Control method, device and electronic equipment for pod with multi-layer frame

Abstract

The embodiment of the present application relates to the field of equipment control technology, and discloses a control method, device and electronic equipment for a pod with a multi-layer frame. The pod at least includes: an inner azimuth frame, an outer azimuth frame, an inner pitch frame and an outer pitch frame frame, the outer azimuth frame and the outer pitch frame are used to adjust the attitude of the pod, the inner azimuth frame and the inner pitch frame are used to set the imaging device, and the method includes: controlling the rotation of the inner azimuth frame and the inner pitch frame according to the received control command; And in the process of controlling the rotation of the inner azimuth frame and the inner pitch frame, measuring the first angle difference between the inner azimuth frame and the outer azimuth frame, and measuring the second angle difference between the inner pitch frame and the outer pitch frame; and then according to The first angle difference adjusts the outer orientation frame to align with the inner orientation frame, and adjusts the outer pitch frame to align with the inner pitch frame according to the second angle difference. By implementing the embodiment of the present application, the influence of the rotation of the pod on the imaging quality of the imaging device can be reduced.

Description

technical field [0001] The invention relates to the technical field of equipment control, in particular to a control method, device and electronic equipment for a gondola with a multi-layer frame. Background technique [0002] A pod with a multi-layer frame is usually composed of an inner azimuth frame connected with an azimuth axis, an outer azimuth frame, and a pitch axis connected with an inner pitch frame and an outer pitch frame. Used as a carrier for most imaging equipment. [0003] In practice, it is found that when the traditional control method controls the attitude rotation of the pod with a multi-layer frame, it usually directly controls the rotation of the outer frame of the pod (that is, the outer azimuth frame and the outer pitch frame) to realize the attitude rotation of the entire pod. However, due to the geometric constraints between the multi-layer frames, the rotation of the outer frame of the pod will disturb the inner frame of the pod (ie, the inner azi...

AI Technical Summary

Problems solved by technology

[0003] In practice, it is found that when the traditional control method controls the attitude rotation of the pod with a multi-layer frame, it usually directly controls the rotation of the outer frame of the pod (that is, the outer azimuth frame and the outer pitch frame) to realize the attitude rotation of the entire pod. However, due to the geometric constraints between the multi-layer frames, the rotation of the outer frame of the pod will disturb the inner frame of the pod (ie, the inner azimuth frame and the inner pitch frame), so that the imaging equipment set on the inner frame of the pod The image quality of the

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