Mini Pan/Tilt/Zoom position angle self-checking method and device

Abstract

The embodiment of the invention belongs to the technical field of Pan / Tilt / Zoom control, and particularly provides a mini Pan / Tilt / Zoom position angle self-checking method which comprises the following steps: acquiring Pan / Tilt / Zoom motor Hall sensor data; when three axes of the Pan / Tilt / Zoom automatically rotate to a first mechanical limit angle, recording a Hall sensor data value at the first mechanical limit angle; when the Pan / Tilt / Zoom rotates to a second mechanical limit angle, calculating and recording Hall sensor data, and calculating the current Pan / Tilt / Zoom mechanical angle information according to a relationship between the Hall sensor data and the Pan / Tilt / Zoom mechanical angle; calculating accurate mechanical angle information based on the Pan / Tilt / Zoom, and returning to the center to enter a normal working state. The embodiment of the invention further provides a mini Pan / Tilt / Zoom position and angle self-checking device. Compared with a traditional Pan / Tilt / Zoom position angle obtaining method, the Pan / Tilt / Zoom self-inspection mechanical angle obtaining method has the advantages that the occupied area of the sensor is smaller, the utilization rate of the sensor is high, meanwhile, the cost is saved, and precision and miniaturization of the Pan / Tilt / Zoom are achieved.

Description

technical field [0001] The present invention is applied to a miniature pan-tilt, specifically a method and device for self-inspection of the position and angle of a miniature pan-tilt, which is used for the self-inspection of the pan-tilt to obtain the current mechanical position and angle of the pan-tilt, so as to be applied to the control of the pan-tilt. There are many embodiments of the present invention It is used in drones, stable platforms, robots, industrial control and other fields. Background technique [0002] At present, the miniaturization of the gimbal is a difficult problem in the miniaturization of the UAV. The main reason hindering the miniaturization of the gimbal is that the existing angle sensors (such as magnetic encoders, potentiometers, etc.) on the market occupy a large volume or space. The three-axis gimbal needs to use three angle sensor units to measure the three-axis angle of the gimbal, which also makes it difficult to make the miniature gimbal s...

AI Technical Summary

Problems solved by technology

[0004] The purpose of the present invention is to provide a self-checking method and device for the position and angle of a miniature pan / tilt, so as to solve the problem that the size of the current unmanned aerial vehicle is getting smaller and smaller, and the volume requirements of the unmanned aerial vehicle to the pan / tilt are also required to be smaller and smaller, and the weight is getting smaller and smaller. Lighter and lighter, this also indirectly led to the problem that the original angle measurement sensor solution and the magnetically encoded sensor solution have more and more obvious defects and are gradually abandoned.

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