WO2019126932A1 - Procédé de commande de tête de berceau et dispositif de commande - Google Patents

Procédé de commande de tête de berceau et dispositif de commande Download PDF

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Publication number
WO2019126932A1
WO2019126932A1 PCT/CN2017/118272 CN2017118272W WO2019126932A1 WO 2019126932 A1 WO2019126932 A1 WO 2019126932A1 CN 2017118272 W CN2017118272 W CN 2017118272W WO 2019126932 A1 WO2019126932 A1 WO 2019126932A1
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WO
WIPO (PCT)
Prior art keywords
joint angle
axis
range
pan
angle range
Prior art date
Application number
PCT/CN2017/118272
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English (en)
Chinese (zh)
Inventor
刘帅
王映知
林光远
Original Assignee
深圳市大疆创新科技有限公司
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 深圳市大疆创新科技有限公司 filed Critical 深圳市大疆创新科技有限公司
Priority to PCT/CN2017/118272 priority Critical patent/WO2019126932A1/fr
Priority to CN201780018008.2A priority patent/CN109313454A/zh
Publication of WO2019126932A1 publication Critical patent/WO2019126932A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D3/00—Control of position or direction
    • G05D3/12—Control of position or direction using feedback

Definitions

  • the present invention relates to the field of control technologies, and in particular, to a control method and a control device for a pan/tilt.
  • the head of the drone generally adopts the architecture of the PTZ processor and the ESC processor.
  • the ESC processor is set on the ESC board.
  • the firmware of the ESC processor is generally upgraded first.
  • upgrade the firmware of the PTZ processor After the firmware upgrade of the PTZ processor is completed in this process, since the firmware upgrade of the ESC processor is completed and the self-test has been completed, the attitude of the PTZ is random, and the axes of the PTZ are not at the joint angle.
  • Zero position hereinafter referred to as "joint angle zero position”
  • the ESC will feed back a large joint angle to the PTZ processor. If the PTZ processor directly uses the joint angle to perform closed-loop adjustment, the cloud
  • the platform may generate a large overshoot during the exercise, that is, the gimbal will reverberate around the expected posture, affecting the user experience.
  • Embodiments of the present invention provide a control method and a control device for a pan/tilt to improve the stability of the pan-tilt motion and reduce overshoot during pan-tilt motion.
  • the invention provides a method for controlling a pan/tilt.
  • the control methods of the gimbal include:
  • the joint angle of the shaft is adjusted to be within the first preset joint angle range.
  • the invention provides a control device for a pan/tilt.
  • the control device includes a memory and a processor.
  • the memory is for storing program code.
  • the processor is configured to execute the program code. When the program code is executed, it is used to perform the following operations:
  • the joint angle of the shaft is adjusted to be within the first preset joint angle range.
  • the control method and the control device of the embodiment of the present invention determine whether the joint angle of the axis of the pan/tilt is within the first preset joint angle range, and is not within the first preset joint angle range. Adjusting the joint angle of the shaft to the first preset joint angle range, thereby avoiding the overshoot that the pan/tilt may generate when moving from the current random attitude to the expected posture after receiving the attitude control amount, preventing the pan/tilt Produce overshoot and reverberation to improve the user experience.
  • FIG. 1 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 2 is a block diagram of a cloud platform and a control device in accordance with some embodiments of the present invention.
  • FIG. 3 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 4 is a schematic structural view of a three-axis pan/tilt head according to some embodiments of the present invention.
  • FIG. 5 is a schematic flow chart of a control method according to some embodiments of the present invention.
  • FIG. 6 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 7 is a schematic diagram of the principle of a control method in accordance with some embodiments of the present invention.
  • FIG. 8 is a schematic diagram of the principle of a control method in accordance with some embodiments of the present invention.
  • FIG. 9 is a flow chart of a control method of some embodiments of the present invention.
  • FIG. 10 is a flow chart of a control method of some embodiments of the present invention.
  • the present invention provides a control method for the pan/tilt head 100.
  • the control method of the cloud platform 100 includes:
  • the present invention also provides a control device 10 for the pan/tilt head 100.
  • the control method of the pan/tilt 100 according to the embodiment of the present invention can be implemented by the control device 10 of the pan/tilt 100 according to the embodiment of the present invention.
  • the control device 10 of the pan/tilt 100 includes a memory 11 and a processor 12.
  • the memory 11 is used to store the program code 111.
  • the processor 12 is operative to execute program code 111 stored in the memory 11.
  • step S1, step S2, and step S3 can be implemented. That is to say, when the program code 111 is executed by the processor 12, the following operations can be implemented:
  • the joint angle of the axis of the pan-tilt head 100 can be detected by an angle sensor, that is, the angle sensor can measure the actual joint angle of each axis of the gimbal, which will be described in detail below.
  • the upgrade is performed by upgrading the PTZ firmware, that is, the PTZ.
  • the processor 12 of 100 is upgraded, wherein the processor 12 can be a pan/tilt processor.
  • the user will inevitably touch the gimbal 100, so that the joint angle of the gimbal 100 is not at the joint angle zero.
  • the user touches the pan/tilt 100 or the gimbal 100 in gravity during the upgrade process. Rotation under action may result in a deviation from the joint angle zero, at which point the ESC may feed back a large joint angle to the processor 12.
  • the subsequent user controls the pan-tilt head 100 to rotate to drive the camera mounted on the pan-tilt head 100 to rotate from the current random posture.
  • the expected attitude there may be a large difference in posture between the expected attitude and the current random attitude.
  • the pan-tilt 100 may first go to the joint angle zero position and then go to the expected attitude.
  • the PTZ 100 goes to the expected attitude, the PTZ 100 will have overshoot and reverberate at the expected posture, which will cause the camera to shoot images with instant jitter, affecting the quality of the shooting and the user experience.
  • the control method and the control device 10 of the pan/tilt 100 determine whether the joint angle of the axis of the pan-tilt 100 is within the first preset joint angle range, and is not in the first When the preset joint angle range is within the range, the joint angle of the shaft is adjusted to be within a first preset joint angle range, wherein the first preset joint angle range may be a range close to the joint angle zero position, thereby preventing the pan/tilt head 100 from being processed.
  • the problem of overshoot and reverberation that may occur when the pan/tilt 100 receives the attitude control amount from the current random posture to the expected posture improves the user experience.
  • the pan/tilt head 100 has a plurality of axes, and the step S1 acquires the joint angle of the axis of the pan-tilt head 100 includes:
  • Step S3 determines whether the joint angle of the shaft is within the first preset joint angle range, including:
  • Step S5 When the joint angle of the shaft is not within the first preset joint angle range, adjusting the joint angle of the shaft to the first preset joint angle range includes:
  • the program code 111 when the program code 111 is executed to implement the step S1 to acquire the joint angle of the axis of the platform 100, the operation of performing the step S11 to acquire the joint angle of each axis of the platform 100 is performed. .
  • the step S31 is performed to determine whether the joint angle of each of the axes is at the first preset joint angle. The operation within the scope.
  • step S5 When the program code 111 is executed to implement the operation of step S5 when the joint angle of the shaft is not within the first preset joint angle range, when the joint angle of the shaft is adjusted to within the first preset joint angle range, the step S51 is performed.
  • the joint angle of one or more axes of the pan-tilt 100 is not within the range of the first predetermined joint angle, the joint angle of one or more axes is adjusted to the operation within the first predetermined joint angle range.
  • the platform 100 has three, namely a Roll axis, a Yaw axis, and a Pitch axis.
  • the pan-tilt 100 rotates around the Roll axis, the pan-tilt 100 moves in the roll direction; when the pan-tilt 100 rotates around the Yaw axis, the pan-tilt 100 moves in the yaw direction; when the pan-tilt 100 rotates around the Pitch axis, the pan-tilt 100 is pitched Move in the direction.
  • the joint angle of the axis of the pan/tilt head 100 in step S1 is not within the first preset joint angle range, and the joint angle of any one or more of the Roll axis, the Yaw axis or the Pitch axis of the pan-tilt head 100 is not in the first Within a predetermined joint angle range.
  • the joint angle of the Roll axis of the pan-tilt 100 is not within the first preset joint angle range, or the joint angle of the Yaw axis of the pan-tilt 100 is not within the first preset joint angle range, or the pan-tilt 100
  • the joint angle of the Pitch axis is not within the first preset joint angle range, or the joint angle of the Roll axis of the pan-tilt 100 and the joint angle of the Yaw axis of the pan-tilt 100 are not within the first preset joint angle range, or
  • the joint angle of the Roll axis of the pan-tilt 100 and the joint angle of the Pitch axis of the pan-tilt 100 are not within the first predetermined joint angle range, or the joint angle of the Yaw axis of the pan-tilt 100 and the joint of the Pitch axis of the pan-tilt 100
  • the angles are not within the first predetermined joint angle range, or the joint angle of the Roll axis of the pan/t
  • the processor 12 reads from the angle sensor. The value of the joint angle of each axis. Subsequently, the processor 12 determines whether the joint angle of each axis of the platform 100 is within the first preset joint angle range based on the read data.
  • an angle sensor for example, a potentiometer, a Hall sensor, or a photoelectric encoder
  • the processor 12 When detecting that the joint angle of one or more of the axes is not within the first preset joint angle range, the processor 12 adjusts the axis whose joint angle is not within the first preset joint angle range to join the joint The angle is adjusted to within the first predetermined joint angle range. For example, if the joint angle of the Roll axis of the pan-tilt 100 and the joint angle of the Yaw axis are not within the first preset joint angle range, the processor 12 sequentially connects the joint angle of the Roll axis of the pan-tilt 100 and the joint of the Yaw axis.
  • the angle is adjusted to the first preset joint angle range, or the processor 12 sequentially adjusts the joint angle of the Yaw axis of the pan/tilt 100 and the joint angle of the Roll axis to the first preset joint angle range, or the processor 12 simultaneously
  • the joint angle of the Yaw axis of the pan/tilt 100 and the joint angle of the Roll axis are adjusted to the first preset joint angle range.
  • the joint angle of each axis of the pan/tilt head 100 is within the first preset joint angle range.
  • the pan-tilt head 100 does not appear at the expected posture. In the case of reverberation, the user's experience is better.
  • the number of the shafts of the pan/tilt head 100 may be one axis, two axes, four axes, five axes, or the like in addition to the three axes in the above embodiment.
  • the first predetermined joint angle range referred to in the above embodiments includes a range in which the joint angle is 0°.
  • the first predetermined joint angle range mentioned in the above embodiments is [-0.5°, 0.5°]. It can be understood that when the joint angle of the axis of the pan-tilt 100 is adjusted to the range of [-0.5°, 0.5°], although the joint angle of the axis of the pan-tilt 100 may not be at the 0° position, since -0.5° and 0.5 The joint angle of ° is relatively small, so it can be considered that the joint angle of the gimbal is already at the joint angle zero. Therefore, adjusting the joint angle of the shaft of the pan/tilt head 100 to the range of [-0.5°, 0.5°] can also solve the problem that the pan-tilt head 100 reverberates at the intended posture.
  • step S51 adjusts the joint angle of the shaft to a first preset joint angle range including:
  • S512 Closely adjust the joint angle of the first axis of the platform 100 to the first preset joint angle range according to the target joint angle.
  • step S511 is performed when one or more When the joint angle of the first axis of the plurality of axes is within the second predetermined joint angle range, the target joint angle of the first axis is set to 0°, and step S512 sets the first axis of the pan/tilt 100 according to the target joint angle.
  • the joint angle is closed to an operation within the first predetermined joint angle range.
  • the one or more axes are axes of the platform 100 whose joint angle is not within the first preset joint angle, and the first axis is the joint angle of the one or more axes being the second preset joint angle Any one of the axes.
  • the processor 12 further determines whether the joint angle of the Roll axis is within the second predetermined joint angle range. When the joint angle of the Roll axis is within the second predetermined joint angle range, the Roll is the first axis, the processor 12 sets the target joint angle of the Roll axis to 0°, and then, the processor 12 targets according to 0°.
  • the joint angle adjusts the joint angle of the Roll axis to the first preset joint angle.
  • the first preset joint angle range may be [-0.5°, 0.5°].
  • the processor 12 includes an electrical adjustment (as shown in Figure 8) for adjusting the rotation of the servo motor of each axis.
  • the processor 12 adjusts the closed angle of the Roll axis to the first preset joint angle according to the target joint angle of 0°.
  • the rotation of the Roller servo motor is controlled by the ESC to adjust the joint angle of the Roll axis of the PTZ 100. To the first preset joint angle range.
  • the Roll axis servo motor can first perform acceleration rotation with a fixed or varying angular acceleration, and then perform a deceleration rotation with a fixed or varying angular acceleration to adjust the joint angle of the Roll axis to the first preset joint angle range.
  • Roll-axis servo motor can be accelerated at a fixed or varying angular acceleration, then rotated at a constant speed, and finally rotated at a fixed or varying angular acceleration to adjust the joint angle of the Roll axis to the first Within a predetermined joint angle range.
  • step S511 sets the target joint angle of the first axis to 0°, including:
  • step S5111 when the program code 111 is executed to complete the operation of setting the target joint angle of the first axis to 0° in step S511, the first axis in the joint angle of the one or more axes is performed in step S5111.
  • the target joint angle of the first axis is set to 0°.
  • the preset absolute value range refers to [0.5°, 8°], that is, the second preset joint angle range is [-8°, -0.5°] ⁇ [0.5° , 8°].
  • the processor 12 determines that the joint angle ⁇ m of the Roll axis is within the second preset joint angle range.
  • step S51 adjusts the joint angle of the shaft to the first preset joint angle range to further include:
  • S514 Perform closed-loop adjustment on the joint angle of the first axis according to the target joint angle of the first axis at a plurality of times.
  • the step S513 is performed when the joint angle of one or more axes is not at When the second preset joint angle range is within, the target joint angle of the first axis at a plurality of times is determined, and the step S524 performs closed-loop adjustment of the joint angle of the first axis according to the target joint angle of the first axis at the plurality of times .
  • the target posture is fixed to 0° differently, and the target posture of the first axis at a plurality of times can be determined in time sequence, and the closed-loop adjustment is performed according to the target posture of the first axis at different times.
  • the difference control cloud platform 100 adjusts the joint angle of the first axis; at the second moment, determines the target joint angle of the pan/tilt According to the target joint angle at the second moment Actual joint angle with the second moment The difference control cloud platform 100 adjusts the joint angle of the first axis, and so on, until a certain moment, the actual joint angle of the first axis is within the second predetermined joint angle range.
  • the target joint angle of at least one of the plurality of times is determined based on the target joint angle of the previous moment.
  • each of a plurality of times among them Can be the target pose of the current moment
  • ⁇ k can be the angular velocity at time k
  • ⁇ k can be based on the actual joint angle of the first axis at time k determine
  • the acquisition can be measured by the angular velocity sensor at time k
  • ⁇ t is the control period.
  • the target joint angle is set in multiple stages to adjust the joint angle of the first axis to the first preset joint angle range until the actual joint angle of the first joint is within the second preset joint angle range.
  • the target joint angle of the first axis is set to 0°.
  • the joint angle of the first axis of the platform 100 is too large (ie, not within the first preset joint angle range and not within the second preset joint angle range), if the first axis is directly If the target joint angle is set to 0°, the joint angle of the first axis needs to be adjusted to be larger, and the servo motor will run at a higher speed. Therefore, it is very likely that the joint angle of the first axis is adjusted to the 0° position because If the rotational speed of the servo motor is too large, the joint angle of the first shaft reverberates at the 0° position, which affects the user experience.
  • the joint angle of the first axis of the pan-tilt head 100 is too large, the joint angle of the first axis of the pan-tilt 100 is gradually adjusted to the first preset joint in a segmented manner.
  • the servo motor runs at a relatively slow speed, and the target joint angle of the first axis is not adjusted to 0°. The problem that the joint angle reverberates at the 0° position can effectively improve the user experience.
  • the method for controlling the platform 100 of the embodiment of the present invention further includes:
  • the program code 111 when executed, it is also used to perform the step S7 to receive the attitude control command of the external device, and in step S9, the joint angle of each axis of the platform 100 is adjusted. After the first preset joint angle range is reached, the attitude of the pan/tilt head 100 is controlled according to the attitude control command.
  • the external device may be a flight controller of the UAV equipped with the PTZ 100, or may be a remote controller for controlling the attitude of the PTZ 100, or may be a smart terminal for installing the PTZ 100 control software, such as a mobile phone or a tablet. Computer, smart bracelet, etc.
  • the processor 12 can receive an attitude control command of the external device.
  • the processor 12 is provided with a wired communication interface or a wireless communication module for receiving an attitude control instruction sent by the external device.
  • the attitude control command can be sent to the pan/tilt head 100 through the external device to control and adjust the posture of the gimbal 100. Since the control device 10 adjusts the joint angle of the axis of the pan-tilt 100 to the first preset joint angle within a short time after the user activates the pan-tilt 100, the user subsequently sends a gesture to the pan-tilt 100 through the external device.
  • the control command is used to adjust the attitude of the PTZ 100, the PTZ 100 will not reverberate at the joint angle zero, which greatly improves the user experience.
  • a "computer-readable medium” can be any apparatus that can contain, store, communicate, propagate, or transport a program for use in an instruction execution system, apparatus, or device, or in conjunction with the instruction execution system, apparatus, or device.
  • computer readable media include the following: electrical connections (electronic devices) having one or more wires, portable computer disk cartridges (magnetic devices), random access memory (RAM), Read only memory (ROM), erasable editable read only memory (EPROM or flash memory), fiber optic devices, and portable compact disk read only memory (CDROM).
  • the computer readable medium may even be a paper or other suitable medium on which the program can be printed, as it may be optically scanned, for example by paper or other medium, followed by editing, interpretation or, if appropriate, other suitable The method is processed to obtain the program electronically and then stored in computer memory.
  • portions of the invention may be implemented in hardware, software, firmware or a combination thereof.
  • multiple steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system.
  • a suitable instruction execution system For example, if executed in hardware, as in another embodiment, it can be performed by any one of the following techniques or combinations thereof known in the art: having logic gates for performing logic functions on data signals Discrete logic circuits, application specific integrated circuits with suitable combinational logic gates, programmable gate arrays (PGAs), field programmable gate arrays (FPGAs), etc.
  • each functional unit in each embodiment of the present invention may be integrated into one processing module, or each unit may exist physically separately, or two or more units may be integrated into one module.
  • the above integrated modules can be executed in the form of hardware or in the form of software functional modules.
  • the integrated modules, if executed in the form of software functional modules and sold or used as separate products, may also be stored in a computer readable storage medium.
  • the above mentioned storage medium may be a read only memory, a magnetic disk or an optical disk or the like.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • User Interface Of Digital Computer (AREA)
  • Studio Devices (AREA)

Abstract

La présente invention concerne un procédé de commande et un dispositif de commande pour une tête de berceau (100), le procédé de commande pour la tête de berceau (100) comprenant les étapes suivantes : après qu'un processeur (100) achève la mise à niveau, il convient d'obtenir un angle d'articulation d'un arbre d'une tête de berceau (100) ; de déterminer si l'angle d'articulation de l'arbre se situe dans une première plage d'angle d'articulation prédéfinie ; lorsque l'angle d'articulation de l'arbre ne se situe pas dans la première plage d'angle d'articulation prédéfinie, il convient d'ajuster l'angle d'articulation de l'arbre à l'intérieur de la première plage d'angle d'articulation prédéfinie. La présente invention concerne en outre un dispositif de commande (10) pour une tête de berceau.
PCT/CN2017/118272 2017-12-25 2017-12-25 Procédé de commande de tête de berceau et dispositif de commande WO2019126932A1 (fr)

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Application Number Priority Date Filing Date Title
PCT/CN2017/118272 WO2019126932A1 (fr) 2017-12-25 2017-12-25 Procédé de commande de tête de berceau et dispositif de commande
CN201780018008.2A CN109313454A (zh) 2017-12-25 2017-12-25 云台的控制方法和控制设备

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PCT/CN2017/118272 WO2019126932A1 (fr) 2017-12-25 2017-12-25 Procédé de commande de tête de berceau et dispositif de commande

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CN109947138A (zh) * 2019-03-29 2019-06-28 西安工业大学 云台控制方法及云台
WO2020220169A1 (fr) * 2019-04-28 2020-11-05 深圳市大疆创新科技有限公司 Procédé et dispositif de commande de cardan, plateforme mobile, et support de stockage
CN110187721A (zh) * 2019-05-05 2019-08-30 湖北久之洋红外***股份有限公司 一种千分度精密云台运动控制装置及方法
CN110825124A (zh) * 2019-11-15 2020-02-21 杭州电子科技大学 云台控制方法及***
CN113227931A (zh) * 2020-07-28 2021-08-06 深圳市大疆创新科技有限公司 云台控制方法、装置、设备及计算机可读存储介质
CN114489103B (zh) * 2022-01-21 2023-09-08 西南交通大学 一种耦合单轴云台的手机无人机及控制方法

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