Holder positioning correction method, electronic equipment and storage medium
By determining the intermediate correction time according to the planned motion curve during the gimbal movement, the positioning correction of the gimbal is solved, and the problem of the in-place time of the gimbal in the prior art is affected and the correction time is uncontrollable, and a more efficient and controllable gimbal positioning correction is achieved.
Patent Information
- Application Number
- CN202411795865.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-06
- Publication Date
- 2025-04-22
AI Technical Summary
The prior art corrects by multiple starts and stops after the gimbal movement is stopped, resulting in the in-place time being affected and the correction time is uncontrollable.
By obtaining the motion curve of the gimbal, several intermediate correction moments during the target movement are determined, and positioning corrections are performed on the gimbal at these moments to avoid multiple start and stop corrections after the gimbal is stopped.
The correction is realized during the movement of the gimbal, which avoids excessive errors when the gimbal stops, and reduces the need for multiple start and stop corrections, improving the controllability and efficiency of the gimbal.
Smart Images
Figure CN119861755A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the technical field of data correction, and in particular to a pan / tilt positioning correction method, electronic equipment and storage medium. Background Art
[0002] During the movement of the gimbal, the actual moving position may be smaller or larger than the theoretical moving position, causing the gimbal to fail to reach the target position. Therefore, the gimbal position needs to be corrected.
[0003] The prior art is to determine whether the pan-tilt stop position is the target position after the pan-tilt movement stops. If not, the pan-tilt is started to move to the target position. In the process of starting the pan-tilt to move to the target position, it may be necessary to start and stop the pan-tilt multiple times to determine whether the final stop position is at the target position. In other words, a single pan-tilt movement instruction has multiple start and stop controls. This will affect the pan-tilt arrival time, and its correction time is uncontrollable. Summary of the invention
[0004] The main technical problem solved by the present application is to provide a gimbal positioning correction method, electronic device and storage medium, which can correct the gimbal during its movement and avoid correction through multiple starts and stops after the gimbal stops.
[0005] To solve the above-mentioned technical problems, the first aspect of the present application provides a gimbal positioning and correction method, the method comprising: obtaining a motion curve planned for the gimbal, the motion curve being able to characterize the change of motion parameters over time during the target motion process of the gimbal from an initial position to a target position; determining several intermediate correction moments during the target motion process based on the motion parameters represented by the motion curve; and performing positioning and correction on the gimbal at each of the intermediate correction moments.
[0006] The intermediate correction moment is the moment when a driving force driving the gimbal to move undergoes a specific change during the target movement.
[0007] Among them, the several intermediate correction moments include at least one force mutation end moment; the determining of the several intermediate correction moments in the target motion process based on the motion parameters represented by the motion curve includes: based on the motion parameters represented by the motion curve, determining at least one force mutation end moment of the gimbal before the end of the target motion process as the intermediate correction moment.
[0008] The motion parameter includes acceleration, and the motion curve includes at least one of the following: a first change curve of the acceleration of the gimbal over time during the target motion process, and a second change curve of the acceleration of the gimbal over time during the target motion process.
[0009] The moment when the force mutation ends is the moment when the acceleration of the gimbal switches from a changing value to a constant value.
[0010] Wherein, the several intermediate correction moments include at least one moment when the force mutation ends.
[0011] Among them, the positioning correction of the gimbal is performed at each of the intermediate correction moments, including: in response to reaching a moment when the force mutation ends, obtaining a theoretical position characterization value and a first actual position characterization value of the gimbal at the current moment when the force mutation ends; obtaining the difference between the theoretical position characterization value and the first actual position characterization value; and controlling the movement of the gimbal to make up for the difference.
[0012] Wherein, before controlling the gimbal movement to make up the difference, it also includes: judging whether the acceleration of the gimbal is switched to 0 at the moment when the current force mutation ends; in response to the acceleration switching to 0, executing the step of controlling the gimbal movement to make up the difference; in response to the acceleration not switching to 0, when the theoretical position representation value is greater than the first actual position representation value, executing the step of controlling the gimbal movement to make up the difference.
[0013] Wherein, controlling the gimbal movement to make up the difference includes: controlling the gimbal to make up the difference at a speed at the moment when the force mutation ends. Wherein, the first target position representation value is the number of pulses received by the driving motor of the gimbal, and the first actual position representation value is the number of pulses equivalent to the position value fed back by the inductive encoder.
[0014] Among them, the motion curve is divided into several motion stages according to the change of the motion parameters, the gimbal is preset with corresponding driving parameters in each of the motion stages, the several intermediate correction moments are the end moments of at least one intermediate motion stage, and the intermediate motion stage is the motion stage other than the last motion stage.
[0015] Among them, the gimbal positioning correction method also includes: in response to completing the positioning correction of the gimbal at the end moment of the force mutation, continuing to drive the gimbal to move according to the driving parameters corresponding to the movement stage after the end moment of the force mutation.
[0016] The motion curve is divided into several motion stages according to the change of the motion parameters, the gimbal is preset with corresponding driving parameters in each of the motion stages, and the several intermediate correction moments include the start moment of the last motion stage in the target motion process.
[0017] Among them, the positioning correction of the gimbal is performed respectively at the intermediate correction moments, including: in response to reaching a starting moment, obtaining a second actual position representation value of the gimbal at the current starting moment; using the second actual position representation value, determining the position difference between the current position of the gimbal and the target position; based on the position difference, updating the driving parameters corresponding to the last motion stage; and driving the gimbal to move to the target position according to the updated driving parameters.
[0018] The driving parameter is the number of pulses that the driving motor of the gimbal needs to receive.
[0019] Among them, the motion parameters include acceleration, the several motion stages include a first motion stage in which the acceleration decreases and other motion stages, the other motion stages include at least two of a second motion stage in which the acceleration remains unchanged and a third motion stage in which the acceleration increases, and the last motion stage of the several motion stages is the first motion stage.
[0020] In order to solve the above technical problems, the second aspect of the present application provides an electronic device, which includes a processor and a memory, wherein program instructions are stored in the memory, and the processor is used to execute the program instructions to implement the method provided in the first aspect.
[0021] In order to solve the above technical problem, the third aspect of the present application provides a computer-readable storage medium, which stores program instructions, and the program instructions are executed to implement the method provided by the first aspect above.
[0022] The beneficial effects of the present application are as follows: Different from the prior art, the present application obtains the motion curve planned for the gimbal, and the motion curve can characterize the change of motion parameters over time during the target motion process of the gimbal from the initial position to the target position; based on the motion parameters characterized by the motion curve, several intermediate correction moments during the target motion process are determined; and the gimbal is positioned and corrected at each intermediate correction moment. By correcting at each intermediate correction moment, correction can be achieved during the gimbal motion process to avoid excessive errors when the gimbal stops, and correction can also be avoided by starting and stopping multiple times after the gimbal stops moving. BRIEF DESCRIPTION OF THE DRAWINGS
[0023] Figure 1 It is a flow chart of an implementation method of a pan / tilt positioning correction method provided by the present application;
[0024] Figure 2 is a schematic diagram of an implementation scheme of a motion curve provided by the present application;
[0025] Figure 3 is a schematic diagram of another embodiment of the motion curve provided by the present application;
[0026] Figure 4 It is a flow chart of another implementation method of the gimbal calibration method provided by the present application;
[0027] Figure 5 It is a schematic diagram of the framework structure of an embodiment of an electronic device provided by the present application;
[0028] Figure 6 It is a schematic diagram of the framework structure of an implementation scheme of a computer-readable storage medium provided in this application. DETAILED DESCRIPTION
[0029] The following is a clear and complete description of the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0030] It should be noted that in the embodiments of the present application, there are descriptions involving "first", "second", etc., which are only used for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" or "second" may explicitly or implicitly include at least one of the features.
[0031] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present invention. The appearance of the phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.
[0032] Please refer to Figure 1-3 , Figure 1 is a flow chart of an implementation method of a pan / tilt positioning correction method provided by the present application, Figure 2 is a schematic diagram of an implementation scheme of a motion curve provided by the present application, Figure 3 It is a schematic diagram of another embodiment of the motion curve provided by the present application; the gimbal positioning correction method includes:
[0033] S11: Obtain the motion curve planned for the gimbal.
[0034] In one embodiment, the gimbal can move from an initial position to a target position in response to a motion command. After receiving a motion command, a motion curve can be planned for the gimbal, and the motion curve can characterize the change of motion parameters over time during the target motion process of the gimbal from the initial position to the target position. The motion curve can be planned by a processor in the gimbal, or the gimbal can send data to a server, and the server can plan the motion curve.
[0035] In one embodiment, the motion curve can be determined based on the initial position, target position and motion parameters of the gimbal. The motion parameters include, but are not limited to, speed, displacement, acceleration, jerk, etc. In a specific embodiment, when the motion parameter is any one of speed, acceleration and jerk, the maximum motion parameter can also be set, that is, the maximum acceleration, the maximum jerk and the maximum speed. The maximum motion parameter is used to constrain each motion parameter. In the process of planning the motion curve, the planning can be carried out according to the principle that the gimbal first increases the speed and then decreases the speed, that is, the gimbal accelerates from the initial position and decelerates to 0 when it reaches the target position. In this process, depending on the length of the gimbal's moving position, the motion curve may only include an acceleration phase and a deceleration phase, or may include an acceleration phase, a uniform speed phase and a deceleration phase.
[0036] S12: Determine several intermediate correction moments in the target motion process based on the motion parameters represented by the motion curve.
[0037] In one embodiment, the intermediate correction moment is the moment when a driving force driving the gimbal to move undergoes a specific change during the target movement. The specific change in driving force may include maintaining a constant driving force, reducing the driving force, increasing the driving force, etc.
[0038] In a specific embodiment, the plurality of intermediate correction moments include at least one force mutation end moment, that is, the moment when the driving force undergoes a specific change includes the force mutation end moment. For example, the driving force gradually increases, increases to a maximum value and then remains constant, then the moment when the driving force begins to remain constant is a force mutation end moment. For another example, the driving force begins to decrease from the maximum value, then the moment when the driving force begins to decrease is a force mutation end moment. Specifically, based on the motion parameters represented by the motion curve, at least one force mutation end moment of the gimbal before the target motion process ends can be determined as an intermediate correction moment.
[0039] Taking the motion parameter as acceleration or jerk as an example, the greater the driving force, the greater the acceleration, and the jerk is greater than 0; the driving force remains unchanged, the acceleration remains unchanged, and the jerk is 0; the driving force is 0, the acceleration is 0, and the jerk is also 0.
[0040] In a specific embodiment, the motion parameters include acceleration, and the motion curve includes at least one of the following: a first change curve of the acceleration of the gimbal over time during the target motion process, and a second change curve of the jerk of the gimbal over time during the target motion process; the end moment of the force mutation can be the moment when the acceleration or jerk of the gimbal switches from a changing value to a constant value.
[0041] The first change curve is Figure 2 As shown in the figure, at time 0, the gimbal is at the initial position. At time 0-t1, the acceleration of the gimbal gradually increases. At time t1, the acceleration reaches the set maximum acceleration. At time t1-t2, the gimbal moves at the maximum acceleration. At time t2-t3, the acceleration gradually decreases, and at time t3, the acceleration is 0. At time 0-t3, the gimbal accelerates. At time t3-t4, the acceleration is 0, and the gimbal moves at a constant speed. From time t4, the acceleration of the gimbal becomes negative, and the gimbal begins to decelerate. At time t4-t5, the deceleration gradually increases, and the gimbal deceleration speed gradually increases. At time t5-t6, the deceleration remains unchanged. At time t6-t7, the deceleration gradually decreases, and the gimbal deceleration speed gradually decreases.
[0042] The second change curve is Figure 3 As shown, in this embodiment, the maximum acceleration of the gimbal is limited so that the gimbal moves according to the positive maximum jerk at the moment 0-t1 and the moment t6-t7, and moves according to the negative maximum jerk at the moment t2-t3 and the moment t4-t5, and the gimbal moves with a jerk of 0 at the moment t1-t2, the moment t3-t4, and the moment t5-t6.
[0043] The first change curve and the second change curve are motion curves planned for different motion parameters of the same gimbal motion. According to the first change curve or the second change curve, it can be known that the force mutation ends at 0, t1, t2, t3, t4, t5, t6, and t7. According to the first change curve and the second change curve, the speed and displacement of the gimbal at the end of each force mutation can be obtained. The speed and displacement at the end of each force mutation are specifically calculated using the following formula.
[0044]
[0045] v t2 =v t1 +a max (t2-t1)
[0046]
[0047] v t4 =v t3
[0048]
[0049] v t6 =v t5 -a max (t6-t5)
[0050]
[0051] S t4 =S t3 +v t3 (t4-t3)
[0052]
[0053] Among them, v t1 is the speed of the PTZ at time t1, v t2 is the speed of the PTZ at time t2, v t3 is the speed of the PTZ at time t3, v t4 is the speed of the PTZ at time t4, v t5 is the speed of the PTZ at time t5, v t6 S is the speed of the PTZ at time t6. t1 is the displacement of the gimbal relative to the initial position at time t1, S t2 is the displacement of the gimbal relative to the initial position at time t2, S t3 is the displacement of the gimbal relative to the initial position at time t3, S t4 is the displacement of the gimbal relative to the initial position at time t4, S t5 is the displacement of the gimbal relative to the initial position at time t5, S t6 is the displacement of the gimbal relative to the initial position at time t6.
[0054] It can be understood that in actual application, only one motion curve can be planned for a motion process of the gimbal, for example, only a motion curve of acceleration can be planned, or only a motion curve of velocity can be planned, or only a motion curve of displacement can be planned.
[0055] S13: Perform positioning correction on the gimbal at each intermediate correction moment.
[0056] In one embodiment, the plurality of intermediate correction moments include at least one force mutation end moment, and the gimbal can be selectively positioned and corrected at the force mutation end moment. Specifically, in response to reaching a force mutation end moment, the theoretical position representation value and the first actual position representation value of the gimbal at the current force mutation end moment are obtained; the difference between the theoretical position representation value and the first actual position representation value is obtained; and the gimbal movement is controlled to make up the difference. The first actual position representation value can be the number of pulses equivalent to the position value fed back by the inductive encoder; the theoretical position representation value can be the number of pulses received by the driving motor of the gimbal.
[0057] Among them, the difference can be the pulse number difference between the number of pulses received by the drive motor and the number of pulses equivalent to the position value fed back by the inductive encoder. In a specific embodiment, the theoretical position characterization value is greater than the first actual position characterization value, that is, the gimbal has lost step, so that its moving position cannot reach the theoretical position. When controlling the gimbal movement to make up the difference, the gimbal is controlled to make up the difference at the speed at the end of the current force mutation. For example, if the gimbal speed at the end of the force mutation is v1, it continues to move from the first actual position according to v1 until it reaches the theoretical position. In another specific embodiment, the theoretical position characterization value is less than the first actual position characterization value, that is, the gimbal slips, so that its moving position exceeds the theoretical position. At this time, the gimbal position does not need to be corrected.
[0058] In the above method, a motion curve planned for the gimbal is obtained, and the motion curve can characterize the change of motion parameters over time during the target motion process of the gimbal from the initial position to the target position; based on the motion parameters characterized by the motion curve, several intermediate correction moments during the target motion process are determined; and the gimbal is positioned and corrected at each intermediate correction moment. By correcting at each intermediate correction moment, correction can be performed during the gimbal motion process to avoid excessive errors when the gimbal stops, and correction can also be avoided by starting and stopping multiple times after the gimbal stops moving.
[0059] In one embodiment, before controlling the gimbal movement to make up the difference, it also includes: determining whether the acceleration of the gimbal switches to 0 at the end of the current force mutation; in response to the acceleration switching to 0, executing the step of controlling the gimbal movement to make up the difference; in response to the acceleration not switching to 0, when the theoretical position representation value is greater than the first actual position representation value, executing the step of controlling the gimbal movement to make up the difference. In other words, in response to the acceleration not switching to 0, when the theoretical position representation value is less than the first actual position representation value, the step of controlling the gimbal movement to make up the difference may or may not be executed. Figure 2As shown, the moment when the force mutation ends includes t1, t2, t3, t4, t5, t6, and t7. Taking t3 as an example, the acceleration at t3 is 0, that is, the speed no longer changes. If the theoretical position representation value at t3 is greater than the first actual position representation value, then the motion difference pulses are increased according to the speed at t3; if the theoretical position representation value at t3 is less than the first actual position representation value, the motion difference pulses can also be reduced according to the speed at t3, which will not affect any subsequent motion parameters. Taking t5 as an example, the acceleration at t5 is not 0. At this time, the gimbal is in the deceleration stage, and there will be slipping or loss of step, that is, the difference can be positive or negative. If the difference is greater than 0, more motion difference pulses can be used. If the difference is less than 0, no processing is performed, because if processing is performed at this time, the motion acceleration curve must be changed, resulting in changes in all subsequent movements, so this error is left to the final deceleration moment for processing. At time t6, the system is in a deceleration motion with decreasing deceleration. All previous coordinate synchronization is to prevent the gimbal from stopping at a deceleration exceeding the maximum jerk at this moment to prevent the torque from exceeding the rated torque. The number of pulses at time t6 can be directly synchronized to the number of pulses corresponding to the current motor encoding value.
[0060] See also Figure 2 and Figure 4 , Figure 4 : is a flow chart of another embodiment of the pan / tilt calibration method provided by the present application, the method comprising:
[0061] S41: Obtain the motion curve planned for the gimbal.
[0062] In one embodiment, the processor inside the gimbal can plan a motion curve according to the initial position, target position, and motion parameters of the gimbal; or plan a motion curve according to the initial position, target position, motion parameters, and maximum value of the motion parameters of the gimbal. For the specific planning process, please refer to step S11 of the first embodiment of the gimbal calibration method provided in this application, which will not be repeated here.
[0063] After planning the motion curve, the motion curve can be divided into several motion stages according to the changes in motion parameters. The gimbal is preset with corresponding driving parameters in each motion stage. Several intermediate correction moments are the end moments of at least one intermediate motion stage. The intermediate motion stage is a motion stage other than the last motion stage.
[0064] In a specific embodiment, the motion parameter includes acceleration, the plurality of motion stages may include a first motion stage with reduced acceleration and other motion stages, the other motion stages include at least two of a second motion stage with constant acceleration and a third motion stage with increased acceleration, wherein the last motion stage of the plurality of motion stages is the first motion stage. Figure 2As shown, the first motion stage includes the time t2-t3 and the time t6-t7, and the time t6-t7 is the last motion stage. The second motion stage includes the time t1-t2, the time t3-t4, and the time t5-t6. In other embodiments, the second motion stage may not exist. The third motion stage includes the time 0-t1 and the time t4-t5.
[0065] In another specific embodiment, the motion parameter includes speed, and the plurality of motion stages may include an acceleration stage and a deceleration stage, or the plurality of motion stages may include an acceleration stage, a deceleration stage, and a uniform speed stage. It is understandable that the motion stages may be divided in different ways according to different motion parameters, for example, the motion parameters that change the same over a period of time may be divided into one motion stage. The specific division method may also be other methods, which are not listed here one by one.
[0066] Among them, corresponding driving parameters are preset in each movement stage, and the driving parameters can make the gimbal move to complete the corresponding movement stage. For example, in the movement stage corresponding to the time t1-t2, theoretically, according to the driving parameters, the gimbal can move from the position at the time t1 to the position at the time t2. In one embodiment, the driving parameters corresponding to each movement stage can be calculated according to the displacement of each movement stage, and the displacement of each movement stage can be calculated according to the movement curve. In a specific embodiment, the driving parameters include the number of motor pulses, and the number of motor pulses corresponding to each movement stage can be calculated according to the following formula.
[0067]
[0068] Among them, p is the number of motor pulses, s is the displacement of the motion stage, m is the number of subdivisions, and a is the step angle.
[0069] In one embodiment, the plurality of intermediate correction moments are end moments of at least one intermediate motion phase, where the intermediate motion phase is a motion phase other than the last motion phase.
[0070] S42: Determine several intermediate correction moments in the target motion process based on the motion parameters represented by the motion curve.
[0071] The plurality of intermediate correction moments include at least one force mutation end moment. In one embodiment, the plurality of intermediate moments include moments when the motion phase changes, ie, the end moment of the previous motion phase and the start moment of the next motion phase.
[0072] S43: Perform positioning correction on the gimbal at each intermediate correction moment.
[0073] In one embodiment, the intermediate correction moment includes the end moment of the force mutation, obtaining the theoretical position representation value and the first actual position representation value of the gimbal at the end moment of the current force mutation; obtaining the difference between the theoretical position representation value and the first actual position representation value; and controlling the gimbal movement to make up the difference. The theoretical position representation value is the number of motor pulses, and the first actual position representation value is the number of pulses obtained by converting the inductance encoding value.
[0074] In another embodiment, multiple motion stages are divided, and at the end of each motion stage, the position of the gimbal is corrected, and the next motion stage is performed after the correction is completed. At this time, since the correction may cause the displacement of the next motion stage to change, the current position of the gimbal at the beginning of the next motion stage can be obtained, and the theoretical position that the gimbal needs to reach at the end of the next motion stage can be obtained, and the driving parameters of the next motion stage can be adjusted according to the difference between the current position and the theoretical position.
[0075] In other embodiments, the gimbal may be calibrated only at the start of the last motion stage. In response to the start of the last motion stage, a second actual position representation value of the gimbal at the current start time is obtained; the position difference between the current position of the gimbal and the target position is determined using the second actual position representation value; based on the position difference, the driving parameters corresponding to the last motion stage are updated; and the gimbal is driven to move to the target position according to the updated driving parameters.
[0076] S44: In response to completing the positioning correction of the gimbal at the moment when the force mutation ends, continue to drive the gimbal to move according to the driving parameters corresponding to the movement stage after the moment when the force mutation ends.
[0077] In one embodiment, the motion stage after the force mutation ends is not the last motion stage. After the correction is performed at the end of each force mutation, the gimbal can continue to be driven according to the set drive parameters. Since the last motion stage has not been reached at this time, if the gimbal loses step or slips in each motion stage, it can be corrected at the beginning of the last motion stage. Therefore, the drive parameters corresponding to the subsequent motion stages do not need to be adjusted after the correction. It can be understood that in order to reduce the correction amount in the last motion stage, the drive parameters of the subsequent motion stages can be changed after the positioning correction of the gimbal is completed at the end of each force mutation, and the gimbal can be driven according to the changed drive parameters.
[0078] In a specific embodiment, the pan-tilt motion curve is as follows: Figure 2As shown, the gimbal motion curve can be divided into four motion stages, each of which corresponds to the 0-t3 moment, the t3-t4 moment, the t4-t6 moment and the t6-t7 moment. For the 0-t3 moment and the t3-t4 moment, the gimbal position can be selectively corrected at the end of the moment, and it can be selectively determined whether to change the drive parameters of the next stage after the correction. The t6-t7 moment is the last motion stage, at which the gimbal position must be corrected to avoid the gimbal being too far away from the target position at the t7 moment.
[0079] See also Figure 5 , Figure 5 It is a schematic diagram of the framework structure of an embodiment of an electronic device provided in the present application.
[0080] The electronic device 50 includes a memory 51 and a processor 52 coupled to each other, the memory 51 stores program instructions, and the processor 52 is used to execute the program instructions stored in the memory 51 to implement the steps of any of the above method implementations. In a specific implementation scenario, the electronic device 50 may include, but is not limited to: a microcomputer, a server, and in addition, the electronic device 50 may also include a mobile device such as a laptop computer and a tablet computer, which is not limited here.
[0081] Specifically, the processor 52 is used to control itself and the memory 51 to implement the steps of any of the above-mentioned method implementation methods. The processor 52 can also be called a CPU (Central Processing Unit). The processor 52 may be an integrated circuit chip with signal processing capabilities. The processor 52 can also be a general-purpose processor, a digital signal processor (Digital Signal Processor, DSP), an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), a field-programmable gate array (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. In addition, the processor 52 can be implemented by an integrated circuit chip.
[0082] See also Figure 6 , Figure 6 It is a schematic diagram of the framework structure of an implementation scheme of a computer-readable storage medium provided in this application.
[0083] The computer-readable storage medium 60 stores program instructions 61 , and when the program instructions 61 are executed by a processor, they are used to implement the steps of any of the above-mentioned method implementations.
[0084] The computer-readable storage medium 60 may specifically be a medium that can store computer programs, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, or may be a server that stores the computer program. The server may send the stored computer program to other devices for execution, or may also execute the stored computer program itself.
[0085] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.
Claims
1. A pan / tilt positioning correction method, characterized in that: include: Acquire a motion curve planned for the gimbal, wherein the motion curve can represent the change of motion parameters over time during the target motion of the gimbal from an initial position to a target position; Determining a plurality of intermediate correction moments during the target motion process based on the motion parameters represented by the motion curve; The pan / tilt platform is positioned and corrected at each of the intermediate correction moments.
2. The method according to claim 1, characterized in that The intermediate correction moment is the moment when a specific change occurs in the driving force driving the pan / tilt head during the target movement.
3. The method according to claim 2, characterized in that The several intermediate correction moments include at least one force mutation end moment; The determining of a plurality of intermediate correction moments in the target motion process based on the motion parameters represented by the motion curve comprises: Based on the motion parameters represented by the motion curve, at least one force mutation end time of the gimbal is determined before the target motion process ends, as the intermediate correction time.
4. The method according to claim 3, characterized in that The motion parameter includes acceleration, and the motion curve includes at least one of the following: a first change curve of the acceleration of the gimbal over time during the target motion process, and a second change curve of the jerk of the gimbal over time during the target motion process; And / or, the moment when the force mutation ends is the moment when the acceleration of the gimbal switches from a changing value to a constant value.
5. The method according to claim 1, characterized in that The several intermediate correction moments include at least one force mutation end moment; The performing positioning correction on the pan / tilt platform at each of the intermediate correction moments respectively comprises: In response to reaching a moment when the force mutation ends, obtaining a theoretical position representation value and a first actual position representation value of the gimbal at the moment when the force mutation ends; Obtaining a difference between the theoretical position characterization value and the first actual position characterization value; The pan / tilt platform is controlled to move to make up the difference.
6. The method according to claim 5, characterized in that Before controlling the pan / tilt movement to make up the difference, the method further includes: Determine whether the acceleration of the gimbal is switched to 0 at the moment when the force mutation ends; In response to the acceleration being switched to 0, executing the step of controlling the pan / tilt movement to make up the difference; In response to the acceleration not being switched to 0, when the theoretical position characterization value is greater than the first actual position characterization value, executing the step of controlling the pan / tilt movement to make up the difference; And / or, controlling the pan / tilt movement to make up the difference includes: The gimbal is controlled to make up the difference at the speed at the moment when the force mutation ends.
7. The method according to claim 5, characterized in that The first target position representation value is the number of pulses received by the driving motor of the pan / tilt platform, and the first actual position representation value is the number of pulses equivalent to the position value fed back by the inductive encoder.
8. The method according to claim 3, characterized in that The motion curve is divided into a plurality of motion stages according to the change of the motion parameters, the gimbal is preset with corresponding driving parameters in each of the motion stages, the plurality of intermediate correction moments are the end moments of at least one intermediate motion stage, and the intermediate motion stage is a motion stage other than the last motion stage; The method further comprises: In response to completing the positioning correction of the gimbal at the moment when the force mutation ends, continue to drive the gimbal to move according to the driving parameters corresponding to the movement stage after the moment when the force mutation ends.
9. The method according to claim 1, characterized in that: The motion curve is divided into a plurality of motion stages according to the change of the motion parameters, the gimbal is preset with corresponding driving parameters in each of the motion stages, and the plurality of intermediate correction moments include the start moment of the last motion stage in the target motion process; The positioning correction of the pan / tilt platform at each of the intermediate correction moments comprises: In response to reaching the start time, obtaining a second actual position representation value of the gimbal at the current start time; Determine the position difference between the current position of the gimbal and the target position using the second actual position representation value; Based on the position difference, updating the driving parameters corresponding to the last motion stage; The pan / tilt platform is driven to move to the target position according to the updated driving parameters.
10. The method according to claim 8 or 9, characterized in that: The driving parameter is the number of pulses that the driving motor of the pan / tilt head needs to receive; And / or, the motion parameters include acceleration, the several motion stages include a first motion stage in which the acceleration decreases and other motion stages, the other motion stages include at least two of a second motion stage in which the acceleration remains unchanged and a third motion stage in which the acceleration increases, wherein the last motion stage of the several motion stages is the first motion stage.
11. An electronic device, characterized in that: The electronic device comprises a processor and a memory, wherein the memory stores program instructions, and the processor is used to execute the program instructions to implement the method according to any one of claims 1 to 10.
12. A computer-readable storage medium, characterized in that: The storage medium stores program instructions, and the program instructions are used to implement the method according to any one of claims 1 to 10.