Gimbal carrier simulation device and control method, electronic device and medium

Abstract

The application discloses a gimbal carrier simulation device, which comprises a first axial mechanism, a second axial mechanism and a gimbal base, the first axial mechanism is used for driving the gimbal base to rotate around a first axis, the second axial mechanism is used for driving the gimbal base to rotate around a second axis, and the first axis intersects with the second axis. The application further provides a control method of the gimbal carrier simulation device, an electronic device and a computer readable medium.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of gimbal devices, in particular to a gimbal carrier simulation device, a control method of the gimbal carrier simulation device, an electronic device and a computer readable medium. BACKGROUND

[0002] In the development process of a gimbal, the anti-shake effect of the gimbal needs to be tested. A common testing scheme is to install the gimbal on a carrier for actual measurement. This testing scheme takes a long time, prolongs the development cycle of the gimbal, and to some extent hinders the development progress of the gimbal.

[0003] Therefore, how to efficiently test the anti-shake of the gimbal has become a technical problem to be solved in the field. SUMMARY

[0004] The present application aims to solve one of the technical problems in the related art to some extent. To this end, the present application provides a gimbal carrier simulation device, a control method of the gimbal carrier simulation device, an electronic device and a computer readable medium. By using the control method to control the gimbal carrier simulation device, the shaking of the gimbal carrier can be efficiently simulated.

[0005] As a first aspect of the present application, a gimbal carrier simulation device is provided, wherein the gimbal carrier simulation device comprises a first axial mechanism, a second axial mechanism and a gimbal base, the first axial mechanism is used to drive the gimbal base to rotate around a first axis, the second axial mechanism is used to drive the gimbal base to rotate around a second axis; wherein the first axis intersects the second axis.

[0006] Optionally, the gimbal carrier simulation device further comprises a base mounting frame, the base mounting frame comprises a first side plate and a second side plate opposite to the first side plate,

[0007] the first end of the gimbal base is fixedly connected with the first side plate, and the second end of the gimbal base is fixedly connected with the second side plate,

[0008] the first axial mechanism comprises a first axial driving part and a first axial driven part, the first axial driving part is arranged on the first side plate, the first axial driven part is arranged on the second side plate, the first axial driving part and the first axial driven part are arranged along the first axis, the first axial driving part is used to drive the gimbal base to rotate around the first axis, and the first axial driven part can rotate around the first axis under the driving of the gimbal base.

[0009] Optionally, the holder carrier simulation device comprises a mounting frame and a second axial driven part, the mounting frame comprises oppositely arranged frame top plate and frame bottom plate, the base mounting frame is located between the frame top plate and the frame bottom plate;

[0010] The second axial mechanism comprises a second axial driving part, the second axial driving part is arranged on one of the frame top plate and the frame bottom plate, the first fixed part of the second axial driven part is arranged on the other one of the frame top plate and the frame bottom plate,

[0011] The second axial driving part is fixedly connected with the base mounting frame, the second fixed part of the second axial driven part is fixedly connected with the base mounting frame, the first fixed part and the second fixed part can rotate relative to each other, the second axial driving part and the second axial driven part are arranged along the second axis, the second axial driving part is used for driving the holder base to rotate around the second axis, and the second fixed part of the second axial driven part can rotate around the second axis under the driving of the base mounting frame.

[0012] Optionally, the second axial driving part comprises a second driving motor, the first axial driving part comprises a first driving motor, the rotor of the first driving motor is fixedly connected with the first side plate, and the stator of the first driving motor is connected with the rotor of the second driving motor.

[0013] Optionally, the first axial mechanism further comprises a height adjusting assembly, the height adjusting assembly is fixedly connected with at least one of the first axial driving part and the first axial driven part, and the height adjusting assembly can adjust the distance between the holder base and the first axis.

[0014] Optionally, the height adjusting assembly comprises a first adjusting rod, a second adjusting rod, a first positioning piece and a second positioning piece, the first adjusting rod is arranged on the first axial driving part, the second adjusting rod is arranged on the first axial driving part, and the first adjusting rod and the second adjusting rod both extend along the direction of the second axis.

[0015] The first positioning piece can fix the first end of the holder base at different heights of the first adjusting rod, and the second positioning piece can fix the second end of the holder base at different heights of the second adjusting rod.

[0016] Optionally, the first axis and the second axis are perpendicular to each other.

[0017] Optionally, the holder carrier simulation device further comprises a driver;

[0018] The driver can control the first axial mechanism to output corresponding actions according to the received first control signal, and the driver can control the second axial mechanism to output corresponding actions according to the received second control signal.

[0019] Optionally, the gimbal carrier simulation device further comprises a display configured to display a human-computer interaction interface,

[0020] The human-computer interaction interface is configured to input a posture instruction, the posture instruction comprising a frequency instruction and / or an amplitude instruction; and / or,

[0021] The human-computer interaction interface is configured to display posture information of the gimbal posture simulation device.

[0022] As a second aspect of the present application, a control method of a gimbal carrier simulation device is provided, wherein the gimbal carrier simulation device is the gimbal carrier simulation device of the first aspect of the present application, and the control method comprises:

[0023] analyzing target posture data to obtain yaw data of a gimbal, first axial component data along a first axial direction, and second axial component data along a second axial direction;

[0024] generating a first control signal for controlling the first axial mechanism to move according to the first axial component data, a second control signal for controlling the second axial mechanism to move according to the second axial component data, and a third control signal for controlling the gimbal to move according to the yaw data of the gimbal;

[0025] sending the first control signal and the second control signal to a driver for controlling the first axial mechanism and the second axial mechanism, and sending the third control signal to the gimbal.

[0026] Optionally, before the analyzing target posture data, the control method further comprises:

[0027] collecting three-axis posture data of a reference gimbal carrier at a predetermined frequency;

[0028] generating the target posture data according to the collected data.

[0029] As a third aspect of the present application, an electronic device is provided, comprising:

[0030] one or more processors;

[0031] a memory having one or more computer programs stored thereon, wherein when the one or more computer programs are executed by the one or more processors, the one or more processors implement the control method of the second aspect of the present application.

[0032] In the gimbal carrier simulation device provided by the application, the first axial mechanism can drive the gimbal base to rotate around the first axis, and the second axial mechanism can drive the gimbal base to rotate around the second axis. The yaw angle of the gimbal itself can also be set, so that the yaw shaking, roll shaking and pitch shaking of the gimbal carrier can be simulated by the cooperation of the first axial mechanism, the second axial mechanism and the gimbal itself.

[0033] When testing the performance of the gimbal, the gimbal only needs to be mounted on the gimbal base of the gimbal simulation device, without the need to be mounted on a real gimbal carrier, thereby reducing the difficulty of gimbal testing and improving the efficiency of gimbal testing. BRIEF DESCRIPTION OF DRAWINGS

[0034] The application will be further described below in combination with the drawings:

[0035] Figure 1 FIG. 1 is a structural schematic diagram of an embodiment of the combination structure of the gimbal carrier simulation device provided by the application, the gimbal and the gimbal mount;

[0036] Figure 2 FIG. 2 is a position schematic diagram of the roll shaking and the yaw shaking achieved by using the gimbal carrier simulation device provided by the application;

[0037] Figure 3 FIG. 3 is a position schematic diagram of the roll shaking, the pitch shaking and the yaw shaking achieved by using the gimbal carrier simulation device provided by the application;

[0038] Figure 4 FIG. 4 is a front view schematic diagram of an embodiment of the gimbal carrier simulation device provided by the application;

[0039] Figure 5 FIG. 5 is a structural schematic diagram of the mounting frame;

[0040] Figure 6 FIG. 6 is a structural schematic diagram of the base mounting frame;

[0041] Figure 7 FIG. 7 is a structural schematic diagram of the second axial driven part;

[0042] Figure 8 FIG. 8 is a flowchart of an embodiment of the control method provided by the application;

[0043] Figure 9 FIG. 9 is a flowchart of another embodiment of the control method provided by the application;

[0044] Figure 10 FIG. 10 is a module schematic diagram of an embodiment of the electronic device provided by the application;

[0045] Figure 11 Figure 1 is a schematic diagram of modules of the computer readable medium provided by the present application.

[0046] Reference Signs List

[0047] 100: first axial mechanism 110: first axial driving part

[0048] 120: first axial driven part 130: height adjustment assembly

[0049] 131: first adjustment rod 132: second adjustment rod

[0050] 133: first positioning member 134: second positioning member

[0051] 210: gimbal base 220: second axial mechanism

[0052] 230: base mounting frame 231: first side plate

[0053] 232: second side plate 233: base top plate

[0054] 234: base bottom plate 300: gimbal

[0055] 400: gimbal mount 500: mounting frame

[0056] 510: frame top plate 520: frame bottom plate

[0057] 530: support column 222: second axial driven part

[0058] 222a: first part 222b: bearing

[0059] 221: second axial driving part DETAILED DESCRIPTION

[0060] Embodiments of the present application are described in detail below with reference to the attached drawings. The embodiments of the present application are examples of the present application and are not intended to limit the present application. The same or similar components are denoted by the same or similar reference numerals throughout the drawings.

[0061] The phrase "one embodiment" or "an embodiment" or "example" or "exemplary" as used herein means that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment of the application. The appearances of the phrase "in one embodiment" or "an embodiment" or "example" or "exemplary" in various places in the specification are not necessarily all referring to the same embodiment.

[0062] As a first aspect of the present application, as Figure 1As shown, a gimbal carrier simulation device is provided, wherein the gimbal carrier simulation device comprises a first axial mechanism 100, a gimbal base 210, and a second axial mechanism 220 for driving the gimbal base 210 to rotate around a second axis L2, and the first axial mechanism 100 is used to drive the gimbal base 210 to rotate around a first axis L1. Wherein the first axis L1 intersects with the second axis L2.

[0063] In the present application, the first axis L1 and the second axis L2 can be perpendicular to each other.

[0064] In the gimbal carrier simulation device provided in the embodiment of the present application, the gimbal base 210 is used to carry the gimbal 300. As shown in Figure 1 In the embodiment of the present application, when the gimbal carrier is simulated by using the gimbal simulation device, the gimbal 300 is mounted on the gimbal base 210.

[0065] In the mounted state, the direction of the second axis L2 is the vertical direction, and therefore, by driving the gimbal base 210 to rotate around the second axis L2 through the second axial mechanism 220, the yawing jitter of the gimbal carrier can be simulated.

[0066] The first axial mechanism 100 can drive the gimbal base 210 to rotate around the first axis L1, and the gimbal 300 arranged on the gimbal base 210 can also rotate around the second axis L2, and the second axial mechanism 220 can drive the gimbal base 210 to rotate around the second axis L2. Through the cooperation of the first axial mechanism 100, the gimbal 300, and the second axial mechanism 220, the roll jitter, the pitch jitter, and the yawing jitter of the gimbal carrier (i.e., the attitude jitter of the roll, the pitch, and the yawing three axes) can be simulated.

[0067] In the following, the gimbal carrier simulation device is described in detail in terms of how to simulate the yawing jitter, the roll jitter, and the pitch jitter of the gimbal carrier. Figure 1 、 Figure 2 and Figure 3

[0068] As shown in Figure 1 , the gimbal mount 400 is mounted at the end of the gimbal 300. The front of the gimbal mount 400 is the x-axis (i.e., the roll axis), the right of the gimbal mount 400 is the y-axis (i.e., the pitch axis), and the bottom of the gimbal mount 400 is the z-axis (i.e., the yawing axis), and the x, y, and z three axes comply with the right-hand rule.

[0069] In Figure 1 ​In the embodiment shown in FIG. 1, the gimbal 300 drives the gimbal mount 400 to rotate to a state in which the roll axis x of the gimbal 300 is oriented in the front direction. In the case where the yaw axis of the gimbal 300 remains unchanged, driving the gimbal base 210, together with the gimbal 300 and the gimbal mount 400, to rotate around the second axis L2 by the second axial mechanism 220 can simulate the yaw of the gimbal carrier. By controlling the rotation angle and the frequency, yaw jitter can be simulated. Driving the gimbal base 210, together with the gimbal 300 and the gimbal mount 400, to rotate around the first axis L1 by the first axial mechanism 110 can simulate the pitch of the gimbal carrier. By controlling the rotation angle and the rotation frequency, pitch jitter can be simulated.

[0070] In the case shown in FIG. 1, the gimbal 300 is driven by the yaw axis to rotate the gimbal 300 itself and the gimbal mount 400 from the position shown in FIG. 1 clockwise around the second axis L2 by 90° to the position shown in FIG. 2. Figure 1 Figure 1 In the case shown in FIG. 1, the gimbal 300 is driven by the yaw axis to rotate the gimbal 300 itself and the gimbal mount 400 from the position shown in FIG. 1 clockwise around the second axis L2 by 90° to the position shown in FIG. 2. Figure 2 In the case shown in FIG. 1, the gimbal 300 is driven by the yaw axis to rotate the gimbal 300 itself and the gimbal mount 400 from the position shown in FIG. 1 clockwise around the second axis L2 by 90° to the position shown in FIG. 2. In the case where the second axial mechanism 220 remains unchanged, the gimbal 300 itself remains unchanged, the roll axis (i.e., the x axis) of the gimbal 300 is consistent with the direction of the first axis L1, and the gimbal base 210, together with the gimbal 300 and the gimbal mount 400, is driven to rotate around the first axis L1 by the first axial mechanism 100, the roll of the gimbal carrier can be simulated, and by controlling the rotation angle and the frequency, roll jitter can be simulated. Driving the gimbal base 210, together with the gimbal 300 and the gimbal mount 400, to rotate around the second axis L2 by the second axial mechanism 220 can simulate the yaw of the gimbal carrier. By controlling the rotation angle and the rotation frequency, yaw jitter can be simulated.

[0071] In the case shown in FIG. 1, the gimbal 300 is driven by the yaw axis to rotate the gimbal 300 itself and the gimbal mount 400 from the position shown in FIG. 1 clockwise around the second axis L2 by 90° to the position shown in FIG. 2. Figure 2 Figure 3 In the case shown in FIG. 1, the gimbal 300 is driven by the yaw axis to rotate the gimbal 300 itself and the gimbal mount 400 from the position shown in FIG. 1 clockwise around the second axis L2 by 90° to the position shown in FIG. 2. In the case where the second axial mechanism 220 remains unchanged, the gimbal 300 itself remains unchanged, the roll axis (i.e., the x axis) of the gimbal 300 is consistent with the direction of the first axis L1, and the gimbal base 210, together with the gimbal 300 and the gimbal mount 400, is driven to rotate around the first axis L1 by the first axial mechanism 100, the roll of the gimbal carrier can be simulated, and by controlling the rotation angle and the frequency, roll jitter can be simulated. Driving the gimbal base 210, together with the gimbal 300 and the gimbal mount 400, to rotate around the second axis L2 by the second axial mechanism 220 can simulate the yaw of the gimbal carrier. By controlling the rotation angle and the rotation frequency, yaw jitter can be simulated.

[0072] The gimbal carrier simulation device provided by the present application can be used in combination with a gimbal to simulate the yaw jitter, roll jitter, and pitch jitter of the gimbal carrier, so that when testing the performance of the gimbal, the gimbal 300 only needs to be mounted on the gimbal base 210 of the gimbal simulation device and the yaw angle of the gimbal itself is set, without the need to mount the gimbal 300 on a real gimbal carrier, which reduces the difficulty of testing the gimbal and improves the efficiency of testing the gimbal.

[0073] ​​The gimbal carrier simulation device only needs to be provided with the first axial mechanism and the second axial mechanism, and the yaw angle of the gimbal itself is matched to realize the shaking in multiple different states, that is, the gimbal carrier simulation device provided in the embodiment of the application has simple structure and reduces the cost of gimbal testing.

[0074] In the embodiment of the application, the first axial mechanism 100 is not specially limited in how to drive the gimbal base 210, as long as it can drive the gimbal base 210 to rotate around the first axis L1.

[0075] Optionally, as shown in Figure 4 and Figure 6 The gimbal carrier simulation device can further include a base mounting frame 230, which includes a first side plate 231 and a second side plate 232 opposite to the first side plate 231.

[0076] The first end of the gimbal base 210 is fixedly connected to the first side plate 231, and the second end of the gimbal base 210 is fixedly connected to the second side plate 232.

[0077] The first axial mechanism 100 includes a first axial driving part 110 and a first axial driven part 120, the first axial driving part 110 is arranged on the first side plate 231, and the first axial driven part 120 is arranged on the second side plate 232. The first axial driving part 110 and the first axial driven part 120 are arranged along the first axis L1, the first axial driving part 110 is used to drive the gimbal base 210 to rotate around the first axis L1, and the first axial driven part 120 can rotate around the first axis L1 under the driving of the gimbal base 210.

[0078] After the first axial driven part 120 is arranged, the first axial driven part 120 can support the gimbal base 210, reduce the force borne by the first axial driving part 110, make the overall structure of the first axial mechanism 100 more stable, and improve the overall stability of the gimbal carrier simulation device.

[0079] In the application, the specific structure of the first axial driven part 120 is not specially limited, as long as it can rotate around the first axis L1 under the driving of the gimbal base 210. As an optional implementation manner, the first axial driven part 120 can have a structure similar to a bearing.

[0080] In the application, the specific structure of the base mounting frame 230 is not specially limited. As shown in Figure 4 and Figure 6As shown in FIG. 2, the base mounting frame 230 can be a substantially octagonal frame, which can further include a base top plate 233, a base bottom plate 234, a first connecting plate connected between the base top plate 233 and the first side plate, a second connecting plate connected between the base top plate 233 and the second side plate 232, a third connecting plate connected between the first side plate 231 and the base bottom plate 234, and a fourth connecting plate connected between the second side plate 232 and the base bottom plate 234. Of course, the present application is not limited thereto, for example, the base mounting frame can also be a square frame.

[0081] In the embodiments of the present application, the specific structure of the second axial mechanism 220 is not specially limited, as long as it can drive the gimbal base 210 to rotate around the second axis L2.

[0082] As an optional embodiment, as shown in Figure 4 and Figure 5 The gimbal carrier simulation device includes a mounting frame 500, which includes oppositely arranged frame top plate 510 and frame bottom plate 520, and the base mounting frame 230 is located between the frame top plate 510 and the frame bottom plate 520.

[0083] The second axial mechanism 220 includes a second axial driving part 221 and a second axial driven part 222, the second axial driving part is arranged on one of the frame top plate 510 and the frame bottom plate 520, and the first fixed part of the second axial driven part 222 is arranged on the other one of the frame top plate 510 and the frame bottom plate 520.

[0084] The second axial driving part 221 is fixedly connected with the base mounting frame 230, the second fixed part of the second axial driven part 222 is fixedly connected with the base mounting frame 230, and the first fixed part and the second fixed part can relatively rotate.

[0085] The second axial driving part 221 and the second axial driven part 222 are arranged along the second axis L2, the second axial driving part 221 is used to drive the gimbal base 210 to rotate around the second axis L2, and the second fixed part of the second axial driven part 222 can rotate around the second axis L2 under the driving of the gimbal base 210.

[0086] The second axial driven part 222 can maintain the gimbal base 210 on the second axis L2 together with the second axial mechanism 220, thereby improving the structural stability of the entire gimbal carrier simulation device.

[0087] In the embodiments shown in Figure 4 , the second axial mechanism 220 is arranged on the frame bottom plate 520, and the second axial driven part 222 is arranged on the frame top plate 510.

[0088] In this invention, the second axial mechanism 220 may further include a mounting base for mounting the second axial drive unit 221.

[0089] like Figure 5 As shown, the mounting frame 500 may also include a plurality of support columns 530 connected between the top plate 510 and the bottom plate 520 of the frame.

[0090] In this invention, the specific structure of the second axial driven part 222 is not specifically limited. As an optional embodiment, such as… Figure 7 As shown, the second axial driven part 222 may include a first part 222a and a bearing 222b. The inner ring of the bearing 222b is sleeved on the first part 222a, and the outer ring of the bearing 222b is formed as the second part of the second axial driven part 222.

[0091] In this invention, no special limitations are placed on the specific structure of the first axial drive unit 110 and the specific structure of the second axial drive unit 221. Optionally, the second axial drive unit 221 includes a second drive motor, the first axial drive unit 110 includes a first drive motor, the mover of the first drive motor is fixedly connected to the first side plate 231, and the stator of the first drive motor is connected to the mover of the second drive motor.

[0092] In this invention, the gimbal base and the first axial drive unit form an inner ring, and the base mounting frame and the second axial drive unit 221 form an outer ring. The outer ring drives the inner ring to move synchronously, while the inner ring can move independently.

[0093] In this invention, the center of gravity of the combination of the gimbal carrier, the gimbal, and the gimbal mount should be on the first axis L1. The lever arm length of the combined gravity to the first axis L1 is 0, thereby eliminating the torque generated by gravity. When the gimbal rotates in the positive direction around the pitch axis, this torque is a resistance torque. Since the maximum driving torque of the drive motor is constant, the resistance torque is eliminated, and high-frequency jitter can be achieved.

[0094] Furthermore, according to the definition and calculation method of moment of inertia, when the axis of rotation passes through the center of mass of the object, the moment of inertia of the object about the axis of rotation is the smallest, which is beneficial to achieving high-frequency jitter (e.g., jitter with a frequency greater than 100Hz).

[0095] In order to ensure that the center of gravity of the combination of the gimbal carrier, the gimbal, and the gimbal mount falls on the first axis L1, the first axial mechanism 100 may optionally include a height adjustment component 130, which is fixedly connected to at least one of the first axial drive part 110 and the first axial driven part 120. The height adjustment component 130 can adjust the distance between the gimbal base 210 and the first axis L1.

[0096] By adjusting the distance between the holder base 210 and the first axis L1, the center of gravity of the three combinations of the holder carrier, the holder, and the holder mount can be made to fall on the first axis L1.

[0097] In the present application, the specific structure of the height adjustment assembly 130 is not specially limited. For example, the height adjustment assembly 130 can be a piston cylinder, and can also be a threaded screw assembly.

[0098] In Figure 4 In the specific embodiment shown in the specific embodiment, the height adjustment assembly 130 includes a first adjusting rod 131, a second adjusting rod 132, a first positioning member 133, and a second positioning member 134. The first adjusting rod 131 is arranged on the first axial driving part 110, and the second adjusting rod 132 is arranged on the first axial driven part 120. Both the first adjusting rod 131 and the second adjusting rod 132 extend in the direction of the second axis L2.

[0099] The first positioning member 133 can fix the first end of the holder base 210 at different heights of the first adjusting rod 131, and the second positioning member 134 can fix the second end of the holder base 210 at different heights of the second adjusting rod 132.

[0100] In the present application, the specific structure of the first positioning member 133 and the second positioning member 134 is not specially limited.

[0101] As an optional embodiment, the first positioning member 133 and the second positioning member 134 are both bolts. The first end of the holder base 210 is provided with a first threaded hole matched with the first positioning member 133, and the second end of the holder base 210 is provided with a second threaded hole matched with the second positioning member 134.

[0102] One end of the first positioning member 133 passes through the first threaded hole and abuts against the first adjusting rod 131, so as to fix the position of the first end of the holder base 210, and one end of the second positioning member 134 passes through the second threaded hole and abuts against the second adjusting rod 132, so as to fix the position of the second end of the holder base 210.

[0103] When it is necessary to adjust the position of the holder base 210, the first positioning member 133 and the second positioning member 134 can be loosened. After the holder base 210 is adjusted to a suitable position, the first positioning member 133 and the second positioning member 134 can be tightened.

[0104] In the present application, the driver and the controller (for example, the controller can be the electronic device provided by the third aspect of the present application) realize information interaction, so that the controller can control the first axial mechanism and the second axial mechanism through the driver. Specifically, the driver can control the first axial mechanism to output corresponding actions according to the received first control signal, and the driver can control the second axial mechanism to output corresponding actions according to the received second control signal.

[0105] The first control signal corresponds to the speed and position of the first axial mechanism, and the second control signal corresponds to the speed and position of the second axial mechanism. The driver can convert the current or voltage output by the power module into current or voltage that can realize the above-mentioned speed and position according to the above-mentioned speed and position signals. The first axial mechanism and the second axial mechanism receive corresponding voltage signals and current signals and can perform corresponding operations.

[0106] In order to facilitate the control and monitoring of the holder carrier simulation device, optionally, the holder carrier simulation device can further include a display, and the display is used to display a human-computer interaction interface, and the human-computer interaction interface is used to input a posture instruction.

[0107] In addition, the human-computer interaction can also be used to display the posture information of the holder posture simulation device. It should be pointed out that the human-computer interaction interface herein can have the function of inputting the posture instruction alone, or can have the function of displaying the posture information of the holder posture simulation device alone, or can have the function of inputting the posture instruction and the function of displaying the posture information of the holder posture simulation device simultaneously.

[0108] In the present application, the posture information of the holder posture simulation device can include the state information of the first axial mechanism and the state information of the second axial mechanism.

[0109] In the present application, the posture instruction can include a frequency instruction and / or an amplitude instruction. Specifically, the frequency instruction can control the holder carrier simulation device to realize a specified jitter frequency, and the amplitude instruction can control the holder carrier simulation device to realize a specified jitter amplitude. For example, the posture instruction includes an amplitude of 1° and a frequency of 20Hz, so that the holder carrier simulation device will jitter at an amplitude of 1° and a frequency of 20Hz. For another example, the posture instruction includes an amplitude of 3° and a frequency of 10Hz, so that the holder carrier simulation device will jitter at an amplitude of 3° and a frequency of 10Hz.

[0110] In the present application, the first control signal and the second control signal correspond to the posture instruction. In the following, taking a simulation of a drone used as a holder carrier as an example, the process of generating the first control signal and the second control signal is introduced:

[0111] Control the drone to fly in normal operating conditions;

[0112] Record the 3-axis attitude data of the UAV during flight at a certain sampling frequency. Among them, the 3-axis attitude data measured by the UAV's own inertial measurement unit (IMU) can be directly read.

[0113] The collected 3-axis attitude data is used as attitude commands, and the attitude commands are input to the controller corresponding to the gimbal carrier simulation device at the same frequency as the sampling frequency.

[0114] The controller generates a first control signal and a second control signal according to the attitude command, and ultimately controls the gimbal carrier simulation device to produce the same attitude as the attitude command through the first control signal and the second control signal.

[0115] The driver can also receive status information from the first axial mechanism and the second axial mechanism, and send the corresponding status information to the controller, which then controls the display to show the feedback data through the human-machine interface.

[0116] In this invention, the status information fed back by the first axial mechanism can be the angle of the motor encoder of the first axial drive unit, and the status information fed back by the second axial mechanism can be the angle of the motor encoder of the second axial drive unit 221.

[0117] To facilitate information interaction with the controller, the gimbal carrier attitude simulation device may optionally include a first communication module, and the controller may optionally include a second communication module. A communication connection is established between the first communication module and the second communication module to enable interaction such as feedback data and attitude commands.

[0118] The first communication module and the second communication module can be any one of a WIFI module, a Bluetooth module, an NFC module, or a wired transmission module.

[0119] As a second aspect of the present invention, a control method for a gimbal carrier simulation device is provided, wherein the gimbal carrier simulation device is the gimbal carrier simulation device described in the first aspect of the present invention, such as... Figure 8 As shown, the control method includes:

[0120] In step S110, the target attitude data is parsed to obtain gimbal yaw data, first axial component data along the first axis direction, and second axial component data along the second axis direction.

[0121] In step S120, a first control signal for controlling the first axial mechanism to move according to the first axial component data, a second control signal for controlling the second axial mechanism to move according to the second axial component data, and a third control signal for controlling the gimbal to move according to the gimbal yaw data are generated.

[0122] In step S130, the first control signal and the second control signal are sent to the drivers for controlling the first axial mechanism and the second axial mechanism, and the third control signal is sent to the gimbal.

[0123] In the control method provided by the present application, the target attitude data refers to the attitude of the gimbal carrier to be simulated.

[0124] By decomposing the target attitude data, the first axial component data in the direction of the first axis and the second axial component data in the direction of the second axis can be obtained. The first axial mechanism is controlled to output according to the first axial component data, and the second axial mechanism is controlled to output according to the second axial component data. After superposition on the gimbal base, the first gimbal base can reach the attitude represented by the target attitude data.

[0125] It should be noted that by sending the third control signal to the gimbal, the directions of the roll axis and the pitch axis of the gimbal can be adjusted, so that the gimbal cooperates with the gimbal carrier simulation device to simulate the yaw, pitch and roll of the gimbal carrier. The cooperation of the gimbal with the gimbal carrier simulation device has been described in detail above, and will not be described here.

[0126] In the present application, how to obtain the target attitude data is not specially limited. For example, the target attitude data can be input in advance.

[0127] In the present application, the specific type of target attitude data is not specially limited. As an optional embodiment, the target attitude data can include the roll angle, the yaw angle and the pitch angle.

[0128] By the control method provided by the present application, the gimbal carrier simulation device can be controlled to simulate the jitter of the real gimbal carrier, so that the target attitude data can optionally include the attitude of the gimbal carrier at different moments. That is, the target attitude data can be time domain data.

[0129] Correspondingly, the target attitude data can be generated according to the expected simulated jitter frequency and jitter amplitude. Correspondingly, before step S110, the control method can further include:

[0130] receiving the expected simulated jitter frequency and the expected simulated jitter amplitude;

[0131] generate the target attitude data according to the received jitter frequency and the jitter amplitude.

[0132] In the present application, the jitter frequency and the jitter amplitude can be input to the corresponding electronic device through an input device (for example, a keyboard, a touch screen), or can be obtained by reading the jitter frequency and the jitter amplitude from a storage device (for example, a U disk).

[0133] Of course, the present application is not limited thereto. For example, as another alternative embodiment, the attitude of an actual gimbal carrier can be collected, and the collected data can be used to generate the target attitude data. Before the target attitude data is analyzed, the control method can further include: Figure 9

[0134] In step S102, the three-axis attitude data of the reference gimbal carrier is collected at a predetermined frequency;

[0135] In step S104, the target attitude data is generated according to the collected three-axis attitude data.

[0136] The reference gimbal carrier can be a carrier device used to carry a gimbal in actual application. For example, when the gimbal carrier to be simulated is a UAV, the reference gimbal carrier is a UAV. When the gimbal carrier to be simulated is a handheld device, the reference gimbal carrier is a handheld device.

[0137] In the present application, the collection frequency is not specially limited. The predetermined frequency is determined by the maximum jitter frequency of the gimbal carrier to be reproduced. If the maximum jitter frequency of the gimbal carrier to be reproduced is 50Hz, according to the Shannon sampling theorem, the predetermined frequency is at least 100Hz.

[0138] As described above, the controller executing the control method can also receive feedback of the driver, and accordingly, as shown in Figure 9

[0139] In step S140, the state information of the first axial mechanism and the state information of the second axial mechanism are received.

[0140] In step S150, the corresponding display signal is generated according to the state information of the first axial mechanism and the state information of the second axial mechanism.

[0141] After the display signal is sent to the display, the display can display the state information of the first axial mechanism and the state information of the second axial mechanism according to the display signal.

[0142] ​​As a third aspect of the present application, an electronic device is provided, wherein, as shown in Figure 10 the electronic device can include:

[0143] one or more processors 101;

[0144] a memory 102, on which one or more computer programs are stored, when the one or more computer programs are executed by the one or more processors 101, the one or more processors 101 implement the above-mentioned control method according to the second aspect of the present application.

[0145] The electronic device can further include one or more I / O interfaces 103, connected between the processor and the memory, configured to implement information interaction of the processor and the memory.

[0146] Among them, the processor 101 is a device with data processing capability, including but not limited to central processing unit (CPU) and the like; the memory 102 is a device with data storage capability, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH); the I / O interface (read-write interface) is connected between the processor and the memory, and can realize information interaction of the processor and the memory, including but not limited to data bus (Bus) and the like.

[0147] In some embodiments, the processor 101, the memory 102 and the I / O interface 103 are connected with each other through the bus 104, and further connected with other components of the computing device.

[0148] As an optional implementation, the electronic device can also include a display, which is used to display a human-computer interaction interface, through which instruction receiving and state uploading can be realized.

[0149] As shown in Figure 11 the present application further provides a computer readable medium, on which a computer program is stored, characterized in that the computer program is executed by the processor to realize the control method according to the second aspect of the present application.

[0150] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program. Accordingly, the computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, the method of any one of the above embodiments can be implemented. In the embodiments provided by the present application, any reference to memory, storage, database or other medium can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration but not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM) and memory bus dynamic RAM (RDRAM), etc.

[0151] The above is only a specific embodiment of the present application, but the protection scope of the present application is not limited thereto. Those skilled in the art should understand that the present application includes but is not limited to the contents described in the above specific embodiments and the accompanying drawings. Any modification that does not deviate from the functional and structural principles of the present application will be included in the scope of the claims.

Claims

1. A control method for a gimbal carrier simulation device, characterized in that, The gimbal carrier simulation device includes a first axial mechanism, a second axial mechanism, and a gimbal base. The first axial mechanism is used to drive the gimbal base to rotate around a first axis, and the second axial mechanism is used to drive the gimbal base to rotate around a second axis, wherein the first axis intersects the second axis. The gimbal carrier simulation device also includes a base mounting frame, which includes a first side plate and a second side plate opposite to the first side plate. The first end of the gimbal base is fixedly connected to the first side plate, and the second end of the gimbal base is fixedly connected to the second side plate. The first axial mechanism includes a first axial driving part and a first axial driven part. The first axial driving part is disposed on the first side plate, and the first axial driven part is disposed on the second side plate. The first axial driving part and the first axial driven part are arranged along the first axis. The first axial driving part is used to drive the gimbal base to rotate around the first axis, and the first axial driven part can rotate around the first axis under the drive of the gimbal base. The first axial mechanism further includes a height adjustment component, which is fixedly connected to at least one of the first axial drive and the first axial driven, and the height adjustment component is capable of adjusting the distance between the gimbal base and the first axis. The height adjustment assembly includes a first adjustment rod, a second adjustment rod, a first positioning member, and a second positioning member. The first adjustment rod is disposed on the first axial driving part, and the second adjustment rod is disposed on the first axial driven part. Both the first adjustment rod and the second adjustment rod extend along the direction of the second axis. The first positioning member can fix the first end of the gimbal base at different heights of the first adjusting rod, and the second positioning member can fix the second end of the gimbal base at different heights of the second adjusting rod. The first axis and the second axis are perpendicular to each other; The control method includes: The target attitude data is analyzed to obtain gimbal yaw data, first axial component data along the first axis direction, and second axial component data along the second axis direction; Generate a first control signal to control the first axial mechanism to move according to the first axial component data, a second control signal to control the second axial mechanism to move according to the second axial component data, and a third control signal to control the gimbal to move according to the gimbal yaw data; The first control signal and the second control signal are sent to the driver that controls the first axial mechanism and the second axial mechanism, and the third control signal is sent to the gimbal.

2. The control method according to claim 1, characterized in that, The gimbal carrier simulation device includes a mounting frame and a second axial driven part. The mounting frame includes a frame top plate and a frame bottom plate arranged opposite to each other. The base mounting frame is located between the frame top plate and the frame bottom plate. The second axial mechanism includes a second axial drive unit disposed on one of the frame top plate and the frame bottom plate, and a first fixing part of the second axial driven unit disposed on the other of the frame top plate and the frame bottom plate. The second axial drive part is fixedly connected to the base mounting frame, and the second fixed part of the second axial driven part is fixedly connected to the base mounting frame. The first fixed part and the second fixed part can rotate relative to each other. The second axial drive part and the second axial driven part are arranged along the second axis. The second axial drive part is used to drive the gimbal base to rotate around the second axis, and the second fixed part of the second axial driven part can rotate around the second axis under the drive of the base mounting frame.

3. The control method according to claim 2, characterized in that, The second axial drive unit includes a second drive motor, and the first axial drive unit includes a first drive motor. The mover of the first drive motor is fixedly connected to the first side plate, and the stator of the first drive motor is connected to the mover of the second drive motor.

4. The control method according to any one of claims 1 to 3, characterized in that, The gimbal carrier simulation device also includes a driver; The driver can control the first axial mechanism to output corresponding actions according to the received first control signal, and the driver can control the second axial mechanism to output corresponding actions according to the received second control signal.

5. The control method according to any one of claims 1 to 3, characterized in that, The gimbal carrier simulation device also includes a display screen for displaying a human-computer interaction interface. The human-computer interaction interface is used to input posture commands, which include frequency commands and / or amplitude commands. And / or, the human-computer interaction interface is used to display the attitude information of the gimbal carrier simulation device.

6. The control method according to any one of claims 1 to 3, characterized in that, Before parsing the target attitude data, the control method further includes: The three-axis attitude data of the reference gimbal carrier are collected at a predetermined frequency. The target attitude data is generated based on the collected data.

7. The control method according to claim 6, characterized in that, Before parsing the target attitude data, the control method further includes: Receive the desired jitter frequency and the desired jitter amplitude; The target attitude data is generated based on the received jitter frequency and jitter amplitude.

8. The control method according to any one of claims 1 to 3, characterized in that, The control method further includes: Receive the status information of the first axial mechanism and the status information of the second axial mechanism; A corresponding display signal is generated based on the status information of the first axial mechanism and the status information of the second axial mechanism.

9. An electronic device, characterized in that, include: One or more processors; A memory having stored one or more computer programs thereon, which, when executed by the one or more processors, cause the one or more processors to implement the control method according to any one of claims 1 to 8.

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