Two-degree-of-freedom rotating holder and panoramic vision detection device and method

Abstract

The invention belongs to the field of holders, and provides a two-degree-of-freedom rotary holder, a panoramic vision detection device and a panoramic vision detection method in order to solve the problem of shooting jitter of a carried vision device caused by the holder. The two-degree-of-freedom rotating holder comprises a transverse rotating mechanism, a longitudinal rotating mechanism, a driving base, an active vibration reduction unit, a passive vibration reduction unit and a base, first grooves are evenly distributed in the four corners of the base, and the passive vibration reduction units are correspondingly distributed in the grooves respectively. A second groove is further formed in each passive vibration reduction unit, and an active vibration reduction unit is arranged in each second groove; motion main shafts of the four active vibration reduction units are symmetrically connected to the four corners of the bottom of the driving base correspondingly. A driving mechanism is arranged in the driving base and connected with the transverse rotating mechanism and the longitudinal rotating mechanism. An active and passive integrated vibration reduction structure is adopted to restrain high-frequency vibration.

Description

Technical Field

[0001] The present invention belongs to the field of pan / tilt platforms, and in particular relates to a two-degree-of-freedom rotating pan / tilt platform, a panoramic vision detection device and a method. Background Art

[0002] The statements in this section merely provide background information related to the present invention and do not necessarily constitute prior art.

[0003] High-rise steel structures have a large number of components that block each other, and the spatial orientation of the components is complex, which makes blind spots very likely to appear. In order to realize the inspection of high-rise steel structures, a robot is usually equipped with a gimbal, and the visual device on the gimbal is used to collect visual images around the inspection points of the high-rise steel structures and analyze the inspection results. Although the existing gimbal can achieve multi-degree-of-freedom rotation, the gimbal also moves during the movement of the robot, which inevitably causes the visual device to shake during shooting.

[0004] In order to solve the problem of shooting jitter, the existing technology usually uses image processing algorithms to deal with the impact caused by shooting jitter, but the processing result is affected by the accuracy of the image processing algorithm, and also affects the real-time nature of the inspection result. Summary of the invention

[0005] In order to solve the technical problems existing in the above-mentioned background technology, the present invention provides a two-degree-of-freedom rotating pan-tilt, a panoramic vision detection device and a method, wherein the two-degree-of-freedom rotating pan-tilt adopts an active and passive integrated vibration reduction structure to suppress high-frequency vibration.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] A first aspect of the present invention provides a two-degree-of-freedom rotating platform.

[0008] A two-degree-of-freedom rotating pan head, comprising: a lateral rotating mechanism, a longitudinal rotating mechanism, a driving base, an active vibration reduction unit, a passive vibration reduction unit and a base;

[0009] The four corners of the base are uniformly provided with first grooves, and the passive vibration reduction units are respectively arranged in the first grooves; each passive vibration reduction unit is also provided with a second groove, and each second groove is provided with an active vibration reduction unit; the active vibration reduction unit is used to actively absorb the residual vibration of the passive vibration reduction unit;

[0010] The motion main axes of the four active vibration reduction units are symmetrically connected to the four corners of the bottom of the driving base; a driving mechanism is arranged in the driving base, and the driving mechanism is respectively connected to the transverse rotation mechanism and the longitudinal rotation mechanism;

[0011] The longitudinal rotating mechanism is connected to the top of the transverse rotating mechanism, and the longitudinal rotating mechanism is used to carry the visual perception module; the transverse rotating mechanism is used to drive the longitudinal rotating mechanism and the visual perception module thereon to rotate 360° in the horizontal direction under the action of the driving mechanism; the longitudinal rotating mechanism is used to drive the visual perception module to rotate 180° in the vertical direction under the action of the driving mechanism.

[0012] As an implementation mode, the active vibration reduction unit includes a shell, a moving main shaft, a connecting shaft, a return spring, an electromagnetic solenoid, a magneto-variable fluid and a damping plate; the magneto-variable fluid is arranged in a vibration reduction chamber, and the vibration reduction chamber is arranged in the shell; the vibration reduction chamber is provided with a return spring, a damping plate and a connecting shaft connected in sequence from bottom to top; one end of the moving main shaft extends into the vibration reduction chamber and is connected to the connecting shaft, and the other end of the moving main shaft extends from the vibration reduction chamber and the shell in sequence and is connected to the driving base; the electromagnetic solenoid is arranged in a cavity between the vibration reduction chamber and the shell; the electromagnetic solenoid is used to generate an induced electromagnetic field under the action of electric current, and adjust the damping force by changing the viscosity of the magneto-variable fluid.

[0013] As an implementation manner, a battery pack is also disposed in the housing, and the battery pack is used to provide current to the electromagnetic solenoid.

[0014] As an implementation manner, a fixed transverse plate is further connected to the housing, and the fixed transverse plate is used to fix the active unit and the external device.

[0015] As an implementation manner, the passive vibration reduction unit is a rubber structure.

[0016] A second aspect of the present invention provides a control method for a two-degree-of-freedom rotating pan / tilt platform.

[0017] A control method for a two-degree-of-freedom rotating pan head, comprising:

[0018] Step 1: Get the current posture information and current motion status information of the gimbal;

[0019] Step 2: Encode the current posture information and current motion state information of the gimbal into an input feature vector;

[0020] Step 3: Using the first control strategy and the second control strategy, the input feature vectors are processed respectively, and the control output vectors of the first control strategy and the second control strategy are weighted and summed according to the initial weights to obtain a comprehensive control output vector to adjust the magnitude of the current in the electromagnetic circuit of the four active vibration reduction units, and then converted into vibration damping of each active vibration reduction unit;

[0021] Step 4: Return to step 1. When it is determined that the position of the gimbal before and after the vibration remains unchanged and the movement speed is zero, keep the current control state unchanged; otherwise, return to step 2 and use the weight fine-tuning coefficient to adjust the initial weights of the first control strategy and the second control strategy in step 3 until the position of the gimbal before and after the vibration remains unchanged and the movement speed is zero.

[0022] As an implementation method, the weight fine-tuning coefficient is used to adjust the initial weights of the first control strategy and the second control strategy, and the obtained comprehensive control output vector expression is:

[0023] Y(t)=(k 1 -k′ 1 (t-1))*y 1 (t)+(k 2 -k′ 2 (t-1))*y 2 (t)

[0024] Among them, Y(t) represents the comprehensive control output vector at time t, y i (t) represents the control output vector of the i-th control strategy at time t, k i represents the initial weight of the ith control strategy, k i ′ (t-1) represents the weight fine-tuning coefficient at time t-1; i=1,2; t is a positive integer greater than or equal to 1.

[0025] As an implementation method, in the process of using the weight fine-tuning coefficient to adjust the weights of the first control strategy and the second control strategy, if the comprehensive control output vector at time t makes it judged that the gimbal movement speed is zero, and the position of the gimbal before and after the relative vibration changes, then the weight fine-tuning coefficient of one of the control strategies at time t-1 is controlled to remain unchanged, and the weight fine-tuning coefficient of the other control strategy at time t-1 is increased until the position of the gimbal before and after the relative vibration remains unchanged and the movement speed is zero.

[0026] A third aspect of the present invention provides a panoramic vision detection device.

[0027] A panoramic vision detection device comprises a vision perception module and the two-degree-of-freedom rotating pan-tilt head as described above; the vision perception module is fixed on a rotating frame.

[0028] As an implementation method, the visual perception module includes an RGB-D camera with depth and infrared image acquisition functions and a brightness controllable lighting module.

[0029] The beneficial effects of the present invention are:

[0030] (1) The present invention increases the number of vibration reduction units from a single one to four, which are arranged at the four corners of the rotating mechanism. With this arrangement, the current flowing into the four vibration reduction units can be controlled to indirectly control the viscosity of the magnetorheological fluid in the four vibration reduction units, thereby achieving different vibration reduction effects at the four corners. Not only can a more precise vibration reduction effect be achieved when a single-direction impact is received, but also when subjected to severe vibration, a stable change in the field of view of the camera lens can be achieved to avoid drastic changes in the field of view and achieve more stable shooting. At the same time, a passive vibration reduction unit is arranged near the active vibration reduction unit. The passive vibration reduction unit is made of a deformable material with a certain hardness, such as rubber, and can achieve the effect of absorbing weak vibrations, thereby avoiding the continuous small vibrations generated when the vehicle (such as a drone, a robot) moves to continuously input the current control algorithm, affecting the accuracy of the algorithm, and reducing the calculation loss.

[0031] (2) The present invention adopts the weighted sum of two control strategies to determine the vibration damping of the active vibration reduction unit, and then determines the vibration damping adjustment direction of the active vibration reduction unit according to whether the accumulated damping values ​​of the active vibration reduction unit and the passive vibration reduction unit offset the vibration of the gimbal and the change of the position of the gimbal relative to before the vibration, thereby realizing the high frequency response, wide frequency band and strong real-time closed-loop control of the active and passive composite vibration isolation system.

[0032] Advantages of additional aspects of the present invention will be given in part in the following description, and in part will become obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0033] The accompanying drawings in the specification, which constitute a part of the present invention, are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations on the present invention.

[0034] Figure 1 is a front view of a two-degree-of-freedom rotating pan head according to an embodiment of the present invention;

[0035] Figure 2 is a stereoscopic diagram of a two-degree-of-freedom rotating pan head according to an embodiment of the present invention;

[0036] Figure 3 Schematic diagram of the structure of the active vibration reduction unit according to an embodiment of the present invention.

[0037] Among them, 1. visual perception module; 2. longitudinal rotation mechanism; 3. transverse rotation mechanism; 4. active vibration reduction unit; 5. passive vibration reduction unit; 6. base; 7. shell; 8. reset spring; 9. damping plate; 10. connecting shaft; 11. moving main shaft; 12. magneto-variable fluid; 13. electromagnetic solenoid; 14. battery pack; 15. fixed transverse plate; 21. longitudinal rotation motor; 22. longitudinal rotation axis; 31. transverse rotation motor; 32. transverse rotation axis. DETAILED DESCRIPTION

[0038] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0039] It should be noted that the following detailed descriptions are all illustrative and intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meanings as those commonly understood by those skilled in the art to which the present invention belongs.

[0040] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0041] In one or more embodiments, Figure 1 and Figure 2 As shown, a two-degree-of-freedom rotating pan-tilt head is provided, comprising: a lateral rotating mechanism 3, a longitudinal rotating mechanism 2, a driving base, an active vibration reduction unit 4, a passive vibration reduction unit 5 and a base 6;

[0042] The four corners of the base 6 are uniformly provided with first grooves, and the passive vibration reduction units 5 are respectively arranged in the first grooves; each passive vibration reduction unit 5 is also provided with a second groove, and each second groove is provided with an active vibration reduction unit 4; the active vibration reduction unit 4 is used to actively absorb the residual vibration of the passive vibration reduction unit 5;

[0043] The main axes of motion of the four active vibration reduction units 4 are symmetrically connected to the four corners of the bottom of the driving base; a driving mechanism is arranged in the driving base, and the driving mechanism is respectively connected to the transverse rotating mechanism 3 and the longitudinal rotating mechanism 2;

[0044] The longitudinal rotating mechanism 2 is connected to the top of the transverse rotating mechanism 3, and the longitudinal rotating mechanism 2 is used to carry the visual perception module 1; the transverse rotating mechanism 3 is used to drive the longitudinal rotating mechanism 2 and the visual perception module 1 thereon to rotate 360° in the horizontal direction under the action of the driving mechanism; the longitudinal rotating mechanism 2 is used to drive the visual perception module 1 to rotate 180° in the vertical direction under the action of the driving mechanism.

[0045] Among them, Figure 1 In the embodiment, the longitudinal rotation mechanism 2 includes a longitudinal rotation shaft 22 and longitudinal rotation motors 21 connected at both ends thereof. The transverse rotation mechanism 3 includes a transverse rotation shaft 32 and a transverse rotation motor 31 connected at the upper end.

[0046] In the specific implementation process, Figure 3 As shown, the active vibration reduction unit 4 includes a housing 7, a moving main shaft 11, a connecting shaft 10, a reset spring 8, an electromagnetic solenoid 13, a magneto-variable fluid 12 and a damping plate 9; the magneto-variable fluid 12 is arranged in a vibration reduction cavity, and the vibration reduction cavity is arranged in the housing 7; the vibration reduction cavity is provided with a reset spring 8, a damping plate 9 and a connecting shaft 10 connected in sequence from bottom to top; one end of the moving main shaft 11 extends into the vibration reduction cavity and is connected to the connecting shaft 10, and the other end of the moving main shaft 11 extends from the vibration reduction cavity and the housing in sequence and is connected to the driving base; the electromagnetic solenoid 13 is arranged in a cavity between the vibration reduction cavity and the housing 7; the electromagnetic solenoid 13 is used to generate an induced electromagnetic field under the action of electric current, and adjust the damping force by changing the viscosity of the magneto-variable fluid.

[0047] This embodiment adjusts the damping force by controlling the change of the electromagnetic field. The core principle is:

[0048] The electromagnetic field is used to act on the magnetorheological fluid, thereby changing the damping of the active vibration reduction unit. Magnetorheological fluid will be affected by the electromagnetic field. When the current passes through the electromagnetic coil, an electromagnetic field will be generated in the environment. This magnetic field will change the viscosity characteristics of the magnetorheological fluid, thereby affecting the damping force of the shock absorber. The determination of the damping force should be based on actual needs, including the movement speed, acceleration, posture, etc. of the gimbal. Generally, a mathematical model between current and damping force is established through a large number of actual tests and experiments. Then, in actual use, the electronic control unit uses this mathematical model to indirectly control the damping force of the active vibration reduction unit by controlling the current size.

[0049] The relationship between magnetic field intensity H and current I can usually be described by Ampere's circuit law:

[0050]

[0051] Where N is the number of turns in the solenoid and L is the length of the solenoid.

[0052] Yield stress τ of magnetorheological fluid y The relationship between the yield stress and the magnetic field strength H can usually be described by an exponential relationship. Specifically, the relationship between the yield stress and the magnetic field strength can be expressed as:

[0053] τ y ∝H 1.7～1.8

[0054] This means that when the magnetic field strength increases, the yield stress of the magnetorheological fluid will increase significantly in a nonlinear manner, with an exponent usually between 1.7 and 1.8. The specific exponent value is generally fixed for a magnetorheological fluid of a specific material, and a specific value can be determined experimentally for practical use. Experiment: Calculate the corresponding yield stress τ by multiple measurements when generating different magnetic field strengths y , calculate the corresponding exponential coefficient using the above expression.

[0055] In shear mode, the damping force can be expressed as:

[0056]

[0057] Among them, A is the effective area, h is the distance between the pole plates, μ is the zero-field viscosity of the magnetorheological fluid, Q is the flow rate, and D and L are the diameter and length of the damping channel respectively.

[0058] In some specific embodiments, a battery pack is further disposed in the housing, and the battery pack is used to provide current for the electromagnetic solenoid. A fixed transverse plate is also connected to the housing, and the fixed transverse plate is used to fix the active unit to an external device. The passive vibration reduction unit is a rubber structure.

[0059] In one or more embodiments, a control method for a two-degree-of-freedom rotating pan / tilt is also provided, including:

[0060] Step 1: Get the current posture information and current motion status information of the gimbal;

[0061] Step 2: Encode the current posture information and current motion state information of the gimbal into an input feature vector;

[0062] Step 3: Using the first control strategy and the second control strategy, the input feature vectors are processed respectively, and the control output vectors of the first control strategy and the second control strategy are weighted and summed according to the initial weights to obtain a comprehensive control output vector to adjust the magnitude of the current in the electromagnetic circuit of the four active vibration reduction units, and then converted into vibration damping of each active vibration reduction unit;

[0063] Step 4: Return to step 1. When it is determined that the position of the gimbal before and after the vibration remains unchanged and the movement speed is zero, keep the current control state unchanged; otherwise, return to step 2 and use the weight fine-tuning coefficient to adjust the initial weights of the first control strategy and the second control strategy in step 3 until the position of the gimbal before and after the vibration remains unchanged and the movement speed is zero.

[0064] Among them, the weight fine-tuning coefficient is used to adjust the initial weights of the first control strategy and the second control strategy, and the expression of the comprehensive control output vector is obtained as follows:

[0065] Y(t)=(k 1 -k′ 1 (t-1))*y 1 (t)+(k 2 -k′ 2 (t-1))*y 2 (t)

[0066] Among them, Y(t) represents the comprehensive control output vector at time t, y i (t) represents the control output vector of the i-th control strategy at time t, k i represents the initial weight of the ith control strategy, k′ i (t-1) represents the weight fine-tuning coefficient at time t-1; i=1,2; t is a positive integer greater than or equal to 1.

[0067] In the process of using the weight fine-tuning coefficient to adjust the weights of the first control strategy and the second control strategy, if the comprehensive control output vector at time t makes it judged that the movement speed of the gimbal is zero, and the position of the gimbal before and after the relative vibration changes, then the weight fine-tuning coefficient of one of the control strategies at time t-1 is controlled to remain unchanged, and the weight fine-tuning coefficient of the other control strategy at time t-1 is increased until the position of the gimbal before and after the relative vibration remains unchanged and the movement speed is zero.

[0068] The first control strategy and the second control strategy here can be specifically selected according to the actual situation. For example, the first control strategy is a prediction model control strategy, and the second control strategy is an auto-disturbance rejection control strategy. Both strategies are existing control strategies.

[0069] In some embodiments, the weight k i It is determined in advance through experimental simulation and other methods to ensure the stability of the comprehensive control effect. i When determining the weight k, it should be determined based on the actual assembly of the product on different carriers. Different carriers may have different proportional coefficients. Generally speaking, control stability should be used as the criterion, and the stabilization time, control strength, and the deviation of the control strength between the four active vibration reduction units should be used as control constraints. Experiments should be conducted on different gimbal carriers to determine the control performance under different vibration intensities, and the weight k should be gradually determined. i In determining the weight k i When , common optimization algorithms can be used to assist, such as particle swarm algorithm, genetic algorithm, gradient descent, etc., to achieve the goal.

[0070] At the same time, considering the real-time performance of the control output, the anti-disturbance control strategy should be used as the main control method, and its weight should be set to a larger value. The fine-tuning coefficient should be adjusted online considering the real-time performance and effect of the two control methods. The corresponding fine-tuning coefficient should be closer to k as the time difference between the two outputs increases. i At the same time, the fine-tuning coefficient corresponding to the ADRC strategy should be negative and gradually decrease to improve the real-time performance of the comprehensive control output.

[0071] In one or more embodiments, a panoramic visual detection device is also provided, including a visual perception module and the two-degree-of-freedom rotating gimbal as described above; the visual perception module is fixed on a rotating frame.

[0072] Among them, the visual perception module includes an RGB-D camera with depth and infrared image acquisition functions and a brightness controllable lighting module.

[0073] It should be noted here that when integrating the RGB-D camera and the controllable lighting module, the mutual influence between the RGB-D camera and the lighting module is considered. At the same time, in order to ensure that the two modules can fully play their own roles, the integrated structure is specifically arranged and structurally designed.

[0074] The principles followed during the design are: first, the RGB-D camera and the lighting module must be precisely aligned to achieve a coaxial configuration and reduce parallax errors; second, the spatial layout must be reasonable so that the light source can effectively cover the camera's field of view, especially when achieving a 360° horizontal and 180° vertical panoramic field of view; finally, the hardware must be compatible with each other, and the wavelength of the light source must match the sensitivity of the camera sensor to ensure effective acquisition of depth and color information.

[0075] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A two-degree-of-freedom rotating pan head, characterized in that: include: A lateral rotation mechanism, a longitudinal rotation mechanism, a driving base, an active vibration reduction unit, a passive vibration reduction unit and a base; The four corners of the base are uniformly provided with first grooves, and the passive vibration reduction units are respectively arranged in the first grooves; each passive vibration reduction unit is also provided with a second groove, and each second groove is provided with an active vibration reduction unit; the active vibration reduction unit is used to actively absorb the residual vibration of the passive vibration reduction unit; The motion main axes of the four active vibration reduction units are symmetrically connected to the four corners of the bottom of the driving base; a driving mechanism is arranged in the driving base, and the driving mechanism is respectively connected to the transverse rotation mechanism and the longitudinal rotation mechanism; The longitudinal rotating mechanism is connected to the top of the transverse rotating mechanism, and the longitudinal rotating mechanism is used to carry the visual perception module; the transverse rotating mechanism is used to drive the longitudinal rotating mechanism and the visual perception module thereon to rotate 360° in the horizontal direction under the action of the driving mechanism; the longitudinal rotating mechanism is used to drive the visual perception module to rotate 180° in the vertical direction under the action of the driving mechanism.

2. The two-degree-of-freedom rotating platform according to claim 1, characterized in that: The active vibration reduction unit comprises a shell, a moving main shaft, a connecting shaft, a reset spring, an electromagnetic solenoid, a magneto-variable fluid and a damping plate; the magneto-variable fluid is arranged in a vibration reduction chamber, and the vibration reduction chamber is arranged in the shell; the vibration reduction chamber is provided with a reset spring, a damping plate and a connecting shaft connected in sequence from bottom to top; one end of the moving main shaft extends into the vibration reduction chamber and is connected to the connecting shaft, and the other end of the moving main shaft extends from the vibration reduction chamber and the shell in sequence and is connected to the driving base; the electromagnetic solenoid is arranged in a cavity between the vibration reduction chamber and the shell; the electromagnetic solenoid is used to generate an induced electromagnetic field under the action of electric current, and adjust the damping force by changing the viscosity of the magneto-variable fluid.

3. The two-degree-of-freedom rotating platform according to claim 2, characterized in that: A battery pack is also arranged in the shell, and the battery pack is used to provide current for the electromagnetic solenoid.

4. The two-degree-of-freedom rotating platform according to claim 2, characterized in that: The housing is also connected with a fixed transverse plate, and the fixed transverse plate is used to fix the active unit and the external device.

5. The two-degree-of-freedom rotating platform according to claim 1, characterized in that: The passive vibration reduction unit is a rubber structure.

6. A control method for a two-degree-of-freedom rotating pan / tilt platform as claimed in any one of claims 1 to 5, characterized in that: include: Step 1: Get the current posture information and current motion status information of the gimbal; Step 2: Encode the current posture information and current motion state information of the gimbal into an input feature vector; Step 3: Using the first control strategy and the second control strategy, the input feature vectors are processed respectively, and the control output vectors of the first control strategy and the second control strategy are weighted and summed according to the initial weights to obtain a comprehensive control output vector to adjust the magnitude of the current in the electromagnetic circuit of the four active vibration reduction units, and then converted into vibration damping of each active vibration reduction unit; Step 4: Return to step 1. When it is determined that the relative position of the gimbal before and after the vibration is unchanged and the movement speed is zero, the current control state is maintained unchanged. Otherwise, return to step 2 and use the weight fine-tuning coefficient to adjust the initial weights of the first control strategy and the second control strategy in step 3 until the position of the gimbal relative to before and after vibration remains unchanged and the movement speed is zero.

7. The control method according to claim 6, characterized in that: The weight fine-tuning coefficient is used to adjust the initial weights of the first control strategy and the second control strategy, and the expression of the comprehensive control output vector is obtained as follows: Y(t)=(k1-k′1(t-1))*y1(t)+(k2-k′2(t-1))*y2(t) Among them, Y(t) represents the comprehensive control output vector at time t, y i (t) represents the control output vector of the i-th control strategy at time t, k i represents the initial weight of the ith control strategy, k′ i (t-1) represents the weight fine-tuning coefficient at time t-1; i=1,2; t is a positive integer greater than or equal to 1.

8. The control method according to claim 6, characterized in that: In the process of using the weight fine-tuning coefficient to adjust the weights of the first control strategy and the second control strategy, if the comprehensive control output vector at time t makes it judged that the movement speed of the gimbal is zero, and the position of the gimbal before and after the relative vibration changes, then the weight fine-tuning coefficient of one of the control strategies at time t-1 is controlled to remain unchanged, and the weight fine-tuning coefficient of the other control strategy at time t-1 is increased until the position of the gimbal before and after the relative vibration remains unchanged and the movement speed is zero.

9. A panoramic vision detection device, characterized in that: It comprises a two-degree-of-freedom rotating gimbal as described in any one of claims 1 to 5 and a visual perception module mounted thereon.

10. The panoramic vision detection device according to claim 9, characterized in that: The visual perception module includes an RGB-D camera with depth and infrared image acquisition functions and a brightness controllable lighting module.

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