CN114730191A - 云台控制方法、装置、云台及可移动平台 - Google Patents

云台控制方法、装置、云台及可移动平台 Download PDF

Info

Publication number
CN114730191A
CN114730191A CN202080075521.7A CN202080075521A CN114730191A CN 114730191 A CN114730191 A CN 114730191A CN 202080075521 A CN202080075521 A CN 202080075521A CN 114730191 A CN114730191 A CN 114730191A
Authority
CN
China
Prior art keywords
attitude
target
pan
load
deadlock
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
Application number
CN202080075521.7A
Other languages
English (en)
Inventor
王文杰
谢文麟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Publication of CN114730191A publication Critical patent/CN114730191A/zh
Pending legal-status Critical Current

Links

Images

Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M13/00—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles
    • F16M13/04—Other supports for positioning apparatus or articles; Means for steadying hand-held apparatus or articles for supporting on, or holding steady relative to, a person, e.g. by chains, e.g. rifle butt or pistol grip supports, supports attached to the chest or head
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Mechanical Engineering (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Studio Devices (AREA)
  • Accessories Of Cameras (AREA)

Abstract

一种云台控制方法，包括：获取云台载荷的当前姿态；预估将发生或确定已发生万向节死锁；控制所述云台的各轴电机转动至各自对应的目标关节角，以使所述载荷运动至目标姿态。通过上述方法，可以解决云台发生万向节死锁而控制异常的技术问题，还可以解决载荷在运动至目标姿态时的运动路径不是最短路径的技术问题。

Description

PCT国内申请，说明书已公开。

Claims (83)

  1. PCT国内申请，权利要求书已公开。
CN202080075521.7A 2020-11-27 2020-11-27 云台控制方法、装置、云台及可移动平台 Pending CN114730191A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/CN2020/132311 WO2022110034A1 (zh) 2020-11-27 2020-11-27 云台控制方法、装置、云台及可移动平台

Publications (1)

Publication Number Publication Date
CN114730191A true CN114730191A (zh) 2022-07-08

Family

ID=81753813

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202080075521.7A Pending CN114730191A (zh) 2020-11-27 2020-11-27 云台控制方法、装置、云台及可移动平台

Country Status (2)

Country Link
CN (1) CN114730191A (zh)
WO (1) WO2022110034A1 (zh)

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150285660A1 (en) * 2012-11-28 2015-10-08 Drs Sustainment Systems, Inc. Az/el gimbal housing characterization
CN108725817A (zh) * 2018-06-05 2018-11-02 广东工业大学 一种具有防抖功能的四轴无人机
CN110337560A (zh) * 2018-05-30 2019-10-15 深圳市大疆创新科技有限公司 云台的控制方法、云台、拍摄设备及可读存储介质
CN110431507A (zh) * 2018-05-31 2019-11-08 深圳市大疆创新科技有限公司 一种云台控制方法及云台
CN110825124A (zh) * 2019-11-15 2020-02-21 杭州电子科技大学 云台控制方法及***

Family Cites Families (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106681369B (zh) * 2016-12-01 2019-10-08 广州亿航智能技术有限公司 一种云台姿态控制方法及***
JP2018111155A (ja) * 2017-01-11 2018-07-19 セイコーエプソン株式会社 ロボット制御装置、ロボット、及びロボットシステム
US10942527B2 (en) * 2017-05-30 2021-03-09 Textron Innovations Inc. System and method for controlling rotorcraft load priority
CN108318035B (zh) * 2018-01-08 2020-09-08 山东大学 一种基于欧拉角的姿态测量算法中避免万向节死锁的方法
CN110494816A (zh) * 2018-06-01 2019-11-22 深圳市大疆创新科技有限公司 旋转角度控制方法、云台以及计算机可读的记录介质
WO2020258198A1 (zh) * 2019-06-28 2020-12-30 深圳市大疆创新科技有限公司 标定方法、标定设备、稳定器及计算机可读存储介质
CN111813139B (zh) * 2020-07-27 2022-08-16 中国工程物理研究院总体工程研究所 一种持续载荷模拟器多轴耦合运动奇异性控制方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150285660A1 (en) * 2012-11-28 2015-10-08 Drs Sustainment Systems, Inc. Az/el gimbal housing characterization
CN110337560A (zh) * 2018-05-30 2019-10-15 深圳市大疆创新科技有限公司 云台的控制方法、云台、拍摄设备及可读存储介质
CN110431507A (zh) * 2018-05-31 2019-11-08 深圳市大疆创新科技有限公司 一种云台控制方法及云台
CN108725817A (zh) * 2018-06-05 2018-11-02 广东工业大学 一种具有防抖功能的四轴无人机
CN110825124A (zh) * 2019-11-15 2020-02-21 杭州电子科技大学 云台控制方法及***

Also Published As

Publication number Publication date
WO2022110034A1 (zh) 2022-06-02

Similar Documents

Publication Publication Date Title
EP1728600B1 (en) Controlling the trajectory of an effector
US20200213518A1 (en) Method for controlling gimbal, gimbal controller, and gimbal
CN108521777B (zh) 云台的控制方法、云台以及无人飞行器
US11346495B2 (en) Control method for non-orthogonal gimbal, gimbal thereof, and storage device
CN110785601A (zh) 手持云台的控制方法和手持云台
US20200133101A1 (en) Control method for gimbal, controller, and gimbal
JP6430661B2 (ja) 安定プラットホーム、並びにその追従制御システム及び方法
US20200338731A1 (en) Mobile robotic camera platform
EP3840358A1 (en) Mode switching method and device for tripod head, movable platform, and storage medium
Yu et al. A comparative study on motion characteristics of three two-degree-of-freedom pointing mechanisms
US10035264B1 (en) Real time robot implementation of state machine
CN114730191A (zh) 云台控制方法、装置、云台及可移动平台
JP2020138294A (ja) ロボットシステム
WO2021168821A1 (zh) 可移动平台的控制方法和设备
JP2018065232A (ja) ロボット制御装置、ロボット、及びロボットシステム
US11656923B2 (en) Systems and methods for inter-process communication within a robot
Jain et al. Docking two multirotors in midair using relative vision measurements
Lee et al. A variable structure-augmented adaptive controller for a gyro-mirror line-of-sight stabilization platform
Coelho et al. Hierarchical control of redundant aerial manipulators with enhanced field of view
WO2022082442A1 (zh) 云台的控制方法及云台
JP2018065233A (ja) ロボット制御装置、ロボット、及びロボットシステム
CN109946970B (zh) 一种基于观测器的非完整机器人速度信息的获取方法
Bae et al. A dynamic visual servoing of robot manipulator with eye-in-hand camera
Guo et al. A ground moving target tracking system for a quadrotor in GPS-denied environments
CN115816423B (zh) 用于机器人的并联机构云台装置、位姿控制方法及控制器

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