Cervical-vertebra-simulated cradle head mechanism and motor control method of cervical-vertebra-simulated cradle head

Abstract

The invention discloses a cervical-vertebra-simulated cradle head mechanism and a motor control method of the cervical-vertebra-simulated cradle head. The mechanical structure of the cervical-vertebra-simulated cradle head mechanism is designed by simulating a series of specific motions when a person tracks an observation target. The cervical-vertebra-simulated cradle head mechanism comprises a vertical lifting assembly, a horizontal rotating assembly and an angle adjusting assembly. The vertical lifting motion of the cradle head mechanism is achieved through the adoption of a ball screw, the horizontal rotating motion is completed in the mode that a pair of reduction gear mechanisms are driven by a direct current servo motor, and the pitching motion and the left-and-right fine adjustment motion are achieved through direct driving of the direct current servo motor. The control method that the PID algorithm is adopted in the motor is adopted and is characterized in that the tracking precision is improved through composite control, the dynamic lag problem is solved, and tracking errors are reduced. The cervical-vertebra-simulated cradle head mechanism is reasonable in structure, light in weight, large in view field, stable in imaging and suitable for machine visual tracking and aviation shooting occasions.

Description

technical field [0001] The invention relates to a pan-tilt mechanism, more particularly, to a vision-based imitation cervical vertebra-type pan-tilt mechanism and a motor control method thereof. Background technique [0002] The pan / tilt is a supporting device for installing and fixing the camera. It is divided into two types: fixed pan / tilt and electric pan / tilt. The fixed pan / tilt is suitable for the situation where the monitoring range is not large. After installing the camera on the fixed pan / tilt, you can adjust the horizontal and pitch angles of the camera. After reaching the best working posture, you only need to lock the adjustment mechanism. The electric pan / tilt is suitable for scanning and monitoring a large area, and it can expand the monitoring range of the camera. [0003] When the surrounding environment is relatively complex, in order to enable the camera to track the target in real time and flexibly, it is necessary for the pan-tilt mechanism to have the ab...

AI Technical Summary

Problems solved by technology

[0005] In order to solve the defects of the pan-tilt mechanism such as unstable imaging caused by motion jitter, small field of view due to limited degrees of freedom, or the bulky pan-tilt itself due to the simple pursuit of multiple degrees of freedom, the present invention designs a simulation Cervical vertebra head mechanism

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