CN105912028A - Holder control system and control method - Google Patents

Abstract

The invention provides a cloud deck control system, which comprises a cloud deck body, a central control module, a motion control module and an instruction module, wherein the central control module receives a control instruction sent by the instruction module and acquires control data of a motion control unit so as to control and schedule the motion control module; the motion control module monitors the motion state of the holder and drives a motor of the holder to adjust the posture of the holder. By applying the embodiment of the invention, the cloud deck of the camera on the unmanned aerial vehicle can be controlled adaptively according to the shooting requirement and the flight attitude of the unmanned aerial vehicle in the shooting process, and the attitude of the cloud deck is adjusted, so that the shooting angle of the camera is adjusted, the camera keeps a better shooting angle, and the shooting quality is improved.

Description

Cloud platform control system and control method

technical field

The invention relates to the technical field of unmanned aerial vehicle control, in particular to a cloud platform control system and control method.

Background technique

With the rapid development of computer technology and electronic technology, multi-rotor UAVs are becoming more and more common, and are widely used in many fields such as geological exploration, disaster relief and urban services. In the existing UAV aerial photography system, the camera is often directly fixed on the UAV body or installed on a pan-tilt that can only manually adjust the camera attitude. This type of system has a simple structure and low cost. However, when there is no During the cruising process, when the flight attitude needs to be changed, the images captured by the camera are often very unstable, resulting in poor image quality and low image utilization efficiency.

Contents of the invention

In view of this, the present invention provides a pan-tilt control system and a control method, which can adjust the attitude of the pan-tilt accordingly according to the flying attitude of the drone during the cruising process of the drone, so that the camera can maintain a better shooting angle to improve the shooting quality.

Specifically, the present invention is achieved through the following technical solutions:

According to one aspect of the present invention, a kind of pan-tilt control system is provided, the system includes a pan-tilt body, a central control module, a motion control module and an instruction module,

The central control module receives the control instruction sent by the instruction module, and obtains the control data of the motion control unit, so as to control and schedule the motion control module;

The motion control module monitors the motion state of the pan-tilt, drives the motor of the pan-tilt, and adjusts the attitude of the pan-tilt.

Further, the pan-tilt body includes a gyroscope connected to the motion control module for detecting the motion state of the pan-tilt and outputting detection data,

The motion control module receives the detection data, determines whether the posture of the pan-tilt changes, and drives the motor of the pan-tilt to adjust the posture of the pan-tilt when it is determined that the posture of the pan-tilt changes. attitude.

Further, the number of the motion control modules is three, including a first control module, a second control module and a third control module, and

The gyroscope is in one-to-one correspondence with the motion control module, including a yaw axis gyroscope, a pitch axis gyroscope and a roll axis gyroscope, which are used to control the movement of the pan/tilt in three axes,

The first control module is connected to the yaw axis gyroscope, and is used to detect and obtain the detection data of the motion state of the yaw axis of the pan-tilt, and control the motor of the yaw axis according to the detection data;

The second control module is connected to the pitch axis gyroscope, and is used to detect and obtain the detection data of the motion state of the pitch axis of the pan-tilt, and control the motor of the pitch axis according to the detection data; and,

The third control module is connected with the roll axis gyroscope, and is used to detect and obtain detection data of the motion state of the roll axis of the gimbal, and control the motor of the roll axis according to the detection data.

Further, the system further includes a motor drive module, and when the attitude of the gyroscope changes, the output voltage of the gyroscope changes linearly,

The motion control module is configured to send a control signal and a drive pulsation signal to a corresponding motor via the motor drive module when a linear change in the output voltage of the gyroscope is detected.

Further, the motion control module is configured to send a control signal and a driving pulsation signal to a corresponding motor via the motor drive module when it is detected that the variation of the output voltage of the gyroscope exceeds a variation threshold.

Further, the motion control module also includes limit switches corresponding to the one-to-one limit switches, which are used to control the motion range of the pan/tilt.

According to another aspect of the present invention, a kind of cloud platform control method is provided, is applied on the cloud platform control system, and described cloud platform control system comprises cloud platform body, central control module, motion control module and instruction module, and described method comprises :

The central control module receives control instructions from the instruction module, acquires control data from the motion control module, and sends control and scheduling commands to the motion control module;

After the motion control module receives the control and scheduling commands sent by the central control module, it monitors the movement state of the pan-tilt and drives the motor of the pan-tilt to adjust the attitude of the pan-tilt.

Further, the pan/tilt body includes a gyroscope, and the method also includes:

Outputting detection data to the motion control module through the detection of the motion state of the pan/tilt;

The motion control module monitors the motion state of the pan-tilt, drives the motor of the pan-tilt to adjust the attitude of the pan-tilt, including:

Based on the detection data, the motion control module determines whether the attitude of the pan-tilt changes, and when the attitude of the pan-tilt changes, drives the motor of the pan-tilt to adjust the attitude of the pan-tilt.

Further, the number of the motion control modules is three, including a first control module, a second control module and a third control module, and

The gyroscope is in one-to-one correspondence with the motion control module, including a yaw axis gyroscope, a pitch axis gyroscope and a roll axis gyroscope, which are used to control the movement of the three axes of the pan/tilt;

The methods include:

Detecting and acquiring detection data of the motion state of the yaw axis of the pan/tilt based on the yaw axis gyroscope, and outputting the detection data to the first control module;

Based on the detection data of the motion state of the yaw axis of the pan-tilt, the motor of the yaw-axis of the pan-tilt is controlled by the first control module to control the motion attitude of the yaw-axis of the pan-tilt;

as well as,

Detecting and acquiring detection data of the motion state of the pitch axis of the pan/tilt based on the pitch axis gyroscope, and outputting the detection data to the two control modules;

Based on the detection data of the motion state of the pitch axis of the pan-tilt, the motor of the pitch axis of the pan-tilt is controlled by the second control module to control the motion attitude of the pitch axis of the pan-tilt;

as well as,

Detecting and acquiring detection data of the motion state of the roll axis of the gimbal based on the roll axis gyroscope, and outputting the detection data to the third control module;

Based on the detection data of the motion state of the roll axis of the gimbal, the second control module controls the motor of the roll axis of the gimbal to control the motion posture of the roll axis of the gimbal.

Further, the motion control module also includes limit switches corresponding thereto, and the method further includes:

controlling the motion range of the pan/tilt through the limit switch;

The motion control module controls the pan-tilt to move toward the direction of the limit switch, and when the pan-tilt touches the limit switch, controls the pan-tilt to stop moving.

Applying the embodiment of the present invention, according to the needs of shooting and the flying attitude of the drone during the shooting process, the pan/tilt of the camera on the drone can be controlled suitably, and the attitude of the pan/tilt can be adjusted, thereby adjusting the shooting angle of the camera, so that The camera maintains a better shooting angle to improve the shooting quality.

Description of drawings

Fig. 1 is a structural block diagram of a kind of pan-tilt control system shown in an exemplary embodiment of the present invention;

Fig. 2 is a schematic flowchart of a pan-tilt control method shown in an exemplary embodiment of the present invention.

detailed description

Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numerals in different drawings refer to the same or similar elements unless otherwise indicated. The implementations described in the following exemplary examples do not represent all implementations consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with aspects of the invention as recited in the appended claims.

The terminology used in the present invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein and in the appended claims, the singular forms "a", "the", and "the" are intended to include the plural forms as well, unless the context clearly dictates otherwise. It should also be understood that the term "and/or" as used herein refers to and includes any and all possible combinations of one or more of the associated listed items.

It should be understood that although the terms first, second, third, etc. may be used in the present invention to describe various information, the information should not be limited to these terms. These terms are only used to distinguish information of the same type from one another. For example, without departing from the scope of the present invention, first information may also be called second information, and similarly, second information may also be called first information. Depending on the context, the word "if" as used herein may be interpreted as "at" or "when" or "in response to a determination."

Fig. 1 is a structural block diagram of a pan-tilt control system according to an exemplary embodiment of the present invention.

As shown in FIG. 1 , the pan/tilt control system provided by the embodiment of the present invention may include a pan/tilt body 110 , a central control module 120 , a motion control module 130 and an instruction module 140 .

The central control module 110 receives the control instruction issued by the instruction module 140 and obtains the control data of the motion control unit 130 to control and schedule the motion control module 130 . The motion control module 130 monitors the motion state of the gimbal and drives the motor of the gimbal to adjust the attitude of the gimbal.

Exemplarily, the central control module 110 can be a single-chip microcomputer, such as an ATmega1280 single-chip microcomputer, and the command module 140 can be a portable mobile terminal such as a mobile phone, or a personal power PC. connection, and the motion control module 130 can also be connected to the pan/tilt 110. It can be understood that the "connection" described in the embodiment of the present invention can be a direct connection or an indirect connection. Several nodes can be connected, the invention is not limited to this. The instruction module 110 can receive instructions such as those sent by the user through human-computer interaction, and after processing the instructions, send the instructions to the central control module 120, and the central control module 120 can also obtain or receive control from the motion control module 130. data and motion data of the pan/tilt in the axial direction acquired by the motion control module 130, and send control and scheduling instructions or signals to the motion control module 130 according to the control data and motion data. After receiving the control and scheduling instructions or signals, the motion control module 130 will drive the motors of the pan/tilt accordingly according to the motion state of the pan/tilt, so as to achieve the purpose of adjusting the attitude of the pan/tilt.

Optionally, the pan/tilt body includes a gyroscope connected to the motion control module 130 for detecting the motion state of the pan/tilt 110 and outputting detection data. The motion control module 130 receives the detection data, determines whether the attitude of the gimbal 110 changes, and drives the motor of the gimbal to adjust the attitude of the gimbal 110 when it is determined that the attitude of the gimbal 110 changes. Further, the number of motion control modules 130 is three, including a first control module, a second control module and a third control module, and the gyroscopes correspond to the motion control modules 130 one by one, including a yaw axis gyroscope, a pitch axis gyroscope The instrument and the roll axis gyroscope are used to control the movement of the pan-tilt 110 in three axes. Wherein, the first control module is connected with the gyroscope of the yaw axis, and is used to detect and acquire the detection data of the motion state of the yaw axis of the pan/tilt 110, and control the motor of the yaw axis according to the detection data. The second control module is connected with the pitch axis gyroscope, and is used to detect and acquire the detection data of the motion state of the pitch axis of the gimbal 110, and control the motor of the pitch axis according to the detection data. And, the third control module is connected with the roll axis gyroscope, and is used to detect and obtain the detection data of the motion state of the roll axis of the gimbal 110, and control the motor of the roll axis of the gimbal 110 according to the detection data. It should be noted that the circuit structures of the first control module, the second control module and the third control module may or may not be the same, and may be specifically set according to actual needs. Based on this embodiment, adjusting the pan-tilt from three axes can make the adjustment of the pan-tilt more stable. Preferably, after the system enters a stable state, the first control module, the second control module and the third control module start to work simultaneously and cooperate with each other, so that the real-time performance of the system can be improved.

Further, the pan/tilt control system can also include a motor drive module, when the attitude of the gyroscope changes when the pan/tilt changes, the output voltage of the gyroscope changes linearly, and the motion control module is used to detect that the output voltage of the gyroscope changes linearly , send control signals and drive pulsation signals to the corresponding motors via the motor drive module. Based on this optional embodiment, the motor can reversely compensate the attitude of the gimbal in real time, thereby eliminating the influence of the change of the flying attitude of the drone and the gimbal, and keeping the gimbal stable.

Furthermore, the motion control module 130 may be configured to send a control signal and a driving pulsation signal to a corresponding motor via the motor drive module when it is detected that the variation of the output voltage of the gyroscope exceeds the variation threshold. For example, the detection data output by the gyroscope is a voltage value. If the change of the voltage value or the oscillation value exceeds the preset threshold value of change, it is determined that the current attitude of the pan/tilt is not suitable for shooting, and the control module 130 will send a message via the motor drive module. The corresponding motor sends a control signal and a driving pulsation signal, so that the motor can reversely compensate the attitude of the gimbal in real time. Since the attitude of the UAV changes frequently during flight, based on this embodiment, the motion control module 130 can avoid frequent control of the motors, resulting in a lot of useless work and increased equipment loss. Exemplarily, by judging that the variation of the output voltage of the gyroscope exceeds the variation threshold, the pulse width or peak value of the driving pulse can be adjusted in the same way to control the speed of the motor. For example, when the output voltage of the gyroscope changes When the amount exceeds the variation threshold, for example, the threshold is 10 and the variation is 50. At this time, it is necessary to accelerate the motor rotation and quickly adjust the attitude of the gimbal, so as to adjust the pulse width or peak value of the driving pulse to be larger.

According to an optional embodiment of the present invention, the motion control module 130 may also include limit switches corresponding thereto, for controlling the motion range of the pan/tilt. Exemplarily, when the pan/tilt needs to be adjusted, the motion control module 130 will send a driving signal to the motor, for example, output a high level to the motor, so that the motor starts to work after receiving the driving signal. The motor drives the pan/tilt to move to the corresponding axis, and when the limit switch of the axis is touched, the motion control module 130 will be triggered to send a low-level signal, so that the pan/tilt stops moving.

Applying the embodiment of the present invention, according to the needs of shooting and the flying attitude of the drone during the shooting process, the pan/tilt of the camera on the drone can be controlled suitably, and the attitude of the pan/tilt can be adjusted, thereby adjusting the shooting angle of the camera, so that The camera maintains a better shooting angle to improve the shooting quality.

Corresponding to the embodiments of the aforementioned pan-tilt control system, the present invention also provides embodiments of the pan-tilt control method.

Fig. 2 is a schematic flowchart of a pan-tilt control method shown in an exemplary embodiment of the present invention.

As shown in Figure 2, a kind of cloud platform control method is applied on the cloud platform control system, and the cloud platform control system comprises cloud platform body, central control module, motion control module and instruction module, and this method comprises the following steps:

Step 210, the central control module receives control instructions from the instruction module, acquires control data of the motion control module, and sends control and scheduling commands to the motion control module.

Step 220, after receiving the control and scheduling command sent by the central control module, the motion control module monitors the motion state of the pan-tilt, drives the motor of the pan-tilt, and adjusts the posture of the pan-tilt.

According to an optional embodiment of the present invention, the pan/tilt body may also include a gyroscope, based on this, the pan/tilt control method may further include the following steps: output detection data to the motion control through the detection of the motion state of the pan/tilt module. Further, step 220 may include: based on the detection data, determine whether the attitude of the pan-tilt changes through the motion control module, and drive the motor of the pan-tilt when the attitude of the pan-tilt changes, to adjust the attitude of the gimbal. Further, the motion control module also includes a limit switch corresponding to it one by one, based on this, the pan-tilt control method may also include: controlling the motion range of the pan-tilt through the limit switch; Control the movement of the pan-tilt to the direction where the limit switch is located, and control the movement of the pan-tilt to stop when the pan-tilt touches the limit switch.

According to another optional embodiment of the present invention, the number of the motion control modules is three, including a first control module, a second control module and a third control module, and the gyroscopes correspond to the motion control modules one by one, It includes a yaw-axis gyroscope, a pitch-axis gyroscope and a roll-axis gyroscope, which are used to control the three-axis motion of the pan/tilt. Based on the above structure, the pan/tilt control method may further include: detecting and acquiring detection data of the motion state of the pan/tilt axis based on the yaw axis gyroscope, and outputting the detection data to the first control module ; Based on the detection data of the motion state of the yaw axis of the PTZ, the motor of the yaw axis of the PTZ is controlled by the first control module to control the motion attitude of the yaw axis of the PTZ; and, based on The pitch axis gyroscope detects and acquires the detection data of the motion state of the pitch axis of the platform, and outputs the detection data to the two control modules; based on the detection of the motion state of the pitch axis of the platform Data, through the second control module to control the motor of the pitch axis of the pan-tilt to control the motion attitude of the pitch axis of the pan-tilt; and, based on the roll-axis gyroscope to detect and acquire the pan-tilt The detection data of the motion state of the roll axis of the gimbal, and output the detection data to the third control module; based on the detection data of the motion state of the roll axis of the pan/tilt, controlled by the second control module The motor of the roll axis of the pan-tilt is used to control the movement attitude of the roll axis of the pan-tilt.

For the implementation process of the functions and effects of each unit in the above device, please refer to the implementation process of the corresponding steps in the above method for details, and will not be repeated here.

As for the above method embodiments, since they basically correspond to the system embodiments, for relevant parts, please refer to part of the description of the system embodiments.

The above-described system embodiments and method embodiments are only illustrative, and the units described as separate components in the system may or may not be physically separated, and the components shown as units may or may not be A physical unit can be located in one place, or it can be distributed to multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the solution of the present invention. It can be understood and implemented by those skilled in the art without creative effort.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the present invention. within the scope of protection.

Claims (10)

1. a cloud platform control system, it is characterized in that, described system comprises cloud platform body, central control module, motion control module and command module, described central control module receives the control instruction that command module sends, and obtains described motion Control data of the control unit to control and schedule the motion control module; The motion control module monitors the motion state of the pan-tilt, drives the motor of the pan-tilt, and adjusts the attitude of the pan-tilt. 2. the cloud platform control system according to claim 1, is characterized in that, described cloud platform body comprises gyroscope, is connected to described motion control module, is used to detect the motion state output detection data of described cloud platform, so The motion control module receives the detection data, determines whether the attitude of the pan-tilt changes, and when it is determined that the attitude of the pan-tilt changes, drives the motor of the pan-tilt to adjust the attitude of the pan-tilt . 3. the cloud platform control system according to claim 2, is characterized in that, the quantity of described motion control module is three, comprises first control module, second control module and the 3rd control module, and described gyroscope One-to-one correspondence with the motion control module, including a yaw axis gyroscope, a pitch axis gyroscope and a roll axis gyroscope, used to control the movement of the three axes of the pan/tilt, the first control module is connected to the yaw axis The gyroscope is connected to detect and obtain the detection data of the motion state of the yaw axis of the gimbal, and control the motor of the yaw axis according to the detection data; The second control module is connected to the pitch axis gyroscope, and is used to detect and obtain detection data of the motion state of the pitch axis of the pan-tilt, and control the motor of the pitch axis according to the detection data; and, the The third control module is connected with the roll axis gyroscope, and is used to detect and acquire the detection data of the motion state of the roll axis of the gimbal, and control the motor of the roll axis according to the detection data. 4. The pan-tilt control system according to claim 2 or 3, wherein the system also includes a motor drive module, and when the attitude of the gyroscope changes in the pan-tilt, the output voltage of the gyroscope changes linearly, The motion control module is configured to send a control signal and a drive pulsation signal to a corresponding motor via the motor drive module when a linear change in the output voltage of the gyroscope is detected. 5. The pan-tilt control system according to claim 4, wherein the motion control module is configured to drive the gyroscope via the motor when the variation of the output voltage of the gyroscope is detected to exceed a variation threshold. The module sends control signals and drive pulse signals to the corresponding motors. 6. The pan-tilt control system according to claim 2, wherein the motion control module further includes limit switches corresponding thereto, for controlling the motion range of the pan-tilt. 7. a cloud platform control method, is characterized in that, is applied on the cloud platform control system, and described cloud platform control system comprises cloud platform body, central control module, motion control module and instruction module, and described method comprises: The central control module receives control instructions from the instruction module, acquires control data from the motion control module, and sends control and scheduling commands to the motion control module; After the motion control module receives the control and scheduling commands sent by the central control module, it monitors the movement state of the pan-tilt and drives the motor of the pan-tilt to adjust the attitude of the pan-tilt. 8. The method according to claim 7, wherein the pan-tilt body comprises a gyroscope, and the method further comprises: Outputting detection data to the motion control module through the detection of the motion state of the pan/tilt; The motion control module monitors the motion state of the pan-tilt, drives the motor of the pan-tilt to adjust the attitude of the pan-tilt, including: Based on the detection data, the motion control module determines whether the attitude of the pan-tilt changes, and when the attitude of the pan-tilt changes, drives the motor of the pan-tilt to adjust the attitude of the pan-tilt. 9. The method according to claim 8, wherein the number of the motion control modules is three, including a first control module, a second control module and a third control module, and the gyroscope and motion control module One-to-one correspondence of modules, including yaw-axis gyroscope, pitch-axis gyroscope and roll-axis gyroscope, used to control the three-axis motion of the gimbal; The methods include: Detecting and acquiring detection data of the motion state of the yaw axis of the pan/tilt based on the yaw axis gyroscope, and outputting the detection data to the first control module; Based on the detection data of the motion state of the yaw axis of the pan-tilt, the motor of the yaw-axis of the pan-tilt is controlled by the first control module to control the motion attitude of the yaw-axis of the pan-tilt; And, based on the pitch axis gyroscope, detecting and acquiring detection data of the motion state of the pitch axis of the pan/tilt, and outputting the detection data to the second control module; Based on the detection data of the motion state of the pitch axis of the pan-tilt, the motor of the pitch axis of the pan-tilt is controlled by the second control module to control the motion attitude of the pitch axis of the pan-tilt; And, based on the roll axis gyroscope, detecting and acquiring the detection data of the motion state of the roll axis of the gimbal, and outputting the detection data to the third control module; Based on the detection data of the motion state of the roll axis of the gimbal, the second control module controls the motor of the roll axis of the gimbal to control the motion posture of the roll axis of the gimbal. 10. The method according to claim 8, wherein the motion control module further comprises a limit switch corresponding thereto, and the method further comprises: controlling the motion range of the pan/tilt through the limit switch; The motion control module controls the pan-tilt to move toward the direction of the limit switch, and when the pan-tilt touches the limit switch, controls the pan-tilt to stop moving.