CN118090264A - Cloud deck state identification method and device, storage medium and cloud deck - Google Patents
Cloud deck state identification method and device, storage medium and cloud deck Download PDFInfo
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Abstract
The application discloses a method and a device for identifying a state of a cradle head, a storage medium and the cradle head, wherein the method comprises the following steps: the shaft obtains the angular speed of a target shaft of the cradle head and the torque output by a motor of the target shaft; determining the current moment of inertia of the target shaft based on the angular speed and the moment output by the motor; and determining the loading state of the cradle head according to the current moment of inertia, wherein the loading state comprises a loading state or an idle state. The current rotational inertia of the target shaft is determined, so that the loading state of the holder is identified according to the current rotational inertia, and the accuracy of holder state identification is improved.
Description
Technical Field
The application relates to the technical field of holders, in particular to a holder state identification method and device, a storage medium and a holder.
Background
Along with the rapid development of science and technology, the cradle head is widely applied, especially widely applied to various shooting devices, such as a moving camera, an unmanned aerial vehicle, a mobile phone and the like, so as to provide anti-shake service as a supporting platform of the shooting device, and the gesture of the shooting device can be flexibly changed.
When the cradle head is not loaded with shooting equipment, the cradle head is started, and the controlled object is inconsistent with the normal working state, so that the motor control output of the cradle head is abnormal, the cradle head is continuously dithered, and the use of a user can be influenced by the dithered cradle head.
Disclosure of Invention
The embodiment of the application provides a method and a device for identifying a state of a cradle head, a storage medium and the cradle head, which can identify the loading state of the cradle head more accurately.
In a first aspect, an embodiment of the present application provides a method for identifying a state of a pan/tilt, including:
The shaft obtains the angular speed of a target shaft of the holder and the torque output by a motor of the target shaft, wherein the target shaft is connected with a fixing mechanism of the holder for loading a load;
determining the current moment of inertia of the target shaft based on the angular speed and the moment output by the motor;
and determining the current loading state of the cradle head according to the current moment of inertia, wherein the loading state comprises a loading state or an idle state.
In a second aspect, an embodiment of the present application further provides a device for identifying a state of a pan/tilt, including:
The data acquisition module is used for acquiring the angular speed of a target shaft of the tripod head and the torque output by a motor of the target shaft, wherein the target shaft is connected with a fixing mechanism of the tripod head for loading a load;
the data prediction module is used for determining the current moment of inertia of the target shaft based on the angular speed and the moment output by the motor;
And the state identification module is used for determining the loading state of the cradle head according to the current moment of inertia, wherein the loading state comprises a loading state or an idle state.
In a third aspect, an embodiment of the present application further provides a computer readable storage medium, on which a computer program is stored, which when run on a computer causes the computer to execute the method for identifying a holder state according to any one of the embodiments of the present application.
In a fourth aspect, an embodiment of the present application further provides a pan-tilt, including a pan-tilt body; the target shaft is connected with the fixing mechanism, wherein the fixing mechanism shaft is used for loading a load; the controller shaft is configured to execute the holder state identification method provided by any embodiment of the application.
According to the technical scheme provided by the embodiment of the application, whether the load is loaded on the fixing mechanism or not can influence the output force of the motor of the target shaft connected with the fixing mechanism and the angular velocity of the target shaft is considered, so that the embodiment of the application determines the current moment of inertia of the target shaft according to the angular velocity and the moment output by the motor of the target shaft by acquiring the angular velocity of the target shaft of the cradle head and the moment output by the motor of the target shaft, if the load is not loaded on the fixing mechanism according to the current moment of inertia, the cradle head is judged to be in an empty state, and if the load is loaded on the fixing mechanism according to the current moment of inertia, the cradle head is judged to be in a loaded state. Therefore, the loading state of the cradle head is judged by determining the current moment of inertia of the target shaft, the accuracy of identifying the loading state of the cradle head can be improved, and the cradle head is convenient for a user to use.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic view of an application scenario of a pan-tilt status recognition method according to an embodiment of the present application.
Fig. 2 is a flowchart of a method for identifying a pan/tilt status according to an embodiment of the present application.
Fig. 3 is a schematic structural diagram of a handheld cradle head according to an embodiment of the present application.
Fig. 4 is a logic judgment diagram of a method for identifying a holder state according to an embodiment of the present application.
Fig. 5 is a schematic structural diagram of a holder state identifying device according to an embodiment of the present application.
Fig. 6 is a block diagram of a pan-tilt head according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It will be apparent that the described embodiments are only some, but not all, embodiments of the application. All other embodiments, which can be made by a person skilled in the art without any inventive effort, are intended to be within the scope of the present application based on the embodiments of the present application.
Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment may be included in at least one embodiment of the application. The appearances of such phrases in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. Those of skill in the art will explicitly and implicitly appreciate that the embodiments described herein may be combined with other embodiments.
In order to better understand the scheme provided by the embodiment of the application, firstly, the application provides an application scene. Referring to fig. 1, fig. 1 is a schematic view of an application scenario of a method for identifying a pan-tilt state according to an embodiment of the present application. As shown in fig. 1, at least one of the shafts included in the cradle head is connected with a fixing mechanism for loading the photographing apparatus, and when there are a plurality of shafts, each shaft is connected with a motor, and a driving force is supplied thereto by the motor, so that the shaft is rotated. When the cradle head is not loaded with a load, the cradle head is in an empty state, as shown in fig. 1 (a). When the cradle head is loaded with a load, the cradle head is in a loaded state, as shown in fig. 1 (b), wherein the load is as shown in the mobile phone in fig. 1 (b). When the cradle head is in a load state, the cradle head can drive the shooting equipment to move in one or more directions through the shaft, so that images can be shot in a larger range.
Considering that when the cradle head is in an empty state and the cradle head is started, the motor is abnormal in output and causes continuous shaking of the cradle head, so that a user can have difficulty in installing a load on the cradle head, and performance loss of the cradle head is easily caused. In order to solve the technical problems, the application can control whether the cradle head works according to the loading state by identifying the loading state of the cradle head, thereby avoiding providing anti-shake service when the cradle head is in an idle state. Specifically, an embodiment of the present application provides a method, an apparatus, a storage medium, and a device for identifying a state of a pan-tilt, where an execution subject of the method may be a pan-tilt control apparatus provided by the embodiment of the present application, or a pan-tilt integrated with the pan-tilt control apparatus. The cradle head control device can be realized in a hardware or software mode, and the cradle head comprises, but is not limited to, a handheld cradle head, a camera cradle head and the like. The handheld cradle head can further comprise a smart phone handheld cradle head, a motion camera handheld cradle head, a micro-single camera handheld cradle head, a professional camera handheld cradle head and the like, and the details are not repeated here. Of course, the cradle head can also be carried on various aircrafts or vision robots.
Referring to fig. 2, fig. 2 is a flowchart of a method for identifying a pan/tilt status according to an embodiment of the application. The specific flow of the cradle head state identification method provided by the embodiment of the application can be as follows:
s110, the shaft obtains the angular speed of a target shaft of the holder and the torque output by a motor of the target shaft, wherein the target shaft is connected with a fixing mechanism of the holder for loading a load.
Because the types of the holder are various, the holder has different structures and cannot be exhausted. In this embodiment, only a handheld cradle head is taken as an example for illustration, and other types of cradle heads can implement the scheme provided in this embodiment with reference to such a manner.
Specifically, referring to fig. 3, fig. 3 is a schematic structural diagram of a handheld pan-tilt 100 according to an embodiment of the present application, where the handheld pan-tilt 100 includes a roll axis 101, a pitch axis 102, and a heading axis 103 that are sequentially connected, and the roll axis 101 is connected to a fixing mechanism 104, and the fixing mechanism 104 is used for loading a photographing device 105, and the photographing device 105 loaded on the fixing mechanism 104 is regarded as a load with respect to the handheld pan-tilt 100. Wherein the roll axis 101 rotates in the direction of illustration a to drive the fixed mechanism 104 to roll in the direction of illustration a, the pitch axis 102 rotates in the direction of illustration B, and the heading axis 103 rotates in the direction of illustration C. The handheld cradle head 100 further includes a handle 106, and a user uses the handheld cradle head 100 by grasping the handle 106.
The target axis is the axis connecting the fixing mechanism, and in fig. 3, the roll axis 101. Whether or not the load is loaded on the fixing mechanism affects the angular velocity of the target shaft and the torque output by the motor connected to the target shaft. Therefore, in this embodiment, the angular speed of the target shaft and the torque output by the motor thereon can be obtained, and the loading state of the pan-tilt can be determined based on the angular speed and the torque output by the motor. Of course, the loading state of the cradle head can be determined by combining the angular speed of the other shaft and the torque output by the motor on the basis, and the loading state of the cradle head is determined by the angular speed of the motor of the target shaft and the torque output by the motor.
For example, the angular velocity of the target shaft may be measured by an inertial measurement unit, an angular velocity meter, or the like provided on the target shaft or calculated by angle sensor data, and the torque output by the motor may be determined by data such as current, rotation speed, or power output by the motor of the target shaft.
S120, determining the current moment of inertia of the target shaft based on the angular speed and the moment output by the motor.
The moment of inertia of the target shaft can be measured when the target shaft rotates at the current moment, if the angular velocity fluctuation of the target shaft is increased under the condition of the same motor output, the moment of inertia of the target shaft is reduced, if the moment of inertia of the target shaft is smaller than a preset no-load threshold value, the fact that the load is not loaded on the target shaft can be further determined, and under the condition, the cradle head is judged to be in a no-load state. If the angular velocity fluctuation of the target shaft is smaller under the condition of the same motor output, the rotation inertia of the target shaft is larger, and if the rotation inertia of the target shaft is larger than a preset load threshold value, the cradle head is judged to be in a load state under the condition.
The present moment of inertia of the target shaft is determined based on the angular velocity and the torque output by the motor in various manners, for example, the angular acceleration is determined according to the change condition of the angular velocity, and then the moment of inertia of the target shaft is calculated according to the ratio of the torque output by the motor and the angular acceleration. For another example, the current moment of inertia of the target shaft is predicted by inputting the angular velocity and the torque output by the motor into a pre-trained neural network model, wherein the neural network model is obtained by training a mapping relationship among the pre-learned angular velocity, the torque output by the motor and the moment of inertia. It will be appreciated that there are various ways of determining the current moment of inertia of the target shaft based on the angular velocity and the torque output by the motor, which are not further listed herein.
S130, determining the loading state of the cradle head according to the current moment of inertia, wherein the loading state comprises a loading state or an idle state.
In this embodiment, the preset loading states of the pan-tilt system include a loading state and an unloading state, and one loading state may correspond to one or more moments of inertia, or one loading state may correspond to a numerical interval of one moment of inertia. Specifically, if the current moment of inertia corresponds to the load state, the cradle head can be determined to be in the load state, and if the current moment of inertia corresponds to the no-load state, the cradle head can be determined to be in the no-load state.
For another example, a change trend of moment of inertia before a period of time is determined, and the loading state of the cradle head is determined according to the change trend in an ascending or descending trend. Specifically, when the change trend is an ascending trend, the cradle head is judged to be in a load state, and when the change trend is a descending trend, the cradle head is judged to be in an idle state.
In particular, the application is not limited by the order of execution of the steps described, as some of the steps may be performed in other orders or concurrently without conflict.
According to the cradle head state identification method provided by the embodiment of the application, the angular speed of the target shaft and the moment output by the motor of the target shaft are obtained, so that the current moment of inertia of the target shaft is determined based on the angular speed and the moment output by the motor, wherein the current moment of inertia can accurately identify the condition that the target shaft is subjected to external force, and the loading state of the cradle head can be further described. The loading state of the cradle head comprises a loading state and an idle state, the cradle head can be controlled by judging whether the cradle head is in the loading state or the idle state currently, so that the cradle head does not provide anti-shake service when in the idle state, the condition that the cradle head continuously shakes is avoided, a user can load the load on the cradle head conveniently, the user experience is effectively improved, the stability and the reliability of the cradle head in use are further improved, and the service life of the cradle head is prolonged.
In some embodiments, determining the current moment of inertia of the target shaft based on the angular velocity and the torque output by the motor includes:
determining the reciprocal of the current observation moment of inertia and the current observation angular velocity as state quantities, and determining the current measurement angular velocity as measurement quantity;
Constructing a Kalman state equation and a Kalman measurement equation according to the state quantity and the measurement quantity;
and obtaining the current moment of inertia of the target shaft according to the Kalman state equation and the Kalman measurement equation.
Considering the influence of noise, the present moment of inertia is calculated through kalman filtering in this embodiment, and the moment of inertia satisfies the minimum variance estimation, and its value is more accurate, and further, the load state of the cradle head can be more accurately expressed through the present moment of inertia that is accurately calculated.
For example, a kalman measurement equation may be constructed by taking the inverse of the current observed moment of inertia and the current observed angular velocity as state quantities to construct a kalman state equation, and taking the current measured angular velocity as a measurement quantity. The observed angular velocity and the observed moment of inertia at the current moment can be calculated by bringing the moment of inertia and the angular velocity at the last moment and the moment at the current moment into a Kalman state equation. The correction angular velocity and the correction moment of inertia at the current moment can be calculated through a measurement equation and a Kalman gain.
The process of constructing the Kalman state equation and the Kalman measurement equation is as follows:
First, considering that the torque output by the motor of the target shaft is related to the reciprocal of the moment of inertia and the angular acceleration, the angular acceleration is expressed by the reciprocal of the moment of inertia and the torque output by the motor, which is expressed as follows:
Wherein, The angular acceleration is represented by F, the torque output by the motor is represented by G, and the reciprocal of the moment of inertia is represented by G.
Further, considering the influence of the eccentric moment on the moment output by the motor, the moment output by the motor can be corrected through the eccentric moment, so that the moment output by the motor is more accurate. The eccentric moment is pre-determined, and the determination mode includes, but is not limited to, acquisition and calculation of output data of the motor under the condition of static stability augmentation. After considering the influence factors of the eccentric moment, the expression of the angular acceleration may be as follows:
Wherein M 0 represents an eccentric moment.
Then, by determining the reciprocal of the current observed moment of inertia and the current observed angular velocity at the current moment as state quantities, a state equation can be constructed, and the expression of the state equation is as follows:
where k represents the current time and k-1 represents the previous time. And/>Is a state quantity which is a value to be solved for,/>Representing the inverse of the moment of inertia of the current observation at the current moment,/>Representing the current observation angular velocity at the current time. dt represents a preset period, which may represent a refresh period of the state equation. /(I)Indicating the historical angular velocity at the previous time. /(I)And expressing the reciprocal of the historical moment of inertia at the previous moment, wherein the reciprocal of the historical moment of inertia can be obtained through the historical moment of inertia. d k-1 represents observed noise, which is related to the system environment, and this value can be estimated by offline testing.
By taking the current measured angular velocity at the current moment as a measurement quantity, the measurement quantity is a numerical value obtained by real-time detection by an inertial measurement unit or an angular velocity sensor, and a measurement equation is constructed as follows:
Wherein omega k represents the current measured angular velocity measured in real time by the inertial measurement unit at the current moment, For the current observed angular velocity at the current moment, v k-1 represents the measurement noise, which is related to the measurement error of the inertial measurement unit, which value can be estimated by an off-line test.
As above, the reciprocal of the current observed moment of inertia can be obtained by the state equation and the measurement equationAnd further determining the current observed moment of inertia according to the reciprocal.
In some embodiments, deriving the current moment of inertia of the target axis from the Kalman state equation and the Kalman measurement equation includes:
Inputting the current moment output by the motor, the historical moment of inertia at the previous moment and the historical angular speed into a state equation to solve, and obtaining the current observation angular speed and the current observation moment of inertia;
And solving the current corrected angular velocity and the current corrected moment of inertia according to a Kalman measurement equation and a Kalman gain, and determining the current corrected moment of inertia as the current moment of inertia of the target shaft.
According to the embodiment, the current moment of inertia at the current moment is calculated according to the moment output by the motor of the target shaft and the angular speed of the target shaft through a Kalman filtering algorithm, the influence of white noise on the current moment of inertia calculation is filtered, the calculation error of the current moment of inertia is reduced, and the accuracy of the current moment of inertia is improved.
In some embodiments, determining the loading state of the pan-tilt based on the moment of inertia includes:
when the cradle head is in an empty state, if the current moment of inertia is greater than a preset load threshold value and the preset duration is continued, switching the loading state of the cradle head into a loading state;
when the cradle head is in a loading state, if the current moment of inertia is smaller than a preset no-load threshold value and the preset duration is continued, the loading state of the cradle head is switched to the no-load state.
The method comprises the steps of determining that two thresholds are a preset no-load threshold and a preset load threshold in advance, and comparing the current moment of inertia with the preset no-load threshold and the preset load threshold respectively to judge whether the loading state of the cradle head needs to be changed or not according to the current loading state of the cradle head.
When the cradle head is in the idle state, if the current moment of inertia is greater than the preset load threshold, the moment of inertia of the target shaft is continuously detected within a preset time period, the moment of inertia detected at each moment of time within the preset time period is referred to as the current moment of inertia of the moment of time, whether the moment of inertia is greater than the preset load threshold is determined, and if so, the loading state of the cradle head is switched from the idle state to the loaded state. If not, the loading state of the cradle head can be re-judged, or the cradle head is judged to be in an idle state.
It will be appreciated that, after the current moment of inertia is greater than the preset load threshold, the moment of inertia of the target shaft at each moment may be continuously detected within a preset period of time thereafter, and the moment of inertia of the target shaft at a plurality of moments may also be detected at intervals of the sampling rate, which is not limited herein in a specific real-time manner.
Correspondingly, when the cradle head is in a load state, if the current moment of inertia is smaller than a preset no-load threshold value, continuously detecting the current moment of inertia of the target shaft within a preset time period, so as to judge whether the current moment of inertia is still smaller than the preset no-load threshold value, and if so, switching the load state of the cradle head from the load state to the no-load state.
In this embodiment, the loading state of the pan-tilt is determined according to the current loading state of the pan-tilt and in combination with the current moment of inertia, so as to determine whether to switch the loading state. On one hand, whether the result of the current loading state is accurate can be verified, on the other hand, the loading state of the holder is judged after the current moment of inertia data are stable by continuously judging the current moment of inertia, judgment errors can be avoided, and the accuracy of identifying the loading state of the holder is improved.
In some embodiments, after determining the loading state of the pan-tilt according to the moment of inertia, the method further includes:
If the loading state of the cradle head is switched to the idle state, and the current moment of inertia is larger than a preset idle threshold and smaller than a preset load threshold, determining that the loading state of the cradle head is still the loading state;
If the loading state of the cradle head is switched to the idle state, the current moment of inertia is larger than a preset idle threshold and smaller than a preset load threshold, and the loading state of the cradle head is still determined to be the idle state.
In this embodiment, after the loading state of the pan-tilt is switched, whether the loading state of the pan-tilt needs to be changed is continuously determined according to the current moment of inertia, that is, when the current moment of inertia is in a range between the preset no-load threshold and the preset load threshold, the loading state of the pan-tilt can be maintained. By the method, misjudgment of the loading state of the cradle head due to numerical fluctuation of the current moment of inertia can be avoided, and accuracy of identifying the loading state of the cradle head is improved.
In some embodiments, the preset no-load threshold is less than a preset load threshold, wherein the preset load threshold is less than a moment of inertia measured by the gauge when the pan-tilt is loaded with a load, and the preset no-load threshold is greater than a moment of inertia measured by the gauge when the pan-tilt is not loaded with a load.
For example, the moment of inertia of the target shaft may be measured multiple times when the cradle head is not loaded with a load by the measuring instrument in advance to determine the preset no-load threshold according to the multiple moment of inertia, and the moment of inertia of the target shaft may be measured multiple times when the cradle head is loaded with a load by the measuring instrument in advance to determine the preset load threshold according to the multiple moment of inertia. The instrument capable of measuring the moment of inertia can be used in the embodiment of the application to measure the moment of inertia of the cradle head.
Further, the method of determining the preset no-load threshold or the preset load threshold according to the moment of inertia measured for multiple times may be, for example, to calculate statistical values such as an average value, a median value, an extremum value, etc. of the moment of inertia measured for multiple times, and then determine one of the statistical values as the preset no-load threshold or the preset load threshold.
Furthermore, the statistical value can be finely tuned to determine a preset no-load preset or preset load threshold value. For example, the preset no-load threshold is obtained by adjusting up the statistic value based on the statistic value obtained under the no-load condition of the cradle head, and correspondingly, the preset load threshold is obtained by adjusting down the statistic value based on the statistic value obtained under the load condition of the cradle head. Wherein, the amplitude of the statistics is adjusted down or up by 5%, 10%, 12%, 15% and the like as the adjustment amplitude.
Wherein, J e represents the statistics obtained under the empty load of the pan-tilt, J 0 represents the preset empty load threshold, J d represents the statistics obtained under the load of the pan-tilt, and J 1 represents the preset load threshold, and the relation is as follows:
Je<J0<J1<Jd
In this embodiment, the moment of inertia of the target shaft of the cradle head in the two situations of loading and unloading is measured in advance through the measuring instrument, so as to determine a preset no-load threshold value and a preset load threshold value according to multiple measurement results, wherein the preset no-load threshold value and the preset load threshold value can accurately divide the no-load state and the load state of the cradle head, and a difference value exists between the two threshold values, so that the hysteresis performance is achieved, the loading state of the cradle head can be more accurately distinguished, and the switching of the loading state of the cradle head is more stable.
As an example, various embodiments for determining the loading state of the pan-tilt according to the current moment of inertia of the target shaft are provided, and here, a specific flowchart is provided to explain in detail the pan-tilt state identification method provided by the embodiment of the present application. Specifically, referring to fig. 4, fig. 4 is a logic judgment diagram of a method for identifying a pan/tilt status according to an embodiment of the present application.
S210, acquiring the angular speed of a target shaft and the torque output by the motor.
S220, determining the current moment of inertia of the target shaft based on the angular speed and the moment output by the motor.
S230, when the cradle head is in an empty state, if the current moment of inertia is greater than a preset load threshold value and the preset duration is continued, switching the loading state of the cradle head to a loading state;
After S230, S231 is executed, and if the current moment of inertia is greater than the preset no-load threshold and less than the preset load threshold, the loading state of the pan-tilt is determined to be still the loading state;
s240, when the cradle head is in a load state, if the current moment of inertia is smaller than a preset no-load threshold value and the preset duration is continued, switching the loading state of the cradle head to a no-load state;
after S240, S241 is executed, where if the current moment of inertia is greater than the preset no-load threshold and less than the preset load threshold, it is determined that the loading state of the pan-tilt is still the no-load state.
In some embodiments, the loading state is a load state; after determining the loading state of the cradle head according to the current moment of inertia, the method further comprises the following steps:
Determining target control parameters of a shaft of the cradle head according to the current moment of inertia;
And performing stability augmentation control on the shaft according to the target control parameters of the shaft.
For example, if a load is loaded on a target shaft, the current moment of inertia of the target shaft is related to the weight of the load loaded thereon, and the weight of the load can be determined from the current moment of inertia. The corresponding relation between the current moment of inertia and the control parameters is preset, and the anti-shake effect on the load can be improved by selecting different control parameters according to the weight of the load.
Illustratively, the control parameters may include: motor torque information for each shaft, response speed to load attitude, motor rotational speed for each shaft, and the like.
After determining the target control parameters of each axis of the pan-tilt according to the current moment of inertia, the anti-shake service of the pan-tilt can be started according to the target control parameters to perform stability enhancement control on each axis, so that anti-shake control is performed on the load in a targeted manner, and the shooting effect can be improved when the load is in shooting equipment.
In some embodiments, after determining that the loading state of the pan-tilt head is the empty state, the method further includes:
controlling the motor unloading force of the upper shaft of the cradle head; or alternatively
Controlling the shaft of the cradle head to move to a preset position; or alternatively
And controlling the shaft of the cradle head to move to a preset position, and then stopping for a preset time period and then unloading force.
When the cradle head is in an idle state, the motor of the upper shaft of the cradle head can be controlled to unload force, after the motor of the shaft unloads force, the shaft is in a free state, the shaft can correspondingly rotate through external force (including gravity) applied to the shaft, the torque output by the motor is zero, the motor cannot continuously shake, and the cradle head is convenient for a user to use. The force can be removed only from the motors of the target shaft, or the force can be removed from the motors of all shafts of the cradle head, which can be specifically determined according to actual requirements, and the force is not limited herein. Taking the above mentioned handheld cradle head as an example, and referring to fig. 3, if the transverse roller is unloaded, the transverse roller can freely rotate in the a direction based on the external force. For example, the transverse roller is only acted by gravity, and the fixing mechanism connected with the transverse roller shaft is consistent with the gravity direction.
Or when the cradle head is in an idle state, the target shaft can be driven to move to a preset position through a motor of the target shaft. After the target shaft is driven to a preset position, the target shaft is controlled to be locked, namely, the fixing mechanism connected with the target shaft is controlled to be locked, so that a user can load a load on the fixing mechanism conveniently.
Of course, each shaft of the pan-tilt can also be controlled to move to the corresponding preset position, so that the load can be quickly loaded on the fixing mechanism. The preset position can be, for example, a position corresponding to the shaft of the motor at the reference zero position, the preset position can also be a certain position designated by a user, the preset position can also be a position determined according to the use habit of the user, and when the user loads a load, the shaft is adjusted to be a certain position for many times, so that the position can be determined as the preset position.
The axes of the pan-tilt are moved to respective corresponding preset positions through linkage, so that the pan-tilt presents a designated posture, and the designated posture can be a posture in which a user is convenient to load a load on the fixed mechanism, a posture facing the user, or a default posture.
In some embodiments, the determined load state of the pan-tilt may be further matched with the current mode of the pan-tilt, and when the load state and the current mode of the pan-tilt are not matched, a prompt message is sent to prompt the user.
For example, if it is determined that the cradle head is in an idle state, an operation mode of the cradle head is obtained, if the operation mode is the idle mode, the operation mode and the idle mode are matched, if the operation mode is the working mode, the operation mode and the idle mode are not matched, and prompt information is sent.
For another example, if the cradle head is determined to be in a load state, the operation mode of the cradle head is obtained, if the operation mode is an idle mode, the operation mode and the idle mode are not matched, prompt information is sent, and if the operation mode is a working mode, the operation mode and the idle mode are matched.
More specifically, the prompt information may be output through the cradle head in a manner of voice, text, vibration, or the like, or output through an external device connected to the cradle head, where the external device is, for example, a mobile phone, an earphone, a remote controller, or the like, and the specific embodiment is not limited herein.
In some embodiments, after determining that the loading state of the pan-tilt head is the empty state, the method further includes:
Determining a force unloading time length for controlling the cradle head to enter a dormant state;
And controlling the cradle head to slowly enter a dormant state based on the force unloading time.
After the cradle head is in the idle state, the force unloading time for controlling the cradle head to enter the dormant state can be determined, and then the cradle head is controlled to slowly enter the dormant state according to the force unloading time, so that buffering can be provided for the force unloading of the cradle head, loss of the cradle head is avoided, the operation safety of the cradle head is improved, and the service life of the cradle head is prolonged.
Specifically, after the cradle head is in the idle state, the force unloading speed of the motor can be determined according to the torque output by the motor and the force unloading time, and then the target shaft is controlled to slowly unload force according to the force unloading speed so as to control the cradle head to enter the dormant state, wherein after the cradle head enters the dormant state, the power consumption of the cradle head is reduced, and the service time of the cradle head is prolonged.
In some embodiments, after the cradle head enters the sleep state, the method further comprises:
and receiving a user sleep exit instruction, and controlling the cradle head to be switched from a sleep state to an idle state.
The embodiment provides a scheme for enabling a user to exit from a sleep state, for example, when the cradle head receives a user exit sleep instruction, the cradle head can be controlled to switch from the sleep state to an idle state, wherein a triggering mode of the user exit sleep instruction can be triggered by a virtual or physical key on the cradle head operated by the user, or can be triggered by external equipment in communication connection with the cradle head. Of course, voice triggering, gesture triggering, etc. are also possible. It can be understood that it may be further provided that, according to a user entering a sleep command, the cradle head is controlled to switch from a loaded state or an unloaded state to a sleep state, and the detailed description of the embodiments is omitted herein.
As can be seen from the above, the cradle head state identification method provided by the embodiment of the invention can obtain the angular velocity of the target shaft and the torque output by the motor of the target shaft, and further calculate the current moment of inertia according to the torque and the angular velocity output by the motor by using the kalman filter algorithm, so that the influence of white noise on the current moment of inertia calculation is filtered, the calculation error of the current moment of inertia is reduced, and the accuracy of the current moment of inertia is improved. When the loading state of the cradle head is determined according to the current moment of inertia, the current moment of inertia is compared with a preset no-load threshold value and a preset loading threshold value, so that when the cradle head is in a loading state and the current moment of inertia is smaller than the preset no-load threshold value, the loading state of the cradle head is switched to the no-load state, and when the cradle head is in the no-load state and the current moment of inertia is larger than the preset loading threshold value, the loading state of the cradle head is switched to the loading state. The preset load threshold is larger than the preset no-load threshold, and the cloud platform loading state judgment method has hysteresis performance, so that the cloud platform loading state can be judged more accurately, and the cloud platform loading state can be switched more stably. In addition, after that, the loading state of the cradle head is continuously judged, so that judgment deviation can be avoided, and the accuracy of identifying the loading state of the cradle head is improved. Secondly, after the cradle head is determined to be in an idle state, the motor unloading force of the upper shaft of the cradle head is controlled; or the shaft of the cradle head is controlled to move to a preset position, so that the use of a user can be facilitated. And when the motor is used for unloading, buffer is provided for the unloading force of the cradle head through slow unloading, so that the loss of the cradle head is avoided, the running safety of the cradle head is improved, and the service life of the cradle head is prolonged. After the cradle head is determined to be in a load state, stability enhancement control is performed on each shaft, so that the anti-shake effect on the load can be improved.
In an embodiment, a holder state recognition device is also provided. Referring to fig. 5, fig. 5 is a schematic structural diagram of a holder status recognition device according to an embodiment of the application. The holder state recognition device 300 is applied to a holder, and the holder state recognition device 300 includes:
The data acquisition module 310 is configured to acquire an angular velocity of a target shaft of the pan-tilt, and a torque output by a motor of the target shaft, where the target shaft is connected with a fixing mechanism of the pan-tilt for loading a load;
A data prediction module 320, configured to determine a current moment of inertia of the target shaft based on the angular velocity and the torque output by the motor;
The state identification module 330 is configured to determine a loading state of the pan-tilt according to the current moment of inertia, where the loading state includes a loading state or an unloading state.
In some embodiments, the data prediction module 320 is further to:
determining the reciprocal of the current observation moment of inertia and the current observation angular velocity as state quantities, and determining the current measurement angular velocity as measurement quantity;
Constructing a Kalman state equation and a Kalman measurement equation according to the state quantity and the measurement quantity;
and obtaining the current moment of inertia of the target shaft according to the Kalman state equation and the Kalman measurement equation.
In some embodiments, the data prediction module 320 is further to:
The moment of inertia and angular velocity at the previous moment and the moment output by the motor at the current moment are brought into a Kalman state equation to calculate the observation angular velocity and the observation moment of inertia at the current moment;
The correction angular velocity and the correction moment of inertia at the current moment can be calculated through a Kalman measurement equation and a Kalman gain.
In some embodiments, the state identification module 330 is further to:
when the cradle head is in an empty state, if the current moment of inertia is greater than a preset load threshold value and the preset duration is continued, switching the loading state of the cradle head into a loading state;
when the cradle head is in a loading state, if the current moment of inertia is smaller than a preset no-load threshold value and the preset duration is continued, the loading state of the cradle head is switched to the no-load state.
In some embodiments, the state identification module 330 is further to:
If the loading state of the cradle head is switched to the idle state, and the current moment of inertia is larger than a preset idle threshold and smaller than a preset load threshold, determining that the loading state of the cradle head is still the loading state;
If the loading state of the cradle head is switched to the idle state, the current moment of inertia is larger than a preset idle threshold and smaller than a preset load threshold, and the loading state of the cradle head is still determined to be the idle state.
In some embodiments, the preset no-load threshold is less than a preset load threshold, wherein the preset load threshold is less than a moment of inertia measured by the gauge when the pan-tilt is loaded with a load, and the preset no-load threshold is greater than a moment of inertia measured by the gauge when the pan-tilt is not loaded with a load.
In some embodiments, the state identification module 330 is further to:
Determining target control parameters of a shaft of the cradle head according to the current moment of inertia;
And performing stability augmentation control on the shaft according to the target control parameters of the shaft.
In some embodiments, after determining that the loading state of the pan-tilt is the empty state, the state identification module 330 is further configured to:
controlling the motor unloading force of the upper shaft of the cradle head; or alternatively
Controlling the shaft of the cradle head to move to a preset position; or alternatively
And controlling the shaft of the cradle head to move to a preset position and stopping for a preset time period, and then unloading force.
It should be noted that, the holder state recognition device 300 provided in the embodiment of the present application belongs to the same concept as the holder state recognition method in the above embodiment, and any method provided in the holder state recognition method embodiment may be implemented by the holder state recognition device 300, and detailed implementation processes of the method are shown in the holder state recognition method embodiment, which is not described herein again.
As can be seen from the above, the cradle head state identifying device 300 provided by the embodiment of the present application can obtain the angular velocity of the target shaft and the torque output by the motor of the target shaft, and further calculate the current moment of inertia at the current moment according to the torque and the angular velocity output by the motor of the target shaft through the kalman filter algorithm, thereby filtering the influence of white noise on the current moment of inertia calculation, reducing the calculation error of the current moment of inertia, and improving the accuracy of the current moment of inertia. When the loading state of the cradle head is determined according to the current moment of inertia, the current moment of inertia is compared with a preset no-load threshold value and a preset loading threshold value, and when the cradle head is in a loading state and the current moment of inertia is smaller than the preset no-load threshold value, the loading state of the cradle head is switched to the loading state, and when the current moment of inertia is larger than the preset loading threshold value, the cradle head is determined to be in the loading state. The preset load threshold is larger than the preset no-load threshold, and the cloud platform loading state judgment method has hysteresis performance, so that the cloud platform loading state can be judged more accurately, and the cloud platform loading state can be switched more stably. In addition, after that, the loading state of the cradle head is continuously judged, so that judgment deviation can be avoided, and the accuracy of identifying the loading state of the cradle head is improved. Secondly, after the cradle head is determined to be in an idle state, the motor unloading force of the upper shaft of the cradle head is controlled; or the shaft of the cradle head is controlled to move to a preset position, so that the use of a user can be facilitated. And when the motor is used for unloading, buffer is provided for the unloading force of the cradle head through slow unloading, so that the loss of the cradle head is avoided, the running safety of the cradle head is improved, and the service life of the cradle head is prolonged. After the cradle head is determined to be in a load state, stability enhancement control is performed on each shaft, so that the anti-shake effect on the load can be improved.
The embodiment of the application also provides a cradle head, which comprises, but is not limited to, a handheld cradle head, a fixed cradle head, an electric cradle head, a high-speed cradle head, a low-speed cradle head and the like, and can be subdivided on the basis, for example, the handheld cradle head also comprises a smart phone handheld cradle head, a motion camera handheld cradle head, a micro-camera handheld cradle head, a professional camera handheld cradle head and the like, and the details are not repeated here. Of course, the cradle head can also be carried on various aircrafts or vision robots. Referring to fig. 6, fig. 6 is a block diagram of a pan-tilt head 400 according to an embodiment of the application. The pan-tilt 400 includes a pan-tilt body 410, a shaft 430, and a controller 420, wherein one target shaft of the shaft 430 is connected with a fixing mechanism, the fixing mechanism is used for loading a load, and the shaft 430 is correspondingly connected with a motor, and the shaft 430 is driven to rotate by the motor. The controller 420 is used for controlling the motor to drive the corresponding shaft 430 to rotate. It will be appreciated by those skilled in the art that the configuration of pan-tilt head 400 shown in the figures does not constitute a limitation of pan-tilt head 400, and may include more or fewer components than shown, or may combine certain components, or may have a different arrangement of components.
Taking the handheld cradle head as an example, the handheld cradle head comprises a transverse rolling shaft, a pitching shaft and a heading shaft which are sequentially connected, wherein the transverse rolling shaft is used as a target shaft to be connected with a fixing mechanism, and the fixing mechanism is used for loading a load.
Illustratively, the controller 420 further includes a processor and a memory, wherein the processor is a control center of the cradle head 400, and is connected to various parts of the whole cradle head 400 by various interfaces and lines, and performs various functions of the cradle head 400 and processes data, thereby performing overall monitoring of the cradle head 400.
In an embodiment of the present application, the controller 420 in the pan/tilt head 400 is configured to implement the following functions:
acquiring the angular speed of a target shaft of the holder and the torque output by a motor of the target shaft, wherein the target shaft is connected with a motor through a fixing mechanism of the holder for loading a load;
determining a current moment of inertia of the target shaft based on the angular velocity and the torque output by the motor;
And determining the loading state of the cradle head according to the current moment of inertia, wherein the loading state comprises a loading state or an idle state.
It will be appreciated that, although not shown in the drawings, the cradle head 400 provided in the present embodiment may further include a communication module for communication connection with an external device, and a power supply module, an inertial measurement unit, a sensor, and the like.
The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.
In the foregoing embodiments, the descriptions of the embodiments are emphasized, and for parts of one embodiment that are not described in detail, reference may be made to related descriptions of other embodiments.
As can be seen from the above, the cradle head 400 provided in this embodiment can obtain the angular velocity of the target shaft and the torque output by the motor of the target shaft, and further calculate the current moment of inertia at the current moment according to the torque and the angular velocity output by the motor of the target shaft through the kalman filter algorithm, thereby filtering the influence of white noise on the current moment of inertia calculation, reducing the calculation error of the current moment of inertia, and improving the accuracy of the current moment of inertia. When the loading state of the cradle head is determined according to the current moment of inertia, the current moment of inertia is compared with a preset no-load threshold value and a preset loading threshold value, and when the cradle head is in a loading state and the current moment of inertia is smaller than the preset no-load threshold value, the loading state of the cradle head is switched to the loading state, and when the current moment of inertia is larger than the preset loading threshold value, the cradle head is determined to be in the loading state. The preset load threshold is larger than the preset no-load threshold, and the cloud platform loading state judgment method has hysteresis performance, so that the cloud platform loading state can be judged more accurately, and the cloud platform loading state can be switched more stably. In addition, after that, the loading state of the cradle head is continuously judged, so that judgment deviation can be avoided, and the accuracy of identifying the loading state of the cradle head is improved. Secondly, after the cradle head is determined to be in an idle state, the motor unloading force of the upper shaft of the cradle head is controlled; or the shaft of the cradle head is controlled to move to a preset position, so that the use of a user can be facilitated. And when the motor is used for unloading, buffer is provided for the unloading force of the cradle head through slow unloading, so that the loss of the cradle head is avoided, the running safety of the cradle head is improved, and the service life of the cradle head is prolonged. After the cradle head is determined to be in a load state, stability enhancement control is performed on each shaft, so that the anti-shake effect on the load can be improved.
Those of ordinary skill in the art will appreciate that all or a portion of the steps of the various methods of the above embodiments may be performed by instructions, or by instructions controlling associated hardware, which may be stored in a computer-readable storage medium and loaded and executed by a processor.
To this end, an embodiment of the present application provides a computer readable storage medium, and those skilled in the art will understand that all or part of the steps in implementing the method of the above embodiment may be implemented by a program to instruct related hardware, and the program may be stored in a computer readable storage medium, where the program when executed includes the following steps:
Acquiring the angular speed of a target shaft of the tripod head and the torque output by a motor of the target shaft, wherein the target shaft is connected with a fixing mechanism of the tripod head for loading a load;
determining the current moment of inertia of the target shaft based on the angular speed and the moment output by the motor;
And determining the loading state of the cradle head according to the current moment of inertia, wherein the loading state comprises a loading state or an idle state.
The specific implementation of each operation above may be referred to the previous embodiments, and will not be described herein.
The storage medium may be ROM/RAM, magnetic disk, optical disk, etc. The steps in any of the pan-tilt state identification methods provided by the embodiments of the present application can be executed by the computer program stored in the storage medium, so that the beneficial effects that any of the pan-tilt state identification methods provided by the embodiments of the present application can be achieved, and detailed descriptions of the previous embodiments are omitted herein.
The method, the device, the medium and the cradle head for identifying the cradle head state provided by the embodiment of the application are described in detail, and specific examples are applied to the description of the principle and the implementation mode of the application, and the description of the above embodiments is only used for helping to understand the method and the core idea of the application; meanwhile, as those skilled in the art will vary in the specific embodiments and application scope according to the ideas of the present application, the present description should not be construed as limiting the present application in summary.
Claims (12)
1. The method for identifying the state of the cradle head is characterized by comprising the following steps of:
Acquiring the angular speed of a target shaft of the holder and the torque output by a motor of the target shaft, wherein the target shaft is connected with a fixing mechanism of the holder for loading a load;
Determining a current moment of inertia of the target shaft based on the angular velocity and a torque output by the motor;
And determining the loading state of the cradle head according to the current moment of inertia, wherein the loading state comprises a loading state or an idle state.
2. The pan-tilt state identification method according to claim 1, wherein the determining the current moment of inertia of the target shaft based on the angular velocity and the torque output by the motor comprises:
determining the reciprocal of the current observation moment of inertia and the current observation angular velocity as state quantities, and determining the current measurement angular velocity as measurement quantity;
constructing a Kalman state equation and a Kalman measurement equation according to the state quantity and the measurement quantity;
and obtaining the current moment of inertia of the target shaft according to the Kalman state equation and the Kalman measurement equation.
3. The method for identifying a holder state according to claim 2, wherein obtaining the current moment of inertia of the target shaft according to the kalman state equation and the kalman measurement equation includes:
inputting the current moment output by the motor, the historical moment of inertia at the previous moment and the historical angular velocity into the state equation for solving, and obtaining the current observation angular velocity and the current observation moment of inertia;
and calculating a current corrected angular velocity and a current corrected moment of inertia according to the Kalman measurement equation and the Kalman gain, and determining the current corrected moment of inertia as the current moment of inertia of the target shaft.
4. The method for identifying a holder state according to claim 1, wherein the determining the loading state of the holder according to the moment of inertia includes:
When the cradle head is in the idle state, if the current moment of inertia is greater than a preset load threshold value and lasts for a preset duration, switching the loading state of the cradle head to the loading state;
When the cradle head is in the loading state, if the current moment of inertia is smaller than a preset no-load threshold value and lasts for a preset duration, the loading state of the cradle head is switched to the no-load state.
5. The method for identifying a holder state according to claim 4, further comprising, after determining a loading state of the holder according to the moment of inertia:
If the loading state of the cradle head is switched to the idle state, the current moment of inertia is larger than a preset idle threshold and smaller than the preset load threshold, and the loading state of the cradle head is still determined to be the loading state;
if the loading state of the cradle head is switched to the idle state, the current moment of inertia is greater than the preset idle threshold and less than the preset loading threshold, and the loading state of the cradle head is still determined to be the idle state.
6. The pan-tilt state identification method of claim 4, wherein the preset no-load threshold is less than the preset load threshold, wherein the preset load threshold is less than a moment of inertia measured by a gauge when the pan-tilt is loaded with a load, and wherein the preset no-load threshold is greater than a moment of inertia measured by a gauge when the pan-tilt is not loaded with a load.
7. The holder state recognition method according to claim 1, wherein the angular velocity is detected by an angular velocity sensor provided on the target shaft.
8. The pan-tilt status identification method according to any one of claims 1 to 7, wherein the loading status is the loading status; after the loading state of the pan-tilt is determined according to the current moment of inertia, the method further comprises:
Determining target control parameters of the shaft of the holder according to the current moment of inertia;
And performing stability augmentation control on the shaft according to the target control parameters of the shaft.
9. The pan-tilt status identification method according to any one of claims 1 to 7, wherein the loading status is the empty status; after the loading state of the pan-tilt is determined according to the current moment of inertia, the method further comprises:
Controlling the motor unloading force of the upper shaft of the cradle head; or alternatively
Controlling the shaft of the cradle head to move to a preset position; or alternatively
And controlling the shaft of the cradle head to move to a preset position and stopping for a preset time period, and then unloading force.
10. A holder state recognition device, comprising:
The data acquisition module is used for acquiring the angular speed of a target shaft of the holder and the torque output by a motor of the target shaft, wherein the target shaft is connected with a fixing mechanism of the holder for loading a load;
the data prediction module is used for determining the current moment of inertia of the target shaft based on the angular speed and the moment output by the motor;
And the state identification module is used for determining the loading state of the cradle head according to the current moment of inertia, wherein the loading state comprises a loading state or an idle state.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the computer program, when run on a computer, causes the computer to perform the pan-tilt status identification method according to any one of claims 1 to 9.
12. A cradle head, comprising:
a holder body;
A target shaft connected to a securing mechanism, wherein the securing mechanism is for loading a load;
a controller configured to perform the pan-tilt status identification method according to any one of claims 1 to 9.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211501716.0A CN118090264A (en) | 2022-11-28 | 2022-11-28 | Cloud deck state identification method and device, storage medium and cloud deck |
| PCT/CN2023/134241 WO2024114558A1 (en) | 2022-11-28 | 2023-11-27 | Gimbal state identification method and apparatus, and storage medium and gimbal |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202211501716.0A CN118090264A (en) | 2022-11-28 | 2022-11-28 | Cloud deck state identification method and device, storage medium and cloud deck |
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| CN118090264A true CN118090264A (en) | 2024-05-28 |
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| CN202211501716.0A Pending CN118090264A (en) | 2022-11-28 | 2022-11-28 | Cloud deck state identification method and device, storage medium and cloud deck |
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| WO (1) | WO2024114558A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103338003B (en) * | 2013-06-28 | 2015-08-26 | 西安交通大学 | A kind of method of electric motor load torque and inertia on-line identification simultaneously |
| CN108137166B (en) * | 2015-09-11 | 2020-11-20 | 深圳市大疆灵眸科技有限公司 | Stability augmentation platform |
| CN106796420B (en) * | 2016-05-31 | 2019-05-07 | 深圳市大疆灵眸科技有限公司 | Image stabilizing device control method and image stabilizing device |
| CN109870271A (en) * | 2019-01-31 | 2019-06-11 | 西北工业大学 | Large scale flexible spacecraft rotary inertia Kalman filtering discrimination method |
| WO2021016857A1 (en) * | 2019-07-30 | 2021-02-04 | 深圳市大疆创新科技有限公司 | Handheld gimbal control method and device, handheld gimbal and storage medium |
| CN113795798A (en) * | 2020-07-20 | 2021-12-14 | 深圳市大疆创新科技有限公司 | Holder, holder performance evaluation method and device and movable platform |
| CN116257090A (en) * | 2022-12-15 | 2023-06-13 | 影石创新科技股份有限公司 | Cloud deck control method and device, storage medium and cloud deck |
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- 2022-11-28 CN CN202211501716.0A patent/CN118090264A/en active Pending
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- 2023-11-27 WO PCT/CN2023/134241 patent/WO2024114558A1/en unknown
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