Inspection robot and cradle head control system and method thereof

Abstract

The invention discloses an inspection robot and a cradle head control system and method thereof. The inspection robot holder control system comprises a control panel, a stepping motor, a holder and a sensor. The control panel is electrically connected with the stepping motor and used for controlling rotation of the stepping motor. The holder is installed on the stepping motor through a rotating shaft and used for being driven by the stepping motor to operate. The sensor is arranged at a target position of a running path of the holder, is electrically connected with the control panel and is used for sending a calibration instruction to the control panel when detecting that the holder runs to the target position; and the control panel is also used for calibrating the current absolute coordinate value of the holder by using the target absolute coordinate value of the sensor after receiving the calibration instruction. The sensor is additionally arranged at the target position of the running path of the holder, so that deviation generated in the running process of the holder is eliminated at the target position, self-adaptive compensation of the angle error of the holder is realized, and the running stability and reliability of the holder are improved.

Description

Technical Field

[0001] The present application belongs to the field of inspection robots, and in particular, relates to an inspection robot and a pan-tilt control system and method thereof. Background Art

[0002] Inspection robots can be used in a variety of scenarios such as data centers, high and low voltage distribution rooms, power rooms, etc., and perform 7×24 hours inspections according to customized tasks, thereby assisting manual inspection of equipment status, dynamic environment, etc.

[0003] The inspection robot PTZ control system usually includes a control board and a stepper motor. During the operation of the inspection robot, the host computer sends PTZ control instructions to the control board through the serial port. After calculation and processing, the control board controls the stepper motor of the PTZ to rotate, start and stop, and other actions to achieve the corresponding inspection tasks. However, in traditional technologies, the stepper motor of the PTZ may have an angle deviation during rotation due to jitter or human interference. This deviation cannot be corrected by subsequent movements, resulting in low repeatability of the PTZ operation angle. Summary of the invention

[0004] The present application aims to solve at least one of the technical problems existing in the related art. To this end, the present application proposes a pan-tilt control system, method, storage medium and electronic device for an inspection robot, which can realize adaptive compensation of the pan-tilt operation angle error.

[0005] In a first aspect, the present application provides a pan-tilt control system for an inspection robot, the system comprising:

[0006] Control board, stepper motor, pan / tilt and sensor;

[0007] The control board is electrically connected to the stepper motor and is used to control the rotation of the stepper motor;

[0008] The pan / tilt head is mounted on the stepping motor via a rotating shaft and is used to run driven by the stepping motor;

[0009] The sensor is arranged at a target position of the running path of the pan / tilt platform and is electrically connected to the control board, and is used to send a calibration instruction to the control board when detecting that the pan / tilt platform runs to the target position;

[0010] The control board is further used to calibrate the current absolute coordinate value of the gimbal using the target absolute coordinate value of the sensor after receiving the calibration instruction;

[0011] The current absolute coordinate value is the default coordinate value of the control panel when the gimbal moves to the target position, and the target absolute coordinate value is the actual coordinate value of the target position detected by the sensor.

[0012] In a second aspect, the present application provides an inspection robot, which includes the inspection robot pan-tilt control system in any embodiment of the aforementioned first aspect.

[0013] In a third aspect, an embodiment of the present application provides a pan-tilt control method, which is applied to the inspection robot pan-tilt control system of the first aspect, and the method includes:

[0014] When it is detected that the gimbal moves to a target position, calibrating a current absolute coordinate value of the gimbal using the target absolute coordinate value of the sensor;

[0015] Among them, the target position is the position of the sensor on the running path of the gimbal, the current absolute coordinate value is the default coordinate value of the control board when the gimbal runs to the target position, and the target absolute coordinate value is the actual coordinate value of the target position detected by the sensor.

[0016] In a fourth aspect, the present application provides an electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the inspection robot pan-tilt control method as described in the first aspect above is implemented.

[0017] In a fifth aspect, the present application provides a non-transitory computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the inspection robot pan-tilt control method as described in the first aspect above is implemented.

[0018] In a sixth aspect, the present application provides a chip, comprising a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the inspection robot pan-tilt control method as described in the first aspect.

[0019] In a seventh aspect, the present application provides a computer program product, including a computer program, which, when executed by a processor, implements the inspection robot pan-tilt control method as described in the first aspect above.

[0020] The above one or more technical solutions in the embodiments of the present application have at least the following technical effects:

[0021] According to the inspection robot and its pan-tilt control system and method provided in the embodiments of the present application, by adding one or more sensors at the target position of the pan-tilt's running path, when the pan-tilt runs to the target position of the sensor, the sensor notifies the control board to use the sensor's target absolute coordinate value to calibrate the pan-tilt's current absolute coordinate value, thereby achieving the elimination of the deviation generated during the operation of the pan-tilt at the target position, realizing adaptive compensation of the pan-tilt angle error, and improving the stability and reliability of the pan-tilt operation.

[0022] Additional aspects and advantages of the present application will be given in part in the description below, and in part will become apparent from the description below, or will be learned through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0024] Figure 1 It is a structural schematic diagram of the inspection robot pan-tilt control system provided in an embodiment of the present application;

[0025] Figure 2 It is a flow chart of a method for controlling a pan-tilt platform of an inspection robot provided in an embodiment of the present application;

[0026] Figure 3 It is a schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments in the present application belong to the scope of protection of this application.

[0028] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0029] The inspection robot and its pan-tilt control system and method provided in the embodiments of the present application are described in detail below through specific embodiments and their application scenarios in combination with the accompanying drawings.

[0030] like Figure 1 As shown, the inspection robot pan-tilt control system 100 provided in the embodiment of the present application includes: a control board 110, a stepper motor 120, a pan-tilt 130 and a sensor 140. The control board 110 is electrically connected to the stepper motor 120 for controlling the rotation of the stepper motor 120. The pan-tilt 130 is mounted on the stepper motor 120 through a rotating shaft for running under the drive of the stepper motor 120. The sensor 140 is arranged at the target position of the running path of the pan-tilt 130 and is electrically connected to the control board 110, and is used to send a calibration instruction to the control board 110 when it is detected that the pan-tilt 130 runs to the target position. The control board 110 is also used to calibrate the current absolute coordinate value of the pan-tilt 130 using the target absolute coordinate value of the sensor 140 when receiving the calibration instruction. Among them, the current absolute coordinate value is the default coordinate value of the control board 110 when the pan-tilt 130 runs to the target position, and the target absolute coordinate value is the actual coordinate value of the target position detected by the sensor 140.

[0031] It should be noted that when the gimbal 130 rotates under the power of the stepper motor 120, the absolute coordinate value of the gimbal 130 drifts from the original x3 to x3' due to factors such as jitter or human interference. At this time, the actual coordinate value of the gimbal 130 should be x3', but the system still believes that the absolute coordinate value of the gimbal 130 is x3. If the deviation value is not corrected and calibrated in time, the deviation will continue to accumulate during the subsequent operation of the gimbal 130, resulting in poor stability and reliability of the operation of the gimbal 130.

[0032] Based on this, the embodiment of the present application sets a sensor 140 at the target position of the running path of the gimbal 130. The sensor 140 can be set at any position on the running path of the gimbal 130, such as: the starting position, 1 / 4 position, middle position, 3 / 4 position, and end position of the running path. If the gimbal 130 deviates during operation, when the gimbal 130 runs to the target position where the sensor 140 is located, the sensor 140 will detect it and send a calibration instruction to the control board 110, so that the control board 110 uses the target absolute coordinate value of the sensor 140 to calibrate the current absolute coordinate value of the gimbal 130 considered by the control board 110 after receiving the calibration instruction. It is understandable that the calibration instruction may carry the target absolute coordinate value detected by the sensor 140, or may be just a trigger-like instruction notifying the control board 110. The sensor 140 may only send the trigger instruction on the premise that the control board 110 has previously retained the target absolute coordinate value of the sensor 140. When the sensor 140 sends the trigger instruction to the control board 110, the control board 110 will know that the current actual coordinate value of the gimbal 130 should be the target absolute coordinate value, and then use the target absolute coordinate value to calibrate the current absolute coordinate value considered by the control board 110. In some embodiments, the current absolute coordinate value of the gimbal 130 is calibrated using the target absolute coordinate value of the sensor 140, specifically, the current absolute coordinate value of the gimbal 130 is replaced by the target absolute coordinate value of the sensor 140, that is, the current absolute coordinate value of the gimbal 130 is reassigned using the target absolute coordinate value. In some embodiments, when the control board uses the target absolute coordinate value to correct the current absolute coordinate value of the gimbal, it includes: calculating the deviation value between the target absolute coordinate value and the current absolute coordinate value, and adjusting the current absolute coordinate value of the gimbal according to the deviation value to make it consistent with the target absolute coordinate value. It is worth noting that the target absolute coordinate value includes angle and position information. It should be noted that the gimbal 130 is driven by the stepper motor 120 to adjust the direction of the camera or other sensors to achieve accurate observation of a specific target.

[0033] It is understandable that the absolute coordinate value in the above embodiment refers to the detected coordinate value, which is what it is, and no additional conversion is required. It is worth noting that the sensor 140 in this embodiment can be one or more. Multiple sensors 140 are set at different positions of the running path of the pan-tilt 130. Whenever the pan-tilt 130 passes a target position, its current absolute coordinate value is calibrated once, thereby improving the timeliness and accuracy of the calibration; further, the control board dynamically adjusts the number and position of the calibration points according to the running speed and path complexity of the pan-tilt 130 to ensure the frequency and accuracy of the calibration. Here, the number and position of the calibration points are the number and position of the sensors. In some embodiments, after the control board uses the target absolute coordinate value to correct the current absolute coordinate value of the pan-tilt, the pan-tilt 130 continues to run along the predetermined path until it reaches the target position of the next sensor 140, and repeats the above steps. In some embodiments, the sensor is a high-precision sensor, such as a laser ranging sensor, an infrared sensor, a magnetometer, etc., to ensure the accuracy of the detection result. In some embodiments, different types of sensors 140 are installed at a target position, and the reliability and accuracy of the detection result are improved through data fusion technology.

[0034] In some embodiments, the control board includes a PID controller, which monitors the current absolute coordinate value (including position and angle information) of the gimbal 130 in real time, and calibrates according to the target absolute coordinate value provided by the sensor 140. Specifically, according to the error value between the current absolute coordinate value of the monitored gimbal and the target absolute coordinate value, the motion parameters of the gimbal 130 are dynamically adjusted to ensure that the error is minimized. Among them, P in the PID controller represents a proportional term, which is used to adjust the calibration speed according to the size of the error value, I represents an integral term, which is used to eliminate steady-state errors and ensure that the gimbal finally reaches the target position accurately, and D represents a differential term, which is used to control oscillations during the calibration process and improve system stability.

[0035] In some embodiments, a machine learning algorithm (such as a neural network, a support vector machine, etc.) is further provided in the control board. When calibrating the current absolute coordinate value of the gimbal 130, the following method can also be used to collect a large number of current absolute coordinate values ​​corresponding to the target absolute coordinate values ​​as training data, and use these training data to perform model training on the machine learning algorithm in the control board to obtain a prediction model. In actual operation, the prediction model is used to predict the target absolute coordinate value of the current absolute coordinate value in real time, and error calibration is performed based on the target absolute coordinate value to ensure that the gimbal is always in a precise position.

[0036] According to the inspection robot pan-tilt control system 100 provided in the embodiment of the present application, by adding one or more sensors 140 at the target position of the running path of the pan-tilt 130, when the pan-tilt 130 runs to the target position of the sensor 140, the sensor 140 notifies the control board 110 to use the target absolute coordinate value of the sensor 140 to calibrate the current absolute coordinate value of the pan-tilt 130, thereby achieving the elimination of the deviation generated during the operation of the pan-tilt 130 at the target position, realizing adaptive compensation of the angle error of the pan-tilt 130, and improving the stability and reliability of the operation of the pan-tilt 130.

[0037] In some embodiments, the target position includes a starting position and an end position. The control board 110 is further used to reassign the current absolute coordinate value of the gimbal 130 using the starting absolute coordinate value of the sensor 140 when the gimbal 130 moves to the starting position, wherein the starting absolute coordinate value is the actual coordinate value of the starting position detected by the sensor 140. The control board 110 is further used to reassign the current absolute coordinate value of the gimbal 130 using the end absolute coordinate value of the sensor 140 when the gimbal 130 moves to the end position, wherein the end absolute coordinate value is the actual coordinate value of the end position detected by the sensor 140.

[0038] In this embodiment, sensors 140 are set at the starting position and the end position of the running path of the pan-tilt head 130, and the control board 110 reassigns the current absolute coordinate value of the pan-tilt head 130 using the starting absolute coordinate value of the sensor 140 and the end absolute coordinate value of the sensor 140, respectively, so that the pan-tilt head 130 can eliminate the deviation at the starting position and the end position. The sensor 140 is set at the starting position and the end position of the running path of the pan-tilt head 130, on the one hand, because these two positions are easy to set, and on the other hand, it is to avoid calibrating the deviation of the pan-tilt head 130 as much as possible during its operation. In addition to reducing interference with the operation of the pan-tilt head 130, it also avoids the problem of inaccurate calibration caused by calibration during operation.

[0039] In some embodiments, the sensor 140 is a U-shaped photoelectric sensor. One end of the U-shaped photoelectric sensor is set at the starting position, and the other end is set at the end position, so that only one sensor is needed to calibrate the coordinate value deviation at the two target positions, saving hardware costs. Of course, it is understandable that an ordinary sensor can also be set at the starting position and the end position respectively to achieve this.

[0040] In some embodiments, a metal baffle is provided on the rotating shaft of the pan-tilt platform 130, and when the metal baffle moves to the target position, the sensor 140 is triggered. By providing a metal baffle on the rotating shaft of the pan-tilt platform 130, the sensor 140 is triggered when the pan-tilt platform 130 moves to the target position.

[0041] In some embodiments, the control board 110 is also used to obtain the target absolute distance and pre-operation time of the stepper motor 120, calculate the unit time acceleration and target speed of the stepper motor 120 according to the target absolute distance and the pre-operation time, and control the rotation of the motor according to the unit time acceleration and the target speed.

[0042] Furthermore, in some embodiments, the control board 110 calculates the unit time acceleration and the target speed of the stepper motor 120 according to the following formula: K = abs (V m -V o )×2 / T 2 , S = K × T 3 / 6, where K is the acceleration per unit time, V m is the target speed, the V o is the initial speed, T is the pre-running time, S is the target absolute distance, and abs represents the absolute value.

[0043] During the rotation of the stepper motor 120, if the target absolute distance that the stepper motor 120 is going to run each time is ignored and the same acceleration is used to control the start and stop of the stepper motor 120, it will cause jitter and error in the operation of the pan / tilt 130. For example: the same acceleration and target speed are used when the target absolute distance is 6000 and 500. If a larger acceleration is used, the pan / tilt 130 will vibrate violently when it stops when the target absolute distance is 500. If a smaller acceleration is used, the pan / tilt 130 will start slowly when the target absolute distance is 6000. Therefore, before the stepper motor 120 runs, the control board 110 first calculates the target absolute distance and pre-running time of the stepper motor 120 through the calculation formula of the unit time acceleration and the target speed, that is, K=abs(V m -V o )×2 / T 2 , S = K × T 3 / 6 Calculate the unit time acceleration and target speed for controlling the operation of the stepper motor 120 in advance, so as to control the stepper motor 120 to run more smoothly, thereby reducing the jitter and error of the operation of the gimbal 130.

[0044] It can be understood that the target absolute distance here can be understood as the absolute coordinate distance during the rotation of the stepper motor 120. For example: the number of steps s1=200 steps required for each subdivision of the stepper motor 120 to rotate, the subdivision n of the driving circuit in the control board 110 is 8 (n subdivision means that the number of steps required for the stepper motor 120 to rotate one circle is n*s1=1600 steps), and the reduction ratio a=5 of the gear and belt at the end of the stepper motor 120, then the number of steps s=n*s1*a=8000 steps required for the pan-tilt head 130 to rotate one circle. The knowledge involved here is the common knowledge in the rotation operation of the motor and will not be repeated here. Then, during the process of the pan-tilt head 130 rotating one circle, the absolute coordinate distance of the stepper motor 120 can be recorded as 0-7999. For example: if the control board 110 knows that the target absolute distance is 2000 steps and the pre-operation time is 1s, then substitute the formula S=K×T 3 / 6, we can get K = 12000. Usually, the initial speed of the stepper motor 120 is 0. Substituting it into the formula K = abs(V m -V o )×2 / T 2 , we get V m =6000, the control board 110 controls the stepping motor 120 to rotate according to the obtained unit time acceleration and target speed.

[0045] It is worth noting that the general formula for acceleration is b = (V m -V o ) / T, but K in this solution represents unit acceleration, so it is necessary to further divide it by time T / 2. The reason why it is divided by time T / 2 here is that in the process of controlling the rotation of the stepper motor 120, it is equivalent to experiencing a process of accelerating from the initial speed to the target speed and then accelerating from the target speed to the initial speed. Therefore, the obtained unit time acceleration is K=abs(V m -V o )×2 / T 2 In the calculation of absolute distance, it is equivalent to integrating the acceleration slope Kt with a slope of K, that is, acceleration b = Kt, and integrating the acceleration b gives the velocity v = Kt 2 / 2, reaching the maximum speed V as time changes m When K = 2*V m / t 2 , and then integrate the speed to get the formula of the absolute distance of the target S = K × T 3 / 6.

[0046] In some embodiments, the control panel 110 is also used to obtain the current orientation position and the target orientation position of the pan-tilt head 130. When the angular difference between the current orientation position and the target orientation position in a first direction is greater than 180°, the pan-tilt head 130 is controlled to rotate in a second direction. When the angular difference between the current orientation position and the target orientation position in a first direction is less than or equal to 180°, the pan-tilt head 130 is controlled to rotate in a first direction, thereby ensuring that the pan-tilt head 130 always rotates along the minimum path, thereby improving the inspection efficiency of the inspection robot.

[0047] It can be understood that if the first direction is clockwise, the second direction is counterclockwise; if the first direction is counterclockwise, the second direction is clockwise.

[0048] Specifically, in order to accurately control the rotation direction of the gimbal 130, it is first necessary to calculate the angle difference between the current orientation position and the target orientation position. Assume that the current orientation position is θ current , the target direction position is θ target , then the clockwise angle difference Δθ clockwise , can be expressed as: Δθclockwise=(θtarget-θcurrent+360°)mod360°; Similarly, the counterclockwise angle difference Δθ counterclockwise It can be expressed as Δθ counterclockwise = (360° - Δθ clockwise). According to the above clockwise angle difference calculation result, if Δθ clockwise >180°, then select counterclockwise rotation; if Δθ clockwise ≤180°, then select clockwise rotation. Similarly, if Δθ counterclockwise >180°, then select clockwise rotation. If Δθ counterclockwise ≤180°, select counterclockwise rotation.

[0049] Furthermore, when the pan / tilt 130 is controlled to rotate in the first direction or the second direction, the rotation speed is dynamically adjusted according to the angle difference to improve the inspection efficiency. For example, when the angle difference is large, the rotation speed can be appropriately increased; when the angle difference is small, the rotation speed can be appropriately reduced to ensure the stability and accuracy of the rotation while improving the inspection efficiency.

[0050] Furthermore, when the pan / tilt 130 is controlled to rotate in the first direction or the second direction, sensor calibration or closed-loop control is used to ensure the rotation direction and rotation accuracy. For example, a high-precision sensor (such as a gyroscope, magnetometer, etc.) is used to monitor the orientation position of the pan / tilt in real time, and error correction is performed to ensure the accuracy of the rotation direction and angle. Another example is to use a closed-loop control system to provide real-time feedback on the current orientation position of the pan / tilt, and adjust according to the target orientation position to ensure that the pan / tilt can accurately reach the target orientation position.

[0051] In some embodiments, a PID (proportional-integral-derivative) control method, a path planning-based control method, or a machine learning-based control method is used to achieve the rotation of the gimbal 130 along an optimal path.

[0052] Specifically, in the PID control method, the PID controller is used to dynamically adjust the rotation speed and direction according to the angle error between the current heading position and the target heading position, ensuring that the gimbal reaches the target position quickly and smoothly with the minimum path. Among them, P in PID represents the proportional term, which is used to adjust the rotation speed according to the error size, I represents the integral term, which is used to eliminate the steady-state error and ensure that the gimbal finally reaches the target position accurately, and D represents the differential term, which is used to control the oscillation during the rotation process and improve the stability of the system.

[0053] Specifically, in the control method based on path planning, a path planning algorithm (such as A* algorithm, Dijkstra algorithm, etc.) is used to plan the rotation path of the gimbal. The path planning algorithm can calculate the optimal rotation path according to the current orientation position and the target orientation position to ensure that the gimbal rotates with the minimum path. In this control method, the steps of node division, path search and path following are specifically included, wherein the node division step divides the rotation path of the gimbal into multiple nodes, each node represents an intermediate position in the rotation path, the path search step finds each intermediate node in the shortest path from the current orientation position to the target orientation position through a search algorithm, and the path following step controls the gimbal to rotate step by step according to each intermediate node found to ensure that each step is the optimal path.

[0054] Specifically, in the machine learning-based control method, it specifically includes: collecting a large amount of historical rotation data of the gimbal, including the current orientation position, target orientation position, rotation direction and speed, etc.; using the historical rotation data to train a machine learning model (such as a neural network, a decision tree, etc.) so that it has the ability to predict the optimal rotation path and speed based on the current orientation position and the target orientation position; in actual applications, the current orientation position and the target orientation position are obtained, and the optimal rotation path and speed are obtained using the aforementioned trained machine learning model, and the gimbal is controlled to rotate according to the optimal rotation path and speed, thereby ensuring that the gimbal reaches the target position quickly and smoothly with the minimum path.

[0055] In some embodiments, the number of the stepper motors 120, the sensors 140 and the pan-tilt platforms 130 are N, where N is an integer greater than or equal to 1. The control board 110 is electrically connected to the N stepper motors 120 respectively to control the rotation of the N stepper motors 120; each pan-tilt platform 130 corresponds to one stepper motor 120, and is mounted on the corresponding stepper motor 120 through the rotating shaft, and rotates under the drive of the corresponding stepper motor 120; each sensor 140 corresponds to one pan-tilt platform 130, and is arranged at a target position of the running path of the corresponding pan-tilt platform 130.

[0056] The gimbal control system in the embodiment of the present application can be expanded to N stepper motors 120, N sensors 140 and N gimbals 130, so as to achieve precise synchronous control between multiple axes, ensure the coordination and consistency of each axis in the application scenario of the multi-axis gimbal 130, and thus improve the overall stability and response speed of the system.

[0057] The embodiment of the present application also provides an inspection robot, including the inspection robot pan-tilt control system 100 in the aforementioned embodiment.

[0058] According to the inspection robot provided in the embodiment of the present application, one or more sensors 140 are added to the target position of the running path of the pan-tilt head 130. When the pan-tilt head 130 runs to the target position of the sensor 140, the sensor 140 notifies the control board 110 to use the target absolute coordinate value of the sensor 140 to calibrate the current absolute coordinate value of the pan-tilt head 130, thereby achieving the elimination of the deviation generated during the operation of the pan-tilt head 130 at the target position, realizing adaptive compensation of the angle error of the pan-tilt head 130, and improving the stability and reliability of the operation of the pan-tilt head 130.

[0059] It can be understood that the inspection robot can realize the various functions of the above-mentioned inspection robot pan-tilt control system embodiment and can achieve the same technical effect. To avoid repetition, it will not be described here.

[0060] The inspection robot PTZ control method provided in the embodiment of the present application can be executed by the control panel 110 in the inspection robot PTZ control, and can also be applied to an electronic terminal, and can be specifically executed by the hardware or software in the terminal. The electronic devices mentioned in the embodiment of the present application include but are not limited to mobile phones, tablet computers, computers, cameras, and wearable devices. In the embodiment of the present application, the inspection robot PTZ control method is implemented by installing an inspection robot PTZ control system as an example to illustrate the inspection robot PTZ control method provided in the embodiment of the present application.

[0061] The present application also provides a method for controlling a pan-tilt platform of an inspection robot. Figure 2As shown, the inspection robot pan-tilt control system applied to the aforementioned embodiment includes:

[0062] S100, when it is detected that the gimbal moves to a target position, calibrate the current absolute coordinate value of the gimbal using the target absolute coordinate value of the sensor. The target position is the position of the sensor on the moving path of the gimbal, the current absolute coordinate value is the default coordinate value of the control board when the gimbal moves to the target position, and the target absolute coordinate value is the actual coordinate value of the target position detected by the sensor.

[0063] According to the inspection robot gimbal control method provided in the embodiment of the present application, by adding one or more sensors at the target position of the gimbal's running path, when the gimbal runs to the target position of the sensor, the sensor notifies the control board to use the sensor's target absolute coordinate value to calibrate the gimbal's current absolute coordinate value, thereby achieving the elimination of the deviation generated during the operation of the gimbal at the target position, realizing adaptive compensation of the gimbal's angle error, and improving the stability and reliability of the gimbal's operation.

[0064] In some embodiments, the target position includes a starting position and an end position, and when the gimbal is detected to move to the target position, the target absolute coordinate value of the sensor is used to calibrate the current absolute coordinate value of the gimbal, including:

[0065] When it is detected that the gimbal moves to the starting position, the current absolute coordinate value of the gimbal is reassigned using the starting absolute coordinate value of the sensor, wherein the starting absolute coordinate value is the actual coordinate value of the starting position detected by the sensor;

[0066] When it is detected that the gimbal moves to the end position, the current absolute coordinate value of the gimbal is reassigned using the end point absolute coordinate value of the sensor, wherein the end point absolute coordinate value is the actual coordinate value of the end point position detected by the sensor.

[0067] In some embodiments, the method also includes: obtaining the target absolute distance and pre-operation time of the stepper motor's pre-operation, calculating the unit time acceleration and target speed of the stepper motor according to the target absolute distance and the pre-operation time, and controlling the rotation of the motor according to the unit time acceleration and the target speed.

[0068] In some embodiments, the unit time acceleration and the target speed of the stepper motor are calculated according to the following formula;

[0069] K=abs(V m -V o )×2 / T 2 ;

[0070] S=K×T 3 / 6;

[0071] Wherein, K is the acceleration per unit time, V m is the target speed, the V o is the initial speed, T is the pre-running time, S is the target absolute distance, and abs represents the absolute value.

[0072] In some embodiments, the method also includes: obtaining a current orientation position and a target orientation position of the gimbal, and when the angle difference between the current orientation position and the target orientation position in a first direction is greater than 180°, controlling the gimbal to rotate in a second direction; and when the angle difference between the current orientation position and the target orientation position in the first direction is less than or equal to 180°, controlling the gimbal to rotate in a first direction.

[0073] The inspection robot pan-tilt control method can realize the various functions of the above-mentioned inspection robot pan-tilt control system embodiment and can achieve the same technical effect. To avoid repetition, it will not be described here.

[0074] In some embodiments, Figure 3 As shown, an embodiment of the present application also provides an electronic device 800, including a processor 801, a memory 802, and a computer program stored in the memory 802 and executable on the processor 801. When the program is executed by the processor 801, each process of the above-mentioned inspection robot pan-tilt control method embodiment is implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0075] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0076] An embodiment of the present application also provides a non-transitory computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the various processes of the above-mentioned inspection robot pan-tilt control method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.

[0077] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0078] An embodiment of the present application also provides a computer program product, including a computer program, which implements the above-mentioned inspection robot pan-tilt control method when executed by a processor.

[0079] The processor is the processor in the electronic device described in the above embodiment. The readable storage medium includes a computer readable storage medium, such as a computer read-only memory ROM, a random access memory RAM, a magnetic disk or an optical disk.

[0080] An embodiment of the present application further provides a chip, which includes a processor and a communication interface, wherein the communication interface is coupled to the processor, and the processor is used to run programs or instructions to implement the various processes of the above-mentioned inspection robot pan-tilt control method embodiment, and can achieve the same technical effect. To avoid repetition, it will not be repeated here.

[0081] It should be understood that the chip mentioned in the embodiments of the present application can also be called a system-level chip, a system chip, a chip system or a system-on-chip chip, etc.

[0082] It should be noted that, in this article, the terms "comprise", "include" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise one..." do not exclude the presence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in reverse order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0083] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the relevant technology, can be embodied in the form of a computer software product, which is stored in a storage medium (such as ROM / RAM, a disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0084] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

[0085] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present application. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described may be combined in any one or more embodiments or examples in a suitable manner.

[0086] Although the embodiments of the present application have been shown and described, those skilled in the art will appreciate that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present application, and that the scope of the present application is defined by the claims and their equivalents.

Claims

1. A pan-tilt control system for an inspection robot, characterized in that: include: Control board, stepper motor, pan / tilt and sensor; The control board is electrically connected to the stepper motor and is used to control the rotation of the stepper motor; The pan / tilt head is mounted on the stepping motor via a rotating shaft and is used to run driven by the stepping motor; The sensor is arranged at a target position of the running path of the pan / tilt platform and is electrically connected to the control board, and is used to send a calibration instruction to the control board when detecting that the pan / tilt platform runs to the target position; The control board is further used to calibrate the current absolute coordinate value of the gimbal using the target absolute coordinate value of the sensor after receiving the calibration instruction; The current absolute coordinate value is the default coordinate value of the control panel when the gimbal moves to the target position, and the target absolute coordinate value is the actual coordinate value of the target position detected by the sensor.

2. The system according to claim 1, characterized in that The target position includes a starting position and an end position; The control board is further used to reassign the current absolute coordinate value of the pan-tilt platform using the initial absolute coordinate value of the sensor when the pan-tilt platform moves to the initial position, wherein the initial absolute coordinate value is the actual coordinate value of the initial position detected by the sensor; The control board is also used to reassign the current absolute coordinate value of the gimbal using the end point absolute coordinate value of the sensor when the gimbal moves to the end point position, wherein the end point absolute coordinate value is the actual coordinate value of the end point position detected by the sensor.

3. The system according to claim 2, characterized in that The sensor is a U-shaped photoelectric sensor.

4. The system according to any one of claims 1 to 3, characterized in that: A metal baffle is provided on the rotating shaft of the pan / tilt head, and the sensor is triggered when the metal baffle moves to the target position.

5. The system according to claim 1, characterized in that The control panel is also used to obtain the target absolute distance and pre-operation time of the stepper motor's pre-operation, calculate the unit time acceleration and target speed of the stepper motor according to the target absolute distance and the pre-operation time, and control the motor rotation according to the unit time acceleration and the target speed.

6. The system according to claim 5, characterized in that The control board calculates the unit time acceleration and the target speed of the stepping motor according to the following formula; K=abs(V m -V o )×2 / T 2 ; S=K×T 3 / 6; Wherein, K is the acceleration per unit time, V m is the target speed, the V o is the initial speed, T is the pre-running time, S is the target absolute distance, and abs represents the absolute value.

7. The system according to claim 1, characterized in that The control panel is also used to obtain the current orientation position and the target orientation position of the pan / tilt head, when the angle difference between the current orientation position and the target orientation position in the first direction is greater than 180 0 When the angle difference between the current orientation position and the target orientation position is less than or equal to 180 in the first direction, the pan / tilt head is controlled to rotate in the second direction. 0 When the pan / tilt head is controlled to rotate in the first direction.

8. The system according to claim 1, characterized in that The number of the stepper motor, the sensor and the pan-tilt head is N, where N is an integer greater than or equal to 1; The control board is electrically connected to the N stepper motors respectively to control the rotation of the N stepper motors; Each of the pan-tilt platforms corresponds to one of the stepping motors, and is mounted on the corresponding stepping motor via the rotating shaft, and rotates under the drive of the corresponding stepping motor; Each of the sensors corresponds to one of the pan-tilt platforms and is arranged at a target position of a running path of the corresponding pan-tilt platform.

9. A patrol robot, characterized in that: It comprises the inspection robot pan-tilt control system as described in any one of claims 1-8.

10. A method for controlling a pan-tilt platform of an inspection robot, characterized in that: Applied to the inspection robot pan-tilt control system according to any one of claims 1 to 8, the method comprises: When it is detected that the gimbal moves to a target position, calibrating a current absolute coordinate value of the gimbal using the target absolute coordinate value of the sensor; Among them, the target position is the position of the sensor on the running path of the gimbal, the current absolute coordinate value is the default coordinate value of the control board when the gimbal runs to the target position, and the target absolute coordinate value is the actual coordinate value of the target position detected by the sensor.

Images