Pan-tilt control method, pan-tilt assembly, device, movable platform and storage medium
A control method and PTZ technology, applied in the field of control, can solve problems such as affecting the stability of PTZ control, difficult to achieve accurate attitude control, etc., and achieve the effects of expanding the range of attitude control, ensuring stability, and improving practicability
Pending Publication Date: 2021-05-25
SZ DJI TECH CO LTD
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Problems solved by technology
[0004] Embodiments of the present invention provide a pan-tilt control method, pan-tilt components, devices, a removable platform, and a storage medium, which are used to solve the problem in the prior art that the stability of the pan-tilt control is affected by the neighborhood of the singular point, which is difficult The problem of achieving accurate attitude control
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[0067] In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
[0068] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terms used herein in the description of the present invention are for the purpose of describing specific embodiments only, and are not i...
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The invention discloses a pan-tilt control method, a pan-tilt assembly, a device, a movable platform and a storage medium. The method comprises: acquiring a target end attitude and a measurement end attitude of a pan-tilt (S201); determining a biaxial control component by a first angle measuring unit, the target end attitude, and the measured end attitude, the biaxial control component being associated with the second motor and the third motor (S202); determining a single-axis control component by a second angle measuring unit, the target end attitude and the measured end attitude, the single-axis control component being associated with the first motor (S203); and controlling the second motor and the third motor according to the double-axis control component, and controlling the first motor according to the single-axis control component (S204). According to the method, the single-axis control component and the double-axis control component are acquired through the two angle measuring units, and the motor on the pan-tilt is controlled by using the control components, so that the stability of the attitude of the pan-tilt is effectively ensured, and the attitude control range of the pan-tilt is also expanded.
Description
technical field [0001] Embodiments of the present invention relate to the field of control, and in particular, to a pan-tilt control method, a pan-tilt assembly, a device, a movable platform, and a storage medium. Background technique [0002] In physics, a point that exists and does not exist is called a singularity (or singularity). In the field of mechanics, a singularity can refer to the loss of a certain degree of freedom at the end of a robotic arm when it is in a certain combination of joint positions. [0003] At present, when the gimbal is at the singular point and its neighborhood, because the Jacobian matrix corresponding to the gimbal is singular or close to singular, then through the Jacobian inverse matrix, the velocity measured by the terminal inertial measurement module is mapped to the joint angle space The angular velocity and its noise will be very large, which will affect the stability of the gimbal control, making it difficult to achieve accurate attitu...
Claims
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IPC IPC(8): G05D3/12
CPCG05D3/12
Inventor 卢国政
Owner SZ DJI TECH CO LTD