, an embodiment of the present invention provides a computer-readable storage medium, where the storage medium is a computer-readable storage medium, and program instructions are stored in the computer-readable storage medium, and the program instructions are used to implement the foregoing method for controlling a pan/tilt head in fig. 1 to 10.
The technical solutions and the technical features in the above embodiments may be used alone or in combination in case of conflict with the present disclosure, and all embodiments that fall within the scope of protection of the present disclosure are intended to be equivalent embodiments as long as they do not exceed the scope of recognition of those skilled in the art.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (37)
- The control method of the cloud platform is characterized in that the cloud platform comprises a cloud platform body, a motor for adjusting the posture of the cloud platform body, a photoelectric sensor and a photoelectric code disc; the photoelectric coded disc rotates along with the rotating part of the motor; the photoelectric sensor is used for acquiring a signal generated by the photoelectric code disc;the method comprises the following steps:responding to the starting operation of the holder, and determining the rotation direction of the motor;acquiring a first signal output by the photoelectric sensor in the process that the motor rotates along the rotating direction;determining an electrical angle corresponding to a jump point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric coded disc;determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is a rotation angle of the motor;and controlling the motor to rotate according to the mechanical angle.
- The method of claim 1, wherein said determining a direction of rotation of said motor comprises:acquiring a second signal output by the photoelectric sensor based on the position of the motor when the starting operation is triggered;switching the second signal according to a switching threshold;and determining the rotation direction of the motor according to the level state of the converted second signal.
- The method of claim 2, wherein determining the direction of rotation of the motor based on the level state of the converted second signal comprises:if the level state of the converted second signal is a low level, determining that the motor rotates clockwise;and if the level state of the converted second signal is high level, determining that the motor rotates anticlockwise.
- The method of claim 2, wherein prior to determining the direction of rotation of the motor, the method further comprises:acquiring a third signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle;and determining the conversion threshold according to an extreme value in the third signal.
- The method of claim 4, wherein determining the electrical angle corresponding to the trip point in the first signal based on the rotational direction and the first signal comprises:converting the first signal according to the conversion threshold;and if the jumping point exists in the converted first signal according to the signal value of the converted first signal, determining the electric angle corresponding to the jumping point in the signal output by the magnetic field sensor in the holder.
- The method of claim 5, further comprising:and if the fact that the jumping point does not exist in the converted first signal is determined according to the signal value of the converted first signal, controlling the motor to continue rotating along the rotating direction.
- The method of claim 5, wherein determining the mechanical angle corresponding to the trip point according to the electrical angle comprises:if the electrical angle corresponding to the jump point is different from the preset electrical angle, adjusting the electrical cycle of the electrical angle corresponding to the jump point according to the preset electrical cycle;and determining the mechanical angle corresponding to the jumping point according to the electrical angle corresponding to the jumping point and the adjusted electrical period.
- The method of claim 7, wherein prior to determining the direction of rotation of the motor, the method further comprises:acquiring a fourth signal output by the photoelectric sensor in the process that the motor rotates to the first limit angle from the second limit angle;switching the fourth signal according to the switching threshold;determining a trip point in the converted fourth signal according to a signal value of the converted fourth signal;and in the signals output by the magnetic field sensor, determining that the electrical angle corresponding to the jump point in the converted fourth signal is the preset electrical angle, and determining that the electrical cycle corresponding to the jump point in the converted fourth signal is the preset electrical cycle.
- The method of claim 2, wherein prior to determining the direction of rotation of the motor, the method further comprises:acquiring a fifth signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle;determining a differential signal corresponding to the fifth signal according to the signal values of adjacent signal points in the fifth signal;and determining the conversion threshold value according to an extreme value in the differential signal.
- The method of claim 9, wherein determining an electrical angle corresponding to a trip point in the first signal based on the rotational direction and the first signal comprises:converting the first signal according to the conversion threshold;determining the probability of the existence of a trip point in the converted first signal according to the converted first signal and the differential signal corresponding to the first signal;if the probability is larger than or equal to a preset value, determining an electrical angle corresponding to a jump point in the converted first signal;the determining the mechanical angle corresponding to the trip point according to the electrical angle includes:and determining the mechanical angle corresponding to the jump point according to the electrical angle corresponding to the jump point and a preset electrical cycle.
- The method of claim 10, further comprising:and if the probability is smaller than the preset value, controlling the motor to continue rotating along the rotating direction.
- The method of claim 10, wherein prior to determining the direction of rotation of the motor, the method further comprises:acquiring a signal output by the magnetic field sensor in the process that the motor rotates from a first limit angle to a second limit angle;and determining the electrical cycle corresponding to the extreme value in the differential signal as the preset electrical cycle in the signal output by the magnetic field sensor.
- A head, the head comprising: the device comprises a holder body, a motor for adjusting the posture of the holder body, a photoelectric sensor, a photoelectric code disc and a control device; it is characterized in that the preparation method is characterized in that,the photoelectric coded disc rotates along with the rotating part of the motor;the photoelectric sensor is used for acquiring a signal generated by the photoelectric code disc;the control device comprises a memory and a processor;the memory for storing a computer program;the processor is configured to execute the computer program stored in the memory to implement:responding to the starting operation of the holder, and determining the rotation direction of the motor;acquiring a first signal output by the photoelectric sensor in the process that the motor rotates along the rotating direction;determining an electrical angle corresponding to a jump point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric coded disc;determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is a rotation angle of the motor;and controlling the motor to rotate according to the mechanical angle.
- A head according to claim 13, wherein said processor is further configured to:acquiring a second signal output by the photoelectric sensor based on the position of the motor when the starting operation is triggered;switching the second signal according to a switching threshold;and determining the rotation direction of the motor according to the level state of the converted second signal.
- A head according to claim 14, wherein said processor is further configured to:if the level state of the converted second signal is a low level, determining that the motor rotates clockwise;and if the level state of the converted second signal is high level, determining that the motor rotates anticlockwise.
- A head according to claim 14, wherein said processor, prior to said determining a direction of rotation of said motor, is further configured to:acquiring a third signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle;and determining the conversion threshold according to an extreme value in the third signal.
- A head according to claim 16, wherein said processor is further configured to:converting the first signal according to the conversion threshold;and if the jumping point exists in the converted first signal according to the signal value of the converted first signal, determining the electric angle corresponding to the jumping point in the signal output by the magnetic field sensor in the holder.
- A head according to claim 17, wherein said processor is further configured to:and if the fact that the jumping point does not exist in the converted first signal is determined according to the signal value of the converted first signal, controlling the motor to continue rotating along the rotating direction.
- A head according to claim 17, wherein said processor is further configured to:if the electrical angle corresponding to the jump point is different from the preset electrical angle, adjusting the electrical cycle of the electrical angle corresponding to the jump point according to the preset electrical cycle;and determining the mechanical angle corresponding to the jumping point according to the electrical angle corresponding to the jumping point and the adjusted electrical period.
- A head according to claim 19, wherein said processor, prior to said determining a direction of rotation of said motor, is further configured to:acquiring a fourth signal output by the photoelectric sensor in the process that the motor rotates to the first limit angle from the second limit angle;switching the fourth signal according to the switching threshold;determining a trip point in the converted fourth signal according to a signal value of the converted fourth signal;and in the signals output by the magnetic field sensor, determining that the electrical angle corresponding to the jump point in the converted fourth signal is the preset electrical angle, and determining that the electrical cycle corresponding to the jump point in the converted fourth signal is the preset electrical cycle.
- A head according to claim 14, wherein said processor, prior to said determining a direction of rotation of said motor, is further configured to:acquiring a fifth signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle;determining a differential signal corresponding to the fifth signal according to the signal values of adjacent signal points in the fifth signal;and determining the conversion threshold value according to an extreme value in the differential signal.
- A head according to claim 21, wherein said processor is further configured to: converting the first signal according to the conversion threshold;determining the probability of the existence of a trip point in the converted first signal according to the converted first signal and the differential signal corresponding to the first signal;if the probability is larger than or equal to a preset value, determining an electrical angle corresponding to a jump point in the converted first signal;and determining the mechanical angle corresponding to the jump point according to the electrical angle corresponding to the jump point and a preset electrical cycle.
- A head according to claim 22, wherein said processor is further configured to: and if the probability is smaller than the preset value, controlling the motor to continue rotating along the rotating direction.
- A head according to claim 22, wherein said processor, prior to said determining a direction of rotation of said motor, is further configured to:acquiring a signal output by the magnetic field sensor in the process that the motor rotates from a first limit angle to a second limit angle;and determining an electrical cycle corresponding to an extreme value in the differential signal as the preset electrical cycle in the signal output by the magnetic field sensor.
- A control device of a cloud platform comprises a cloud platform body, a motor used for adjusting the posture of the cloud platform body, a photoelectric sensor and a photoelectric coded disc; it is characterized in that the preparation method is characterized in that,the photoelectric code disc rotates along with the rotating part of the motor;the photoelectric sensor is used for acquiring a signal generated by the photoelectric code disc;the control device of the pan/tilt head comprises:a memory for storing a computer program;a processor for executing the computer program stored in the memory to implement:responding to the starting operation of the holder, and determining the rotation direction of the motor;acquiring a first signal output by a photoelectric sensor in the process that the motor rotates along the rotating direction;determining an electrical angle corresponding to a jump point in the first signal according to the rotation direction and the first signal, wherein the electrical angle is the rotation angle of the photoelectric coded disc;determining a mechanical angle corresponding to the jump point according to the electrical angle, wherein the mechanical angle is a rotation angle of the motor;and controlling the motor to rotate according to the mechanical angle.
- The device of claim 25, wherein the processor is further configured to:acquiring a second signal output by the photoelectric sensor based on the position of the motor when the starting operation is triggered;switching the second signal according to a switching threshold;and determining the rotation direction of the motor according to the level state of the converted second signal.
- The device of claim 26, wherein the processor is further configured to:if the level state of the converted second signal is a low level, determining that the motor rotates clockwise;and if the level state of the converted second signal is high level, determining that the motor rotates anticlockwise.
- The apparatus of claim 26, wherein prior to said determining the direction of rotation of the motor, the processor is further configured to:acquiring a third signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle;and determining the conversion threshold according to an extreme value in the third signal.
- The device of claim 28, wherein the processor is further configured to:converting the first signal according to the conversion threshold;and if the jumping point exists in the converted first signal according to the signal value of the converted first signal, determining the electric angle corresponding to the jumping point in the signal output by the magnetic field sensor in the holder.
- The device of claim 29, wherein the processor is further configured to:and if the fact that the jumping point does not exist in the converted first signal is determined according to the signal value of the converted first signal, controlling the motor to continue rotating along the rotating direction.
- The device of claim 29, wherein the processor is further configured to:if the electrical angle corresponding to the jump point is different from the preset electrical angle, adjusting the electrical cycle of the electrical angle corresponding to the jump point according to the preset electrical cycle;and determining the mechanical angle corresponding to the jumping point according to the electrical angle corresponding to the jumping point and the adjusted electrical period.
- The apparatus of claim 31, wherein prior to said determining the direction of rotation of the motor, the processor is further configured to:acquiring a fourth signal output by the photoelectric sensor in the process that the motor rotates to the first limit angle from the second limit angle;switching the fourth signal according to the switching threshold;determining a trip point in the converted fourth signal according to a signal value of the converted fourth signal;and in the signals output by the magnetic field sensor, determining that the electrical angle corresponding to the jump point in the converted fourth signal is the preset electrical angle, and determining that the electrical cycle corresponding to the jump point in the converted fourth signal is the preset electrical cycle.
- The apparatus of claim 26, wherein prior to said determining the direction of rotation of the motor, the processor is further configured to:acquiring a fifth signal output by the photoelectric sensor in the process that the motor rotates from a first limit angle to a second limit angle;determining a differential signal corresponding to the fifth signal according to the signal values of adjacent signal points in the fifth signal;and determining the conversion threshold value according to an extreme value in the differential signal.
- The device of claim 33, wherein the processor is further configured to:converting the first signal according to the conversion threshold;determining the probability of the existence of a trip point in the converted first signal according to the converted first signal and the differential signal corresponding to the first signal;if the probability is larger than or equal to a preset value, determining an electrical angle corresponding to a jump point in the converted first signal;and determining the mechanical angle corresponding to the jump point according to the electrical angle corresponding to the jump point and a preset electrical cycle.
- The device of claim 34, wherein the processor is further configured to:and if the probability is smaller than the preset value, controlling the motor to continue rotating along the rotating direction.
- The apparatus of claim 34, wherein prior to said determining a direction of rotation of said motor, said processor is further configured to:acquiring a signal output by the magnetic field sensor in the process that the motor rotates from a first limit angle to a second limit angle;and determining the electrical cycle corresponding to the extreme value in the differential signal as the preset electrical cycle in the signal output by the magnetic field sensor.
- A computer-readable storage medium, characterized in that the storage medium is a computer-readable storage medium having stored therein program instructions for implementing the method of controlling a head according to any one of claims 1 to 12.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2020/124915 WO2022087977A1 (en) | 2020-10-29 | 2020-10-29 | Gimbal control method, gimbal, device, and storage medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114585881A true CN114585881A (en) | 2022-06-03 |
Family
ID=81381749
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202080066653.3A Pending CN114585881A (en) | 2020-10-29 | 2020-10-29 | Control method of holder, equipment and storage medium |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN114585881A (en) |
| WO (1) | WO2022087977A1 (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104838325A (en) * | 2014-06-30 | 2015-08-12 | 深圳市大疆创新科技有限公司 | Pan-and-tilt parameter adjustment method, device and pan-and-tilt device |
| CN105391946A (en) * | 2015-12-29 | 2016-03-09 | 浙江宇视科技有限公司 | Anti-interference camera and anti-interference method thereof |
| CN108474671A (en) * | 2017-11-14 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Mechanical angle detection method, holder and machine readable storage medium |
| CN109489696A (en) * | 2018-11-30 | 2019-03-19 | 高新兴科技集团股份有限公司 | A kind of holder self-test resetting method and device |
| CN109959327A (en) * | 2017-12-14 | 2019-07-02 | 深圳市优必选科技有限公司 | Multi-turn steering engine rotation angle detection method and device, multi-turn steering engine and storage medium |
| CN110463020A (en) * | 2018-07-02 | 2019-11-15 | 深圳市大疆创新科技有限公司 | The acquisition methods and system of the initial mechanical angle of motor |
| CN111447362A (en) * | 2020-04-02 | 2020-07-24 | 浙江大华技术股份有限公司 | Pan-tilt motor limiting method and device, pan-tilt camera and storage medium |
| CN111656298A (en) * | 2018-09-30 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Control method of holder, movable platform and readable storage medium |
-
2020
- 2020-10-29 WO PCT/CN2020/124915 patent/WO2022087977A1/en active Application Filing
- 2020-10-29 CN CN202080066653.3A patent/CN114585881A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104838325A (en) * | 2014-06-30 | 2015-08-12 | 深圳市大疆创新科技有限公司 | Pan-and-tilt parameter adjustment method, device and pan-and-tilt device |
| CN105391946A (en) * | 2015-12-29 | 2016-03-09 | 浙江宇视科技有限公司 | Anti-interference camera and anti-interference method thereof |
| CN108474671A (en) * | 2017-11-14 | 2018-08-31 | 深圳市大疆创新科技有限公司 | Mechanical angle detection method, holder and machine readable storage medium |
| CN109959327A (en) * | 2017-12-14 | 2019-07-02 | 深圳市优必选科技有限公司 | Multi-turn steering engine rotation angle detection method and device, multi-turn steering engine and storage medium |
| CN110463020A (en) * | 2018-07-02 | 2019-11-15 | 深圳市大疆创新科技有限公司 | The acquisition methods and system of the initial mechanical angle of motor |
| CN111656298A (en) * | 2018-09-30 | 2020-09-11 | 深圳市大疆创新科技有限公司 | Control method of holder, movable platform and readable storage medium |
| CN109489696A (en) * | 2018-11-30 | 2019-03-19 | 高新兴科技集团股份有限公司 | A kind of holder self-test resetting method and device |
| CN111447362A (en) * | 2020-04-02 | 2020-07-24 | 浙江大华技术股份有限公司 | Pan-tilt motor limiting method and device, pan-tilt camera and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2022087977A1 (en) | 2022-05-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US10394107B2 (en) | Gimbal control method, gimbal control apparatus, and gimbal | |
| CN108521777B (en) | Control method of cradle head, cradle head and unmanned aerial vehicle | |
| US20200357108A1 (en) | Target detection method and apparatus, and movable platform | |
| US9800789B2 (en) | Camera system with image blur correction | |
| CN108521814B (en) | Control method and controller of cloud deck and cloud deck | |
| EP2472471B1 (en) | System and method for automatically aligning a telescope without requiring user intervention | |
| CN112113582A (en) | Time synchronization processing method, electronic device, and storage medium | |
| US20210200247A1 (en) | Gimbal control method, gimbal, mobile platform and computer-readable storage medium | |
| CN112334855A (en) | Method and device for calibrating holder system, holder system and computer readable medium | |
| CN109421050B (en) | Robot control method and device | |
| CN109844394B (en) | Cloud deck control method and cloud deck | |
| US20210165388A1 (en) | Gimbal rotation control method and apparatus, control device, and movable platform | |
| CN110770671A (en) | Cloud platform, control method thereof and movable platform | |
| CN112147994B (en) | Robot and recharging control method and device thereof | |
| CN114430294B (en) | Method and device for calibrating ground beams of GEO satellite, electronic equipment and storage medium | |
| CN111684386A (en) | Cradle head zero calibration method and cradle head | |
| EP3737082A1 (en) | Pan-tilt control method, pan-tilt and machine readable storage medium | |
| CN110383198B (en) | Lens-replaceable holder control method and holder | |
| CN112886670A (en) | Charging control method and device for robot, robot and storage medium | |
| CN114585881A (en) | Control method of holder, equipment and storage medium | |
| CN113791640A (en) | Image acquisition method and device, aircraft and storage medium | |
| CN110832274A (en) | Ground slope calculation method, device, equipment and storage medium | |
| CN110678822A (en) | Control method and device of mobile robot and mobile robot system | |
| CN112147995A (en) | Robot motion control method and device, robot and storage medium | |
| CN112136020A (en) | Information processing apparatus, information processing method, and program |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |