Intelligent holder parallel control system based on three-infrared laser ranging

Abstract

The invention relates to the technical field of intelligent pan-tilt control, and discloses an intelligent pan-tilt parallel control system based on three-infrared laser ranging, and the system comprises a laser ranging module which is configured to collect the reflection intensity of a target object, adjust the initial laser emission power of the laser ranging module according to the reflection intensity, and send the adjusted initial laser emission power to the target object; the final laser emission power is obtained; the main control module is configured to judge whether a lens of the to-be-controlled holder is parallel to the target object or not according to the distance measurement value; the camera is also configured to collect a roll angle alpha, a pitch angle beta and an angular velocity of the holder to be controlled; the execution module is configured to calculate a parallel deviation value according to the distance measurement value, the roll angle alpha and the pitch angle beta, generate a control signal based on the parallel deviation value by adopting an incremental PI D algorithm, and adjust the attitude of the holder according to the control signal; and a power module. According to the invention, the accuracy and adaptability of distance measurement are improved, and the lens at the front end of the holder is intelligently adjusted to be parallel to the shooting target.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of intelligent gimbal control, in particular to an intelligent gimbal parallel control system based on three infrared laser ranging. BACKGROUND

[0002] In video shooting, monitoring and unmanned aerial vehicle aerial photography applications, the gimbal plays a crucial role, it is responsible for stabilizing and adjusting the camera equipment, to ensure that high-quality images and videos are captured. However, the precise parallel alignment of the gimbal with the object being photographed has always been a challenge. Traditionally, the adjustment of the gimbal mainly relies on manual operation or basic automatic leveling technology, these methods have obvious defects: manual adjustment requires a tedious operation process, and the skill requirement of the operator is high, which limits the possibility of fast and accurate alignment; the automatic leveling function usually relies on the built-in gyroscope or accelerometer, only the horizontal direction can be stabilized, and real-time dynamic adjustment according to the position of the object being photographed cannot be realized; the limitation of the prior art is that the parallel adjustment of the gimbal with the object being photographed often depends on the pre-set shooting angle or static scene, which is difficult to meet the real-time adjustment demand in dynamic scenes or complex environments.

[0003] Therefore, it is necessary to design an intelligent gimbal parallel control system based on three infrared laser ranging to solve the problems existing in the prior art. SUMMARY

[0004] In view of this, the present application provides an intelligent gimbal parallel control system based on three infrared laser ranging, aiming to solve the problem that the gimbal in the prior art cannot meet the real-time adjustment demand in dynamic scenes or complex environments.

[0005] In one aspect, the present application provides an intelligent gimbal parallel control system based on three infrared laser ranging, comprising:

[0006] The laser ranging module has three, three said laser ranging module is arranged at the top of the gimbal to be controlled; the laser ranging module is configured to collect distance data of the target object; also configured to collect ambient light data of the target object, based on the ambient light data to determine the initial laser emission power of the laser ranging module; also configured to collect the reflection intensity of the target object, according to the reflection intensity to adjust the initial laser emission power of the laser ranging module, and obtain the final laser emission power;

[0007] The main control module is configured to analyze the distance data, based on the analysis result to obtain the ranging value corresponding to the three laser ranging modules, according to the ranging value to judge whether the lens of the gimbal to be controlled is parallel to the target object; also configured to collect the roll angle α, pitch angle β and angular velocity of the gimbal to be controlled;

[0008] an execution module configured to, when the lens of the gimbal to be controlled is not parallel to the target object, calculate a parallel deviation value according to the ranging value, the roll angle α, and the pitch angle β, generate a control signal based on the parallel deviation value using an incremental PID algorithm, and adjust the gimbal posture according to the control signal;

[0009] A power supply module is connected to the laser ranging module, the main control module and the execution module, and the power supply module is configured to provide 5V DC power to the laser ranging module, the main control module and the execution module.

[0010] Furthermore, when the laser ranging module determines the initial laser emission power of the laser ranging module based on the ambient light data, the method includes:

[0011] Analyzing the ambient light data to obtain an ambient light intensity characteristic value;

[0012] Comparing the ambient light intensity characteristic value with a first ambient light intensity characteristic value and a second ambient light intensity characteristic value, and determining an initial laser emission power of the laser ranging module according to the comparison result; wherein the first ambient light intensity characteristic value is less than the second ambient light intensity characteristic value;

[0013] When the ambient light intensity characteristic value is less than or equal to the first ambient light intensity characteristic value, determining the initial laser emission power to be the first laser emission power;

[0014] When the ambient light intensity characteristic value is greater than the first ambient light intensity characteristic value and less than or equal to the second ambient light intensity characteristic value, determining the initial laser emission power to be the second laser emission power;

[0015] When the ambient light intensity characteristic value is greater than the second ambient light intensity characteristic value, the initial laser emission power is determined to be a third laser emission power.

[0016] Furthermore, the laser ranging module adjusts the initial laser emission power of the laser ranging module according to the reflection intensity and obtains the final laser emission power, including:

[0017] Comparing the reflection intensity with a reflection intensity threshold, and adjusting the initial laser emission power according to the comparison result; wherein the reflection intensity threshold includes a first reflection intensity threshold Smax and a second reflection intensity threshold Smin;

[0018] When the reflection intensity is greater than or equal to the first reflection intensity threshold Smax, reducing the initial laser emission power to 1-3 mW, and using the reduced initial laser emission power as the final laser emission power;

[0019] when the reflection intensity is less than or equal to the second reflection intensity threshold Smin, the initial laser emission power is raised to 5-10 mW, and the raised initial laser emission power is taken as the final laser emission power;

[0020] when the reflection intensity is between the second reflection intensity threshold Smin and the first reflection intensity threshold Smax, the initial laser emission power is kept unchanged, and the initial laser emission power is taken as the final laser emission power.

[0021] Further, the first reflection intensity threshold Smax and the second reflection intensity threshold Smin are calibrated according to the surface reflectivity of the target object, and the ratio of the first reflection intensity threshold Smax to the second reflection intensity threshold Smin is 3:1.

[0022] Further, when the main control module determines whether the lens of the to-be-controlled holder is parallel to the target object according to the ranging values, the method comprises:

[0023] The ranging values comprise a first ranging value d1, a second ranging value d2 and a third ranging value d3.

[0024] The standard deviation σc of the first ranging value d1, the second ranging value d2 and the third ranging value d3 is calculated.

[0025] If σc≤2 mm, it is determined that the laser ranging module is parallel to the target object, and a target distance Dtarget is set.

[0026] If σc>2 mm, it is determined that the laser ranging module is not parallel to the target object, a weighted median filtering algorithm is started, the ranging value with the largest deviation from the median is removed, and the mean value of the remaining two ranging values is taken as the target distance Dtarget.

[0027] Further, when the execution module calculates a parallel deviation value according to the ranging values, the roll angle α and the pitch angle β, the method comprises:

[0028] The difference between the first ranging value and the second ranging value is calculated and recorded as a first difference Δd12.

[0029] The difference between the first ranging value and the third ranging value is calculated and recorded as a second difference Δd13.

[0030] A parallel deviation value is calculated based on the roll angle α, the pitch angle β, the first difference Δd12 and the second difference Δd13; wherein the parallel deviation value comprises a first deviation value Δα and a second deviation value Δβ.

[0031] The first deviation value Δα is obtained by the following formula:

[0032]

[0033] The second deviation value Δβ is obtained by the following formula:

[0034]

[0035] Wherein, Δα represents the first deviation value; Δd12 represents the first difference value; dα / dt represents the rate of change of the roll angle α; Δβ represents the second deviation value; Δd13 represents the second difference value; dβ / dt represents the rate of change of the pitch angle β; k1, k2, k3, k4 are coefficients determined by calibration experiment.

[0036] Further, the execution module generates a control signal based on the parallel deviation value using an incremental PID algorithm, and when adjusting the gimbal attitude according to the control signal, comprising:

[0037] Collecting the running information of the gimbal to be controlled, and parsing the running information to obtain the calibration stage and the running stage;

[0038] In the calibration stage, the system transfer function is obtained by step response test, and the initial P value, I value and D value are determined by Ziegler-Nichols method;

[0039] In the running stage, the absolute value of the first deviation value Δα is obtained and recorded as the first deviation absolute value |Δα|, and the initial P value is adjusted according to the first deviation absolute value |Δα| to obtain the final P value:

[0040] If the first deviation absolute value |Δα|>1°, the initial P value is increased to 1.2 times, and the increased initial P value is taken as the final P value;

[0041] If the first deviation absolute value |Δα|<0.2°, the initial P value is reduced to 0.8 times, and the reduced initial P value is taken as the final P value;

[0042] If 0.2°≤the first deviation absolute value |Δα|≤1°, the initial P value is kept unchanged, and the initial P value is taken as the final P value.

[0043] Further, the execution module generates a control signal based on the parallel deviation value using an incremental PID algorithm, and when adjusting the gimbal attitude according to the control signal, comprising:

[0044] Setting the first deviation threshold Δαmax and the second deviation threshold Δβmax;

[0045] According to the final P value, I value and D value, the gimbal to be controlled is driven to adjust to a range of |Delta alpha| <= Delta alpha max and |Delta beta| <= Delta beta max, and correction of parallel posture is realized.

[0046] Further, the master control module starts a weighted median filtering algorithm, removes the ranging value with the largest deviation from the median, and takes the mean value of the remaining two ranging values as the target distance Dtarget, including:

[0047] Collect historical ranging data corresponding to each laser ranging module;

[0048] Based on the historical ranging data, the confidence of each laser ranging module is calculated respectively;

[0049] According to the confidence, the distance data corresponding to the two laser ranging modules with the highest confidence are selected to participate in the calculation of the target distance Dtarget;

[0050] The distance data corresponding to the two laser ranging modules are weighted and averaged according to a preset weighting ratio to obtain the target distance Dtarget, wherein the weight ratio is the ratio of the confidence of the two laser ranging modules;

[0051] The confidence is obtained by the following formula:

[0052]

[0053] Wherein, Ci represents the ranging confidence of the i-th laser ranging module; and sigma ci represents the standard deviation of the last 10 ranging values of the i-th laser ranging module.

[0054] Compared with the prior art, the beneficial effects of the present application are that by integrating three laser ranging modules, accurate measurement of the distance of the target object is realized, and the laser emission power is intelligently adjusted according to the ambient light data and the reflection intensity, thereby improving the accuracy and adaptability of ranging. The master control module can accurately judge the planarity of the target object by analyzing the distance data, and then guide the execution module to adjust the gimbal posture. The execution module uses an incremental PID algorithm to calculate the parallel deviation value according to the ranging value and the gimbal posture angle, and generates an accurate control signal to realize stable parallel control of the gimbal. The system further improves the reliability of the ranging data and the robustness of the system through the weighted median filtering algorithm and the confidence evaluation.

[0055] In another aspect, the present application also proposes an intelligent gimbal parallel control method based on three infrared laser ranging, including the following steps:

[0056] S100: collecting distance data of a target object; collecting ambient light data of the target object, determining initial laser emission power of the laser ranging module based on the ambient light data; collecting reflection intensity of the target object, adjusting the initial laser emission power of the laser ranging module according to the reflection intensity, and obtaining final laser emission power;

[0057] S200: analyzing the distance data, obtaining ranging values corresponding to the three laser ranging modules based on the analysis result, judging whether the lens of the to-be-controlled gimbal is parallel to the target object according to the ranging values; collecting roll angle a, pitch angle β and angular velocity of the to-be-controlled gimbal;

[0058] S300: when the lens of the to-be-controlled gimbal is not parallel to the target object, calculating parallel deviation value according to the ranging values, roll angle a and pitch angle β, and generating control signal based on the parallel deviation value by using incremental PID algorithm, and adjusting the posture of the gimbal according to the control signal.

[0059] It can be understood that the intelligent gimbal parallel control system based on three infrared laser ranging has the same beneficial effects as described above, and will not be repeated here. BRIEF DESCRIPTION OF DRAWINGS

[0060] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of preferred embodiments, and are not meant to limit the present application. Moreover, the same reference numerals in the attached drawings refer to the same or like components throughout the several drawings. In the drawings:

[0061] Figure 1 Structure block diagram of the intelligent gimbal parallel control system based on three infrared laser ranging provided by the embodiment of the present application;

[0062] Figure 2 Flow chart of the intelligent gimbal parallel control method based on three infrared laser ranging provided by the embodiment of the present application;

[0063] Figure 3 Structure schematic diagram of the to-be-controlled gimbal provided by the embodiment of the present application. DETAILED DESCRIPTION

[0064] Exemplary embodiments of the present disclosure will be described in greater detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that the present disclosure can be more thoroughly understood, and the scope of the present disclosure can be accurately conveyed to those skilled in the art. It should be noted that the embodiments in the present disclosure and the features in the embodiments can be combined with each other without conflict. The present disclosure will be described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.

[0065] Referring to Figure 1 As shown in some embodiments of the present application, the present embodiment provides an intelligent parallel control system for a cloud platform based on three infrared laser ranging, comprising:

[0066] A laser ranging module, having three, three said laser ranging module is arranged at the top of the cloud platform to be controlled;The laser ranging module is configured to collect distance data of a target object;It is also configured to collect ambient light data of the target object, to determine the initial laser emission power of the laser ranging module based on the ambient light data;It is also configured to collect the reflection intensity of the target object, to adjust the initial laser emission power of the laser ranging module according to the reflection intensity, and to obtain the final laser emission power;

[0067] A main control module is configured to analyze the distance data, obtain the ranging values corresponding to the three laser ranging modules based on the analysis results, and determine whether the lens of the cloud platform to be controlled is parallel to the target object according to the ranging values;It is also configured to collect the roll angle α, pitch angle β and angular velocity of the cloud platform to be controlled;

[0068] An execution module is configured to calculate the parallel deviation value according to the ranging value, roll angle α and pitch angle β when the lens of the cloud platform to be controlled is not parallel to the target object, and to generate a control signal based on the parallel deviation value using the incremental PID algorithm, and to adjust the attitude of the cloud platform according to the control signal;

[0069] A power module is connected to the laser ranging module, main control module and execution module, and is configured to provide 5V DC power to the laser ranging module, main control module and execution module.

[0070] In the present embodiment, three laser ranging modules (A, B, C) are fixedly installed at the top of the cloud platform to be controlled in an equilateral triangle layout, and the laser emission directions of the three laser ranging modules are parallel to the camera optical axis;The side length of the equilateral triangle is 15-30 cm, preferably 20 cm;The wavelength of each laser ranging module is 850 nm, the ranging range is 0.1 m to 10 m, and the ranging accuracy is ±1 mm.

[0071] Referring to Figure 3 As shown in the embodiment, the gimbal to be controlled includes a servo motor 1, a rotary joint bearing 2, an external power supply baffle 3, a gimbal support 4, a coupling 5, a laser range finder 6, a gyroscope 7, an extension rod 8, a shock pad 9, a cable protection chain 10, an LED searchlight 11, and a camera fixed end locknut 12.

[0072] In this embodiment, the LED searchlight 11 can also be replaced with an ultraviolet lamp or an infrared lamp to adapt to the ranging needs in different environments.

[0073] In this embodiment, the servo motor 1 serves as the core power source of the gimbal to be controlled, providing precise rotation angle and torque control, and it is usually integrated with an encoder to achieve closed-loop feedback; the rotary joint bearing 2 is used to support the overall structure of the gimbal and ensure its stability and smoothness during rotation; the external power supply baffle 3 is designed to protect the power connection part from accidental touching or damage; the gimbal support 4 provides additional flexibility, allowing the gimbal to be fine-tuned in multiple directions; the coupling 5 is used to connect the servo motor 1 and other parts of the gimbal, ensuring the accuracy and efficiency of power transmission; the laser range finder 6 corresponds to the laser ranging module mentioned above and is used to actually perform the ranging operation; the gyroscope 7 is used to detect the attitude changes of the gimbal, including the roll angle a, the pitch angle β, and the angular velocity, providing the necessary attitude data for the main control module; the extension rod 8 and the shock pad 9 work together to reduce vibration and interference during the movement or adjustment of the gimbal, improving the accuracy of the measurement; the cable protection chain 10 is used to protect the wires and data lines inside the gimbal, preventing faults caused by excessive bending or wear; the camera fixed end locknut 12 is used to ensure that the camera or other imaging devices are securely installed on the gimbal, avoiding shaking or falling during shooting;

[0074] It can be understood that the intelligent gimbal parallel control system based on three infrared laser ranging provided in this embodiment realizes accurate measurement of the distance of the target object by integrating three laser ranging modules, and intelligently adjusts the laser emission power according to the ambient light data and the reflection intensity, improving the accuracy and adaptability of the ranging. The main control module can accurately judge the planarity of the target object by analyzing the distance data, and then guide the execution module to adjust the attitude of the gimbal. The execution module uses an incremental PID algorithm to calculate the parallel deviation value based on the ranging value and the attitude angle of the gimbal, and generates accurate control signals to realize stable parallel control of the gimbal. The system further improves the reliability of the ranging data and the robustness of the system through the weighted median filtering algorithm and the confidence evaluation.

[0075] Specifically, when the laser ranging module determines the initial laser emission power of the laser ranging module based on the ambient light data, it includes:

[0076] analyzing the ambient light data to obtain an ambient light intensity characteristic value;

[0077] comparing the ambient light intensity characteristic value with a first ambient light intensity characteristic value and a second ambient light intensity characteristic value, and determining an initial laser emission power of the laser ranging module according to a comparison result; wherein the first ambient light intensity characteristic value is less than the second ambient light intensity characteristic value;

[0078] when the ambient light intensity characteristic value is less than or equal to the first ambient light intensity characteristic value, determining that the initial laser emission power is a first laser emission power;

[0079] when the ambient light intensity characteristic value is greater than the first ambient light intensity characteristic value and less than or equal to the second ambient light intensity characteristic value, determining that the initial laser emission power is a second laser emission power;

[0080] when the ambient light intensity characteristic value is greater than the second ambient light intensity characteristic value, determining that the initial laser emission power is a third laser emission power.

[0081] In this embodiment, the initial laser emission power is preferably between 3 and 5 mW.

[0082] In this embodiment, the first ambient light intensity characteristic value and the second ambient light intensity characteristic value are empirical values based on a large amount of experimental data, so as to ensure that the laser ranging module can maintain stable and accurate ranging performance under different lighting conditions.

[0083] It can be understood that, by accurately judging the intensity of ambient light, the system can intelligently adjust the laser emission power, so as to avoid the increase of ranging error caused by excessive laser in strong light environment, and the limitation of ranging distance caused by insufficient laser in weak light environment. This intelligent power adjustment mechanism enables the system to maintain high-level ranging accuracy and stability in various complex environments.

[0084] Specifically, when the laser ranging module adjusts the initial laser emission power of the laser ranging module according to the reflection intensity and obtains a final laser emission power, the method comprises:

[0085] comparing the reflection intensity with a reflection intensity threshold value, and adjusting the initial laser emission power according to a comparison result; wherein the reflection intensity threshold value comprises a first reflection intensity threshold value Smax and a second reflection intensity threshold value Smin;

[0086] when the reflection intensity is greater than or equal to the first reflection intensity threshold value Smax, reducing the initial laser emission power to 1-3 mW, and taking the reduced initial laser emission power as the final laser emission power;

[0087] when the reflection intensity is less than or equal to the second reflection intensity threshold Smin, the initial laser emission power is raised to 5-10 mW, and the raised initial laser emission power is taken as the final laser emission power;

[0088] when the reflection intensity is between the second reflection intensity threshold Smin and the first reflection intensity threshold Smax, the initial laser emission power is kept unchanged, and the initial laser emission power is taken as the final laser emission power.

[0089] It can be understood that through intelligent judgment of the reflection intensity, the system can further fine-tune the laser emission power to adapt to target objects of different materials, ensuring the accuracy of the ranging result. For example, when facing a target object with high reflectivity, the system will reduce the laser emission power to prevent excessive laser from causing abnormal ranging data; when facing a target object with low reflectivity, the system will increase the laser emission power to ensure that the laser can be fully reflected and received, thereby expanding the ranging range. This intelligent adjustment method not only improves the accuracy of ranging, but also enhances the applicability and flexibility of the system.

[0090] Specifically, the first reflection intensity threshold Smax and the second reflection intensity threshold Smin are calibrated according to the surface reflectivity of the target object, and the ratio of the first reflection intensity threshold Smax to the second reflection intensity threshold Smin is 3:1.

[0091] It can be understood that through accurate calibration of the surface reflectivity of the target object, the system can more accurately adjust the laser emission power, thereby maintaining high-level ranging performance and stability in various complex environments. In addition, this intelligent adjustment method also enables the system to adapt to target objects of different materials, different colors, and different shapes, further improving the applicability and flexibility of the system.

[0092] Specifically, when the main control module determines whether the lens of the to-be-controlled gimbal is parallel to the target object according to the ranging value, it includes:

[0093] The ranging value includes a first ranging value d1, a second ranging value d2, and a third ranging value d3;

[0094] The standard deviation σc of the first ranging value d1, the second ranging value d2, and the third ranging value d3 is calculated;

[0095] If σc≤2mm, it is determined that the laser ranging module is parallel to the target object, and a target distance Dtarget is set;

[0096] If σc> 2mm, it is determined that the laser ranging module and the target object are not parallel, and a weighted median filtering algorithm is started to eliminate the ranging value with the largest deviation from the median, and the mean of the remaining two ranging values is taken as the target distance Dtarget.

[0097] It can be understood that the master control module can accurately distinguish whether the target object is a plane by calculating the standard deviation of the ranging values obtained by the three laser ranging modules. When the standard deviation is less than or equal to 2mm, it is considered that the surface of the target object is flat, and at this time the system sets a target distance Dtarget as a reference for subsequent gimbal adjustment. When the standard deviation is greater than 2mm, it is determined that the target object is not a plane, and at this time the system will start the weighted median filtering algorithm to intelligently eliminate the ranging value with the largest error, and only use the remaining two accurate ranging values to calculate the target distance Dtarget, thereby effectively improving the ranging accuracy and robustness of the system in complex environments. This intelligent judgment and adjustment mechanism enables the gimbal to achieve precise parallel control in various complex scenes, providing more stable and reliable services for users.

[0098] Specifically, when the execution module calculates the parallel deviation value based on the ranging values, the roll angle a and the pitch angle β, the following steps are included:

[0099] The difference between the first ranging value and the second ranging value is calculated and denoted as a first difference Δd12;

[0100] The difference between the first ranging value and the third ranging value is calculated and denoted as a second difference Δd13;

[0101] The parallel deviation value is calculated based on the roll angle a, the pitch angle β, the first difference Δd12 and the second difference Δd13; wherein the parallel deviation value includes a first deviation value Δa and a second deviation value Δβ;

[0102] The first deviation value Δa is obtained by the following formula:

[0103]

[0104] The second deviation value Δβ is obtained by the following formula:

[0105]

[0106] Wherein, Δa represents the first deviation value; Δd12 represents the first difference; dα / dt represents the rate of change of the roll angle a; Δβ represents the second deviation value; Δd13 represents the second difference; dβ / dt represents the rate of change of the pitch angle β; k1, k2, k3, k4 are coefficients determined by calibration experiments.

[0107] It can be understood that the execution module fully considers the difference between the current attitude angle (roll angle a and pitch angle β) of the gimbal and the ranging value when calculating the parallel deviation value. By calculating the difference between the first ranging value and the second ranging value (Δd12) and the difference between the first ranging value and the third ranging value (Δd13), and combining the rate of change of the gimbal attitude angle (dα / dt and dβ / dt), the first deviation value Δα and the second deviation value Δβ of the parallel deviation value can be accurately calculated using a specific algorithm formula. This calculation method not only considers static ranging data, but also incorporates dynamic attitude angle change information, so as to more comprehensively reflect the relative position relationship between the gimbal and the target object, and provide more accurate data support for subsequent control adjustment. In addition, the coefficients k1, k2, k3 and k4 in the formula are determined through calibration experiments, ensuring the accuracy and reliability of the calculation results. This refined calculation and processing mechanism further improves the precision and stability of the gimbal parallel control system.

[0108] Specifically, the execution module generates a control signal based on the parallel deviation value using an incremental PID algorithm, and adjusts the gimbal attitude according to the control signal, including:

[0109] Collecting the running information of the gimbal to be controlled and analyzing the running information to obtain the calibration stage and the running stage;

[0110] In the calibration stage, the system transfer function is obtained through step response test, and the initial P value, I value and D value are determined by Ziegler-Nichols method;

[0111] In the running stage, the absolute value of the first deviation value Δα is obtained and recorded as the first deviation absolute value |Δα|, and the initial P value is adjusted according to the first deviation absolute value |Δα| to obtain the final P value:

[0112] If the first deviation absolute value |Δα| is greater than 1°, the initial P value is increased to 1.2 times, and the increased initial P value is taken as the final P value;

[0113] If the first deviation absolute value |Δα| is less than 0.2°, the initial P value is reduced to 0.8 times, and the reduced initial P value is taken as the final P value;

[0114] If 0.2°≤ the first deviation absolute value |Δα| ≤1°, the initial P value remains unchanged, and the initial P value is taken as the final P value.

[0115] It can be understood that the execution module adopts an incremental PID algorithm when generating the control signal, which is a classic control algorithm and can realize accurate adjustment of the gimbal attitude. The algorithm first obtains the transfer function of the system through the calibration stage, and determines the initial parameters (P value, I value and D value) of the PID controller using the Ziegler-Nichols method. These initial parameters provide a benchmark for the operation of the controller. After entering the running stage, the system will intelligently adjust the initial P value according to the actual first deviation absolute value |Δα|. When the first deviation absolute value is large, it means that the parallel deviation between the gimbal and the target object is large, at which time the system will increase the P value to speed up the adjustment and quickly reduce the deviation. When the first deviation absolute value is small, it means that the gimbal has approached the target position, at which time the system will reduce the P value to reduce the overshoot and improve the stability and accuracy of the control. This mechanism of dynamically adjusting the P value according to the deviation size enables the PID controller to maintain excellent control performance in different situations.

[0116] Specifically, the execution module generates a control signal based on the parallel deviation value using an incremental PID algorithm, and when adjusting the gimbal attitude according to the control signal, further comprising:

[0117] setting a first deviation threshold Δαmax and a second deviation threshold Δβmax;

[0118] driving the gimbal to be controlled to adjust to a range of |Δα|≤Δαmax and |Δβ|≤Δβmax according to the final P value, I value and D value, to realize correction of the parallel attitude.

[0119] It can be understood that during the adjustment of the gimbal attitude by the execution module, the system also sets a first deviation threshold Δαmax and a second deviation threshold Δβmax, which correspond to the maximum allowed deviation of the gimbal in the roll angle and the pitch angle respectively. Through the setting of these two thresholds, the system can ensure that the gimbal will not have a large deviation during adjustment, thereby ensuring the accuracy and stability of the adjustment. When the execution module generates a control signal according to the incremental PID algorithm and drives the gimbal to adjust, the system will monitor the attitude angle changes of the gimbal, i.e. the roll angle α and the pitch angle β, in real time. When the deviation values of these two angles (|Δα| and |Δβ|) are both less than or equal to the set thresholds (Δαmax and Δβmax), the system considers that the gimbal has been adjusted to the target position, at which time it will stop adjusting to realize correction of the parallel attitude of the gimbal.

[0120] Specifically, when the main control module starts the weighted median filtering algorithm, removes the ranging value with the largest deviation from the median, and takes the mean of the remaining two ranging values as the target distance Dtarget, it comprises:

[0121] Collecting historical ranging data corresponding to each laser ranging module;

[0122] Based on the historical ranging data, the confidence of each laser ranging module is calculated respectively;

[0123] According to the confidence, the distance data corresponding to the two laser ranging modules with the highest confidence are selected to participate in the calculation of the target distance Dtarget;

[0124] The distance data corresponding to the two laser ranging modules are weighted and averaged according to a preset weighting ratio, and the target distance Dtarget is obtained, wherein the weight ratio is the ratio of the confidence of the two laser ranging modules;

[0125] The confidence is obtained by the following formula:

[0126]

[0127] Wherein, Ci represents the ranging confidence of the i-th laser ranging module; σci represents the standard deviation of the last 10 ranging values of the i-th laser ranging module.

[0128] It can be understood that the master module shows high intelligence and accuracy when starting the weighted median filtering algorithm. By deeply analyzing the historical ranging data of each laser ranging module, the system can calculate the ranging confidence of each module. This step is crucial because it is directly related to the accuracy of the subsequent target distance Dtarget. The calculation of confidence fully considers the stability of the ranging value, and measures the dispersion degree of the ranging value of each module through the statistical index of standard deviation. The smaller the standard deviation, the more stable the ranging value, and the higher the confidence. When selecting laser ranging modules to participate in the target distance calculation, the system follows the principle of confidence priority. That is, the two modules with the highest confidence are selected to ensure that the final target distance can reflect the true situation to the greatest extent. This step effectively avoids the distortion of the ranging result caused by the failure or large error of a single module. When determining the target distance Dtarget, the system adopts the weighted averaging method. The weight distribution is based on the ratio of the confidence of the two laser ranging modules, which reflects the trust of high-confidence modules and also considers the balance of data. Through this fine processing, the system can obtain a more accurate and reliable target distance Dtarget.

[0129] Referring to Figure 2 In some embodiments of the present application, the present embodiment provides an intelligent gimbal parallel control method based on three infrared laser ranging, comprising the following steps:

[0130] S100: collecting distance data of a target object; collecting ambient light data of the target object, determining initial laser emission power of the laser ranging module based on the ambient light data; collecting reflection intensity of the target object, adjusting the initial laser emission power of the laser ranging module according to the reflection intensity, and obtaining final laser emission power;

[0131] S200: analyzing the distance data, obtaining ranging values corresponding to the three laser ranging modules based on the analysis result, judging whether the lens of the to-be-controlled holder is parallel to the target object according to the ranging values, collecting roll angle a, pitch angle β and angular velocity of the to-be-controlled holder;

[0132] S300: when the lens of the to-be-controlled holder is not parallel to the target object, calculating parallel deviation value according to the ranging values, roll angle a and pitch angle β, generating control signal based on the parallel deviation value by using incremental PID algorithm, and adjusting the holder posture according to the control signal.

[0133] Those skilled in the art should understand that the embodiments of the present application can be provided as a method, a system or a computer program product. Therefore, the present application can be in the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present application can be in the form of a computer program product implemented on one or more computer usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer usable program code.

[0134] The present application is described with reference to flowcharts and / or block diagrams of methods, devices (systems) and computer program products according to embodiments of the present application. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as combinations of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing apparatus to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing apparatus produce a device that implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1 The functions specified in one or more flows and / or blocks.

[0135] These computer program instructions can also be stored in a computer readable storage medium capable of directing a computer or other programmable data processing apparatus to work in a specific manner, so that the instructions stored in the computer readable storage medium produce a product including instruction means, which implements the functions specified in the flowcharts and / or block diagrams. Figure 1 The functions specified in one or more flows and / or blocks. Figure 1the function specified in the one or more blocks.

[0136] These computer program instructions can also be loaded into computer or other programmable data processing devices, so that a series of operation steps are performed on the computer or other programmable data processing devices to generate computer-implemented processes, so that the instructions executed on the computer or other programmable devices provide processes for implementing the flowcharts Figure 1 the flowcharts or the flowcharts and / or blocks Figure 1 the steps of the function specified in the one or more blocks.

[0137] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit it, although the present application has been described in detail with reference to the above examples, those skilled in the art should understand: the specific embodiments of the present application can be modified or replaced by the same, without departing from the spirit and scope of the present application, any modification or equivalent replacement, which should be covered in the protection scope of the claims of the present application.

Claims

1. An intelligent PTZ parallel control system based on three infrared laser ranging, characterized in that: include: There are three laser ranging modules, which are arranged on the top of the pan-tilt head to be controlled; the laser ranging modules are configured to collect distance data of the target object; are further configured to collect ambient light data of the target object, and determine the initial laser emission power of the laser ranging modules based on the ambient light data; are further configured to collect the reflection intensity of the target object, adjust the initial laser emission power of the laser ranging modules according to the reflection intensity, and obtain the final laser emission power; a main control module configured to parse the distance data, obtain ranging values ​​corresponding to the three laser ranging modules based on the parsing results, and determine whether the lens of the gimbal to be controlled is parallel to the target object based on the ranging values; and further configured to collect the roll angle α, pitch angle β, and angular velocity of the gimbal to be controlled; an execution module configured to, when the lens of the gimbal to be controlled is not parallel to the target object, calculate a parallel deviation value according to the ranging value, the roll angle α, and the pitch angle β, generate a control signal based on the parallel deviation value using an incremental PID algorithm, and adjust the gimbal posture according to the control signal; A power supply module is connected to the laser ranging module, the main control module and the execution module, and the power supply module is configured to provide 5V DC power to the laser ranging module, the main control module and the execution module.

2. The intelligent PTZ parallel control system based on three infrared laser ranging according to claim 1 is characterized in that: When the laser ranging module determines the initial laser emission power of the laser ranging module based on the ambient light data, the method includes: Analyzing the ambient light data to obtain an ambient light intensity characteristic value; Comparing the ambient light intensity characteristic value with a first ambient light intensity characteristic value and a second ambient light intensity characteristic value, and determining an initial laser emission power of the laser ranging module according to the comparison result; wherein the first ambient light intensity characteristic value is less than the second ambient light intensity characteristic value; When the ambient light intensity characteristic value is less than or equal to the first ambient light intensity characteristic value, determining the initial laser emission power to be the first laser emission power; When the ambient light intensity characteristic value is greater than the first ambient light intensity characteristic value and less than or equal to the second ambient light intensity characteristic value, determining the initial laser emission power to be the second laser emission power; When the ambient light intensity characteristic value is greater than the second ambient light intensity characteristic value, the initial laser emission power is determined to be a third laser emission power.

3. The intelligent PTZ parallel control system based on three infrared laser ranging according to claim 2 is characterized in that: The laser ranging module adjusts the initial laser emission power of the laser ranging module according to the reflection intensity and obtains the final laser emission power, including: Comparing the reflection intensity with a reflection intensity threshold, and adjusting the initial laser emission power according to the comparison result; wherein the reflection intensity threshold includes a first reflection intensity threshold Smax and a second reflection intensity threshold Smin; When the reflection intensity is greater than or equal to the first reflection intensity threshold Smax, reducing the initial laser emission power to 1-3 mW, and using the reduced initial laser emission power as the final laser emission power; When the reflection intensity is less than or equal to the second reflection intensity threshold Smin, the initial laser emission power is increased to 5-10 mW, and the increased initial laser emission power is used as the final laser emission power; When the reflection intensity is between the second reflection intensity threshold Smin and the first reflection intensity threshold Smax, the initial laser emission power is kept unchanged and is used as the final laser emission power.

4. The intelligent PTZ parallel control system based on three infrared laser ranging according to claim 3 is characterized in that: The first reflection intensity threshold Smax and the second reflection intensity threshold Smin are calibrated according to the surface reflectivity of the target object, and the ratio of the first reflection intensity threshold Smax to the second reflection intensity threshold Smin is 3:

1.

5. The intelligent PTZ parallel control system based on three infrared laser ranging according to claim 4 is characterized in that: When the main control module determines whether the lens of the to-be-controlled pan / tilt platform is parallel to the target object according to the distance measurement value, the main control module includes: The distance measurement values ​​include a first distance measurement value d1, a second distance measurement value d2 and a third distance measurement value d3; Calculating a standard deviation σc of the first distance measurement value d1, the second distance measurement value d2, and the third distance measurement value d3; If σc≤2mm, it is determined that the laser ranging module is parallel to the target object, and the target distance Dtarget is set; If σc>2mm, it is determined that the laser ranging module is not parallel to the target object, and the weighted median filtering algorithm is started to eliminate the ranging value with the largest deviation from the median, and the average of the remaining two ranging values ​​is taken as the target distance Dtarget.

6. The intelligent PTZ parallel control system based on three infrared laser ranging according to claim 5 is characterized in that: When the execution module calculates the parallel deviation value according to the ranging value, the roll angle α and the pitch angle β, it includes: Calculate the difference between the first distance measurement value and the second distance measurement value, and record it as a first difference Δd12; Calculating a difference between the first distance measurement value and the second distance measurement value, and recording the difference as a second difference Δd13; Calculating a parallel deviation value based on the roll angle α, the pitch angle β, the first difference Δd12, and the second difference Δd13; wherein the parallel deviation value includes the first deviation value Δα and the second deviation value Δβ; The first deviation value Δα is obtained by the following formula: The second deviation value Δβ is obtained by the following formula: Among them, Δα represents the first deviation value; Δd12 represents the first difference; dα / dt represents the rate of change of the roll angle α; Δβ represents the second deviation value; Δd13 represents the second difference; dβ / dt represents the rate of change of the pitch angle β; k1, k2, k3, and k4 are coefficients determined through calibration experiments.

7. The intelligent PTZ parallel control system based on three infrared laser ranging according to claim 6 is characterized in that: The execution module generates a control signal based on the parallel deviation value using an incremental PID algorithm, and adjusts the gimbal posture according to the control signal, including: Collecting the operation information of the PTZ to be controlled, and parsing the operation information to obtain the calibration phase and the operation phase; In the calibration stage, the system transfer function is obtained through step response test, and the initial P value, I value and D value are determined by Ziegler-Nichols method; During the operation phase, the absolute value of the first deviation value Δα is obtained and recorded as the first deviation absolute value |Δα|. The initial P value is adjusted according to the first deviation absolute value |Δα| to obtain the final P value: If the absolute value of the first deviation |Δα|>1°, the initial P value is increased to 1.2 times, and the increased initial P value is used as the final P value; If the absolute value of the first deviation |Δα| is less than 0.2°, the initial P value is reduced to 0.8 times, and the reduced initial P value is used as the final P value; If 0.2°≤the first deviation absolute value |Δα|≤1°, the initial P value is kept unchanged and is used as the final P value.

8. The intelligent PTZ parallel control system based on three infrared laser ranging according to claim 7 is characterized in that: The execution module generates a control signal based on the parallel deviation value using an incremental PID algorithm, and adjusts the gimbal posture according to the control signal, further comprising: Setting a first deviation threshold Δαmax and a second deviation threshold Δβmax; According to the final P value, I value and D value, the to-be-controlled gimbal is driven to adjust to the range of |Δα|≤Δαmax and |Δβ|≤Δβmax to achieve parallel posture correction.

9. The intelligent PTZ parallel control system based on three infrared laser ranging according to claim 5, characterized in that: The main control module starts the weighted median filtering algorithm, removes the distance measurement value with the largest deviation from the median, and takes the average of the remaining two distance measurement values ​​as the target distance Dtarget, including: Collect historical ranging data corresponding to each laser ranging module; Based on the historical ranging data, respectively calculating the confidence level corresponding to each of the laser ranging modules; According to the confidence level, the distance data corresponding to the two laser ranging modules with the highest confidence levels are selected to participate in the calculation of the target distance Dtarget; The distance data corresponding to the two laser ranging modules are weighted and averaged according to a preset weighting ratio to obtain the target distance Dtarget, wherein the weight ratio is the ratio of the confidence levels corresponding to the two laser ranging modules; The confidence level is obtained by the following formula: Where Ci represents the ranging confidence of the i-th laser ranging module; σci represents the standard deviation of the latest 10 ranging values ​​of the i-th laser ranging module.

10. A method for parallel control of an intelligent PTZ based on three infrared laser ranging, applied to the intelligent PTZ parallel control system based on three infrared laser ranging as claimed in any one of claims 1 to 9, characterized in that: include: Collect distance data of target objects; Collecting ambient light data of the target object, and determining the initial laser emission power of the laser ranging module based on the ambient light data; Collecting the reflection intensity of the target object, adjusting the initial laser emission power of the laser ranging module according to the reflection intensity, and obtaining the final laser emission power; parsing the distance data, obtaining ranging values ​​corresponding to the three laser ranging modules based on the parsing results, and determining whether the lens of the gimbal to be controlled is parallel to the target object based on the ranging values; and collecting the roll angle α, pitch angle β, and angular velocity of the gimbal to be controlled; When the lens of the gimbal to be controlled is not parallel to the target object, a parallel deviation value is calculated according to the ranging value, the roll angle α, and the pitch angle β, and an incremental PID algorithm is used to generate a control signal based on the parallel deviation value, and the gimbal posture is adjusted according to the control signal.

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