A self-checking method and device for the position and angle of a miniature pan/tilt

Abstract

The embodiment of the present invention belongs to the technical field of pan-tilt control, and specifically provides a self-checking method for the position and angle of a miniature pan-tilt, comprising the following steps: obtaining data from the Hall sensor of the motor of the pan-tilt; During the first mechanical limit angle, record the Hall sensor data value of the first mechanical limit angle; The gimbal mechanical angle relationship calculates the current gimbal mechanical angle information; calculates the accurate mechanical angle information based on the gimbal solution, and returns to the normal working state. The embodiment of the present invention also provides a self-checking device for the position and angle of the miniature pan-tilt. Compared with the traditional method for obtaining the position and angle of the pan / tilt, the method for obtaining the mechanical angle of the pan / tilt by self-checking in the present invention has a smaller volume occupied by the sensor, a high application rate of the sensor, and also saves costs, and realizes the precision and miniaturization of the pan / tilt.

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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