Two-axis pan-tilt somatosensory control method and device, pan-tilt controller, medium and program

Abstract

The invention discloses a two-axis pan-tilt somatosensory control method and device, a pan-tilt controller, a medium and a program. The method comprises the following steps: acquiring a somatosensory Euler angle of a target holder at the current moment, and determining a somatosensory Euler angle variation and a somatosensory angle variation inertia at the current moment by combining a somatosensory Euler angle at the previous moment and a somatosensory angle variation inertia; determining a position loop proportionality coefficient, a position loop amplitude limit and an airframe target angle according to the current somatosensory Euler angle variable quantity, the somatosensory angle variable quantity inertia and the airframe joint angle initial angle; and adjusting the attitude of the target holder according to the three. The response speed and the maximum response speed of the posture adjustment of the pan-tilt are improved, so that the somatosensory smooth control of the pan-tilt is realized, the stable operation of the pan-tilt can be ensured even in a strenuous motion or complex environment, the high-precision shooting control is realized, the picture jittering is effectively avoided, the stable and clear shooting picture is provided for a user, and the user experience is improved. And high-quality requirements of professional shooting, daily recording and the like are met.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of motion control technology, and in particular to a two-axis gimbal motion control method, device, gimbal controller, medium and program. Background Technology

[0002] With technological advancements, the demand for convenient and portable operation of gimbal devices continues to grow. However, traditional gimbal control methods have many limitations in scenarios such as image capture and equipment control. Early gimbal rotation relied heavily on joysticks, a method lacking intuitiveness and convenience. Operators needed to precisely manipulate the joystick to adjust the gimbal angle, requiring a high level of skill and failing to achieve natural haptic control and human-computer interaction. For example, in surveillance, security personnel using joysticks to control camera gimbals struggled to quickly and flexibly capture specific targets, delaying monitoring opportunities. Similarly, in film and television production, cinematographers needed assistants to operate the gimbal for complex camera movements, increasing labor and communication costs and hindering the capture of fleeting, exciting moments, thus limiting shooting flexibility and creative expression. Summary of the Invention

[0003] This invention provides a two-axis gimbal motion control method, device, gimbal controller, medium, and program to achieve smooth motion control of the gimbal.

[0004] In a first aspect, embodiments of the present invention provide a two-axis gimbal motion control method, the method comprising: Obtain the current motion-sensing Euler angle of the target gimbal; The change in the perceived Euler angle and the change in inertia of the perceived angle at the current moment are determined based on the perceived Euler angle at the previous moment, the perceived Euler angle at the previous moment, and the change in inertia of the perceived angle at the previous moment. The position loop scaling factor, position loop limit, and target angle of the body are determined based on the change in the perceived Euler angle and the inertia of the perceived angle change at the current moment, as well as the initial angle of the body joints. The attitude of the target gimbal is adjusted based on the position ring proportional coefficient, the position ring amplitude limit, and the target angle of the machine body.

[0005] Optionally, determining the change in the perceived Euler angle and the change in inertia of the perceived angle at the current moment based on the perceived Euler angle at the previous moment, and the change in inertia of the perceived angle at the previous moment includes: The change in the current haptic Euler angle is determined based on the historical haptic Euler angle from the previous moment and the current haptic Euler angle. The inertia of the perceived angle change at the current moment is determined based on the change in the perceived Euler angle at the current moment, the historical change in the perceived angle at the previous moment, and the preset attenuation coefficient.

[0006] Optionally, determining the inertia of the perceived angle change at the current moment based on the change in the Euler angle at the current moment, the historical change in inertia of the perceived angle at the previous moment, and a preset attenuation coefficient includes: P i new =P i old ×D i + ; Among them, P i new P represents the change in perceived angle at the current moment, which is the moment of inertia. i old D represents the change in perceived angle at the previous moment, which is the moment of inertia. i This represents the preset attenuation coefficient. This represents the change in the perceived Euler angle at the current moment.

[0007] Optionally, the step of determining the position loop scaling factor, position loop limit, and target angle of the body based on the current change in the perceived Euler angle, the moment of inertia of the perceived angle change, and the initial angle of the body joints includes: The nonlinear parameters are calculated based on the change in the perceived Euler angle at the current moment. The nonlinear parameters include the position loop proportional coefficient change coefficient, the position loop limiting coefficient change coefficient, and the target angle change coefficient. The target magnification factor is determined based on the change in inertia of the perceived angle at the current moment and the preset scaling threshold. The position loop scaling factor and the position loop limiting factor are determined based on the target magnification factor, the position loop scaling factor variation factor, and the position loop limiting factor variation factor. The target angle of the machine is determined based on the target angle change coefficient, the deviation of the perceived Euler angle from the initial angle at the current moment, and the initial angle of the machine's joint angle.

[0008] Optionally, determining the target magnification factor based on the current perceived angle change inertia and a preset scaling threshold includes: S i =P i new / T i ; Among them, S i T represents the target magnification factor. i P represents the preset scaling threshold. i newInertia represents the change in perceived angle at the current moment. The step of determining the position loop scaling factor and position loop limiting based on the target magnification factor, the position loop scaling factor variation factor, and the position loop limiting factor variation factor includes: kp i =kp_coe i ×S i ; plimit i =plimit_coe i ×S i ; Among them, kp i kp_coe represents the position ring scaling factor. i plimit represents the coefficient of change of the position ring proportionality coefficient. i plimit_coe indicates the position ring limiting. i This represents the position ring limiting variation coefficient.

[0009] Optionally, determining the target angle of the machine based on the target angle change coefficient, the deviation of the current perceived Euler angle from the initial angle, and the initial angle of the machine's joint angles includes: angle_aim i =angle_aim_coe i × +angle_init i ; Among them, angle_aim i Indicates the target angle of the machine body, angle_aim_coe i This represents the target angle variation coefficient. Indicates the deviation of the perceived Euler angles from the initial angles at the current moment, angle_init i This indicates the initial angle of the joint of the machine body.

[0010] Optionally, the method further includes: Obtain the current joint angle of the target gimbal; Determine the first angle difference between the current perceived Euler angle and the initial perceived Euler angle, and the second angle difference between the current body joint angle and the initial body joint angle; If the absolute value of the difference between the first angle difference and the second angle difference is less than a preset first threshold, or the change in the haptic Euler angle is less than a preset second threshold, then the attitude of the target gimbal will not be controlled.

[0011] Optionally, before adjusting the attitude of the target gimbal based on the position loop scaling factor, the position loop limiting factor, and the target angle of the aircraft, the method further includes: The target angle of the machine body is subjected to a first-order low-pass filter, and the filtering formula is as follows: θ fi new =θ fi old -α i ×(θ fi old -θ raw_i ); Where, θ fi new θ represents the filtered target angle of the machine body. fi old α represents the filtered historical target angle of the machine body at the previous moment. i Represents the filter coefficients, θ raw_i This indicates the target angle of the machine body before filtering.

[0012] Secondly, embodiments of the present invention also provide a two-axis gimbal motion control device, the device comprising: The motion-sensing Euler angle acquisition module is used to acquire the motion-sensing Euler angle of the target gimbal at the current moment; The module for determining the amount of change in body angle is used to determine the amount of change in body angle and the amount of change in body angle inertia at the current moment based on the body angle at the current moment, the body angle at the previous moment, and the amount of change in body angle inertia at the previous moment. The parameter determination module is used to determine the position loop proportional coefficient, position loop limit, and target angle of the body based on the change in the perceived Euler angle and the inertia of the change in the perceived angle at the current moment, as well as the initial angle of the body joint. The attitude adjustment module is used to adjust the attitude of the target gimbal based on the position ring proportional coefficient, the position ring amplitude limit, and the target angle of the body.

[0013] Thirdly, embodiments of the present invention also provide a gimbal controller, the gimbal controller comprising: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the two-axis gimbal motion control method provided in any embodiment of the present invention.

[0014] Fourthly, embodiments of the present invention also provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the two-axis gimbal motion control method provided in any embodiment of the present invention.

[0015] Fifthly, embodiments of the present invention also provide a computer program product, which includes a computer program that, when executed by a processor, implements the two-axis gimbal motion control method provided in any embodiment of the present invention.

[0016] This invention provides a two-axis gimbal motion control method. First, the current motion-sensing Euler angle is obtained. Then, combined with the previous motion-sensing Euler angle and the inertia of the motion-sensing angle change, the change in the current motion-sensing Euler angle and the inertia of the motion-sensing angle change are determined. Next, based on the obtained change in the current motion-sensing Euler angle and the inertia of the motion-sensing angle change, and combined with the initial angle of the body joints, the position loop proportional coefficient, the position loop limit, and the target angle of the body are determined. Thus, the attitude of the target gimbal is adjusted according to the obtained position loop proportional coefficient, position loop limit, and target angle of the body. The two-axis gimbal motion control method provided by this invention improves the response speed and maximum response speed of the gimbal attitude adjustment by redetermining the position loop proportional coefficient and position loop limit based on the inertia of the motion-sensing angle change. This achieves smooth motion-sensing control of the gimbal, ensuring stable operation even during intense movement or complex environments, enabling high-precision shooting control, effectively avoiding image shake, and providing users with stable and clear shooting images, meeting the high-quality needs of professional shooting and daily recording. Attached Figure Description

[0017] Figure 1 A flowchart of a two-axis gimbal motion control method provided in Embodiment 1 of the present invention; Figure 2 This is a schematic diagram illustrating the specific process for determining the change in the perceived Euler angle and the moment of inertia of the perceived angle change at the current moment, as provided in Embodiment 1 of the present invention. Figure 3 This is a schematic diagram illustrating the specific process of determining attitude adjustment parameters provided in Embodiment 1 of the present invention; Figure 4 This is a schematic diagram of the adjustment-free process provided in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the structure of the two-axis gimbal motion control device provided in Embodiment 2 of the present invention; Figure 6 This is a schematic diagram of the gimbal controller provided in Embodiment 3 of the present invention. Detailed Implementation

[0018] The present invention will now be described in further detail with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and not intended to limit it. Furthermore, it should be noted that, for ease of description, the accompanying drawings show only the parts relevant to the present invention, and not all of the structures.

[0019] Before discussing the exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the steps as sequential processes, many of these steps can be performed in parallel, concurrently, or simultaneously. Furthermore, the order of the steps can be rearranged. The process can be terminated when its operation is complete, but may also have additional steps not included in the figures. The process can correspond to a method, function, procedure, subroutine, subroutine, etc.

[0020] Example 1 Figure 1 This is a flowchart of a two-axis gimbal motion control method provided in Embodiment 1 of the present invention. This embodiment is applicable to situations where the gimbal attitude is adjusted based on motion adaptation during user applications such as image capture using a gimbal. This method can be executed by the two-axis gimbal motion control device provided in this embodiment of the invention. This device can be implemented in hardware and / or software, and is generally integrated into the gimbal controller. Figure 1 As shown, the method specifically includes the following steps: S11. Obtain the current motion Euler angle of the target gimbal.

[0021] S12. Determine the change in the perceived Euler angle and the change in inertia of the perceived Euler angle at the current moment based on the perceived Euler angle at the previous moment and the change in the perceived angle at the previous moment.

[0022] S13. Determine the position loop proportional coefficient, position loop limit, and target angle of the body based on the current change in the perceived Euler angle and the inertia of the perceived angle change, as well as the initial angle of the body joint.

[0023] S14. Adjust the attitude of the target gimbal according to the position ring proportional coefficient, the position ring amplitude limit, and the target angle of the body.

[0024] Specifically, the haptic Euler angle of the target gimbal can be obtained in real time by the attitude sensor. Then, the haptic Euler angle obtained in real time at the previous moment and the haptic angle change inertia calculated at the previous moment can be combined to determine the haptic Euler angle change and haptic angle change inertia at the current moment.

[0025] In an alternative implementation, such as Figure 2 As shown, step S12, determining the change in the perceived Euler angle and the change in inertia of the perceived angle at the current moment based on the perceived Euler angle at the previous moment and the change in the perceived angle at the previous moment, includes steps S121~S122, the specific contents of which are as follows: S121. Determine the change in the current somatosensory Euler angle based on the historical somatosensory Euler angle from the previous moment and the current somatosensory Euler angle. S122. Determine the inertia of the perceived angle change at the current moment based on the current change in Euler angle, the historical change in inertia of the perceived angle at the previous moment, and the preset attenuation coefficient.

[0026] Specifically, the difference between the current perceived Euler angle and the previously acquired perceived Euler angle can be used to obtain the change in the current perceived Euler angle. This value, combined with the inertia of the perceived angle change calculated at the previous moment, can then be used to determine the inertia of the perceived angle change at the current moment. Optionally, step S122, determining the inertia of the perceived angle change at the current moment based on the current perceived Euler angle change, the historical inertia of the perceived angle change at the previous moment, and a preset attenuation coefficient, includes: P i new =P i old ×D i + ; Among them, P i new P represents the change in perceived angle at the current moment, which is the moment of inertia. i old D represents the change in perceived angle at the previous moment, which is the moment of inertia. i This represents the preset attenuation coefficient. This represents the change in the perceived Euler angle at the current moment. The preset attenuation coefficient is constant and can be adjusted empirically. It controls the influence weight of the inertia of the perceived angle change at the previous moment, thus having a certain low-pass filtering effect.

[0027] Furthermore, based on the calculated change in the haptic Euler angle and the inertia of the change in the haptic angle at the current moment, combined with the initial angle of the body joint, attitude adjustment parameters such as the position loop proportional coefficient, the position loop limit, and the target angle of the body can be determined, so as to adjust the attitude of the target gimbal accordingly.

[0028] In an alternative implementation, such as Figure 3As shown, step S13, determining the position loop scaling factor, position loop limit, and target angle of the aircraft based on the current change in the perceived Euler angle, the inertia of the perceived angle change, and the initial angle of the body joints, includes steps S131 to S134, the specific contents of which are as follows: S131. Calculate the nonlinear parameters based on the change in the perceived Euler angle at the current moment. The nonlinear parameters include the position loop proportional coefficient change coefficient, the position loop limiting coefficient change coefficient, and the target angle change coefficient. S132. Determine the target magnification factor based on the current change in the perceived angle, inertia, and the preset scaling threshold. S133. Determine the position loop proportional coefficient and the position loop limiting coefficient based on the target magnification factor, the position loop proportional coefficient variation coefficient, and the position loop limiting coefficient variation coefficient. S134. Determine the target angle of the machine body based on the target angle change coefficient, the deviation of the current perceived Euler angle from the initial angle, and the initial angle of the machine body joint angle.

[0029] The nonlinear parameters can be calculated using nonlinear functions, and may also include other commonly used control parameters, which can be obtained using any existing calculation method. In this embodiment, the position loop proportional coefficient (P in PID control) variation coefficient, the position loop amplitude limiting variation coefficient, and the target angle variation coefficient can be calculated using the following formulas: ; Where i represents the corresponding target axis, kp_coe i The variable represents the position loop scaling factor, kp_offset represents the preset position loop scaling factor offset, kp_amplitude represents the preset position loop scaling factor gain amplitude, kp_slope represents the preset position loop scaling factor slope, and plimit_coe represents the position loop scaling factor slope. i The parameter represents the position loop limiting variation coefficient, plimit_offset represents the preset position loop limiting offset, plimit_amplitude represents the preset position loop limiting gain amplitude, plimit_slope represents the preset position loop limiting slope, and angle_aim_coe represents the angle-to-angle ratio. i This represents the target angle variation coefficient, angle_aim_offset represents the preset target angle offset, angle_aim_amplitude represents the preset target angle gain amplitude, and angle_aim_slope represents the preset target angle slope. The offset, gain amplitude, and slope are constants and can be adjusted according to actual conditions to improve control performance.

[0030] After obtaining the inertia of the perceived angle change at the current moment, the target magnification factor for the position loop scaling factor and position loop limiting can be calculated based on this inertia. Then, the position loop scaling factor and position loop limiting can be calculated by combining the obtained position loop scaling factor change coefficient and position loop limiting change coefficient. Optionally, S132, determining the target magnification factor based on the perceived angle change inertia at the current moment and the preset scaling threshold includes: S i =P i new / T i ; Among them, S i T represents the target magnification factor. i P represents the preset scaling threshold. i new Inertia represents the change in perceived angle at the current moment. S133. Determining the position loop scaling factor and position loop limiting based on the target magnification factor, the position loop scaling factor variation coefficient, and the position loop limiting factor variation coefficient includes: kp i =kp_coe i ×S i ; plimit i =plimit_coe i ×S i ; Among them, kp i kp_coe represents the position ring scaling factor. i plimit represents the coefficient of change of the position ring proportionality coefficient. i plimit_coe indicates the position ring limiting. i This represents the position ring limiting variation coefficient.

[0031] On the other hand, after obtaining the target angle change coefficient and the change in the perceived Euler angle at the current moment, the target angle of the machine can also be determined based on these two factors. Optionally, S134, determining the target angle of the machine based on the target angle change coefficient, the deviation of the perceived Euler angle from the initial angle at the current moment, and the initial angle of the machine's joint angle includes: angle_aim i =angle_aim_coe i × +angle_init i ; Among them, angle_aim i Indicates the target angle of the machine body, angle_aim_coe iThis represents the target angle variation coefficient. Indicates the deviation of the perceived Euler angles from the initial angles at the current moment, angle_init i This represents the initial angle of the joint of the machine body. Furthermore, based on the obtained position loop scaling factor, position loop limit, and target angle of the machine body, as well as other commonly used parameters, the attitude of the target gimbal can be adjusted. The above process needs to be repeated at preset intervals to adjust the gimbal attitude in real time and ensure stable operation of the gimbal.

[0032] Based on the above technical solutions, alternatives include, for example... Figure 4 As shown, after step S11, which obtains the current haptic Euler angle of the target gimbal, the method further includes steps S151 to S153, the specific contents of which are as follows: S151. Obtain the current joint angle of the target gimbal; S152. Determine the first angle difference between the current perceived Euler angle and the initial perceived Euler angle, and the second angle difference between the current body joint angle and the initial body joint angle. S153. If the absolute value of the difference between the first angle difference and the second angle difference is less than a preset first threshold, or the change in the haptic Euler angle is less than a preset second threshold, then the attitude of the target gimbal will not be controlled.

[0033] Specifically, the initial haptic angles and initial joint angles can be determined when the user starts using the target gimbal. Alternatively, the target gimbal can be set to specific initial haptic angles and joint angles using the reset function. Then, during each real-time adjustment, the first angle difference between the current haptic angle and the initial haptic angle, and the second angle difference between the current joint angle and the initial joint angle, can be calculated. If the absolute value of the difference between the first and second angle differences is less than a preset first threshold, the attitude of the target gimbal is not controlled; or if the first angle difference is less than a preset second threshold, the attitude of the target gimbal is not controlled, thus ensuring the stability of the gimbal's operation.

[0034] Furthermore, for multi-axis gimbals, each axis needs to be assessed separately. If the absolute value of the difference between the first and second angle differences of one axis is less than a preset first threshold, or the first angle difference is less than a preset second threshold, then the attitude of that axis will not be adjusted. However, if the absolute value of the difference between the first and second angle differences of another axis is greater than or equal to the preset first threshold, and the first angle difference is greater than or equal to the preset second threshold, then the attitude of that axis will be adjusted.

[0035] Based on the above technical solution, optionally, before adjusting the attitude of the target gimbal according to the position loop proportional coefficient, the position loop limiting, and the target angle of the body in step S14, the method further includes: performing a first-order low-pass filter on the target angle of the body, the filtering formula being: θ fi new =θ fi old -α i ×(θ fi old -θ raw_i ); Where, θ fi new θ represents the filtered target angle of the machine body. fi old α represents the filtered historical target angle of the machine body at the previous moment. i Represents the filter coefficients, θ raw_i This represents the target angle of the aircraft before filtering, i.e., the value obtained from sampling and calculation at the current moment. Filtering can smooth the data and reduce noise, thereby further improving control smoothness and stability.

[0036] The technical solution provided by this invention first obtains the current haptic Euler angle, then combines it with the previous haptic Euler angle and the haptic angle change inertia to determine the current haptic Euler angle change and haptic angle change inertia. Next, based on the obtained current haptic Euler angle change and haptic angle change inertia, and combined with the initial angle of the body joints, the position loop proportional coefficient, position loop limit, and target body angle are determined. Thus, the attitude of the target gimbal is adjusted according to the obtained position loop proportional coefficient, position loop limit, and target body angle. By redetermining the position loop proportional coefficient and position loop limit based on the haptic angle change inertia, the response speed and maximum response speed of the gimbal attitude adjustment are improved, thereby achieving smooth haptic control of the gimbal. Even in violent movements or complex environments, the gimbal can maintain stable operation, achieving high-precision shooting control, effectively avoiding image shake, and providing users with stable and clear shooting images, meeting the high-quality needs of professional shooting and daily recording.

[0037] Example 2 Figure 5 This is a schematic diagram of the structure of a two-axis gimbal motion control device provided in Embodiment 2 of the present invention. This device can be implemented in hardware and / or software, and is generally integrated into a gimbal controller to execute the two-axis gimbal motion control method provided in any embodiment of the present invention. Figure 5 As shown, the device includes: The motion sensing Euler angle acquisition module 21 is used to acquire the motion sensing Euler angle of the target gimbal at the current moment; The 22 module for determining the change in tactile angle is used to determine the change in tactile angle and the change in inertia of tactile angle at the current moment based on the tactile Euler angle at the previous moment, the tactile Euler angle at the previous moment, and the change in tactile angle inertia at the previous moment. The parameter determination module 23 is used to determine the position loop proportional coefficient, position loop limit and target angle of the body based on the change in the somatosensory Euler angle and the inertia of the change in somatosensory angle at the current moment, and the initial angle of the body joint angle; The attitude adjustment module 24 is used to adjust the attitude of the target gimbal according to the position ring proportional coefficient, the position ring amplitude limit and the target angle of the body.

[0038] The technical solution provided by this invention first obtains the current haptic Euler angle, then combines it with the previous haptic Euler angle and the haptic angle change inertia to determine the current haptic Euler angle change and haptic angle change inertia. Next, based on the obtained current haptic Euler angle change and haptic angle change inertia, and combined with the initial angle of the body joints, the position loop proportional coefficient, position loop limit, and target body angle are determined. Thus, the attitude of the target gimbal is adjusted according to the obtained position loop proportional coefficient, position loop limit, and target body angle. By redetermining the position loop proportional coefficient and position loop limit based on the haptic angle change inertia, the response speed and maximum response speed of the gimbal attitude adjustment are improved, thereby achieving smooth haptic control of the gimbal. Even in violent movements or complex environments, the gimbal can maintain stable operation, achieving high-precision shooting control, effectively avoiding image shake, and providing users with stable and clear shooting images, meeting the high-quality needs of professional shooting and daily recording.

[0039] Based on the above technical solution, optionally, the somatosensory change determination module 22 is specifically used for: The change in the current haptic Euler angle is determined based on the historical haptic Euler angle from the previous moment and the current haptic Euler angle. The inertia of the perceived angle change at the current moment is determined based on the change in the perceived Euler angle at the current moment, the historical change in the perceived angle at the previous moment, and the preset attenuation coefficient.

[0040] Based on the above technical solution, optionally, determining the inertia of the perceived angle change at the current moment based on the change in Euler angle at the current moment, the historical change in inertia of the perceived angle at the previous moment, and a preset attenuation coefficient includes: P i new =Pi old ×D i + ; Among them, P i new P represents the change in perceived angle at the current moment, which is the moment of inertia. i old D represents the change in perceived angle at the previous moment, which is the moment of inertia. i This represents the preset attenuation coefficient. This represents the change in the perceived Euler angle at the current moment.

[0041] Based on the above technical solution, optionally, the parameter determination module 23 is specifically used for: The nonlinear parameters are calculated based on the change in the perceived Euler angle at the current moment. The nonlinear parameters include the position loop proportional coefficient change coefficient, the position loop limiting coefficient change coefficient, and the target angle change coefficient. The target magnification factor is determined based on the change in inertia of the perceived angle at the current moment and the preset scaling threshold. The position loop scaling factor and the position loop limiting factor are determined based on the target magnification factor, the position loop scaling factor variation factor, and the position loop limiting factor variation factor. The target angle of the machine is determined based on the target angle change coefficient, the deviation of the perceived Euler angle from the initial angle at the current moment, and the initial angle of the machine's joint angle.

[0042] Based on the above technical solution, optionally, determining the target magnification factor based on the current perceived angle change inertia and the preset scaling threshold includes: S i =P i new / T i ; Among them, S i T represents the target magnification factor. i P represents the preset scaling threshold. i new Inertia represents the change in perceived angle at the current moment. The step of determining the position loop scaling factor and position loop limiting based on the target magnification factor, the position loop scaling factor variation factor, and the position loop limiting factor variation factor includes: kp i =kp_coe i ×S i ; plimit i =plimit_coe i ×S i ; Among them, kp i kp_coe represents the position ring scaling factor. i plimit represents the coefficient of change of the position ring proportionality coefficient. i plimit_coe indicates the position ring limiting. i This represents the position ring limiting variation coefficient.

[0043] Based on the above technical solution, optionally, determining the target angle of the machine body according to the target angle change coefficient, the deviation of the current perceived Euler angle from the initial angle, and the initial angle of the machine body joint angle includes: angle_aim i =angle_aim_coe i × +angle_init i ; Among them, angle_aim i Indicates the target angle of the machine body, angle_aim_coe i This represents the target angle variation coefficient. Indicates the deviation of the perceived Euler angles from the initial angles at the current moment, angle_init i This indicates the initial angle of the joint of the machine body.

[0044] Based on the above technical solution, optionally, the device further includes: The body angle acquisition module is used to acquire the body joint angle of the target gimbal at the current moment; The angle difference determination module is used to determine the first angle difference between the current perceived Euler angle and the initial perceived Euler angle, and the second angle difference between the current body joint angle and the initial body joint angle. The adjustment judgment module is used to determine whether the attitude of the target gimbal is not controlled if the absolute value of the difference between the first angle difference and the second angle difference is less than a preset first threshold, or the change in the haptic Euler angle is less than a preset second threshold.

[0045] Based on the above technical solution, optionally, the device further includes: The filtering module is used to perform a first-order low-pass filter on the target gimbal angle before adjusting the attitude of the target gimbal according to the position loop scaling factor, the position loop limiting factor, and the target angle of the gimbal. The filtering formula is as follows: θ fi new =θ fi old -α i×(θ fi old -θ raw_i ); Where, θ fi new θ represents the filtered target angle of the machine body. fi old α represents the filtered historical target angle of the machine body at the previous moment. i Represents the filter coefficients, θ raw_i This indicates the target angle of the machine body before filtering.

[0046] The two-axis gimbal motion control device provided in this embodiment of the invention can execute the two-axis gimbal motion control method provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.

[0047] It is worth noting that in the above embodiments of the two-axis gimbal motion control device, the various units and modules included are only divided according to functional logic, but are not limited to the above division, as long as the corresponding functions can be achieved; in addition, the specific names of each functional unit are only for easy differentiation and are not used to limit the scope of protection of the present invention.

[0048] Example 3 Figure 6 This is a schematic diagram of the structure of a gimbal controller provided in Embodiment 3 of the present invention, showing a block diagram of an exemplary gimbal controller suitable for implementing the embodiments of the present invention. Figure 6 The pan-tilt controller shown is merely an example and should not be construed as limiting the functionality or scope of the embodiments of the present invention. Figure 6 As shown, the gimbal controller includes a processor 31, a memory 32, an input device 33, and an output device 34; the number of processors 31 in the gimbal controller can be one or more. Figure 6 Taking a processor 31 as an example, the processor 31, memory 32, input device 33, and output device 34 in the gimbal controller can be connected via a bus or other means. Figure 6 Taking the example of a connection between China and Israel via a bus.

[0049] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the two-axis gimbal motion control method in this embodiment of the invention (e.g., the motion Euler angle acquisition module 21, motion change determination module 22, adjustment parameter determination module 23, and attitude adjustment module 24 in the two-axis gimbal motion control device). The processor 31 executes various functional applications and data processing of the gimbal controller by running the software programs, instructions, and modules stored in the memory 32, thereby realizing the above-described two-axis gimbal motion control method.

[0050] The memory 32 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and at least one application program required for a given function; the data storage area may store data created based on the use of the PTZ controller. Furthermore, the memory 32 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory, or other non-volatile solid-state storage device. In some instances, the memory 32 may further include memory remotely configured relative to the processor 31, which can be connected to the PTZ controller via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0051] Input device 33 can be used to collect various sensor parameters of the gimbal, and generate key signal inputs related to user settings and function control of the gimbal controller. Output device 34 can be used to control the gimbal structure, etc.

[0052] Example 4 Embodiment 4 of the present invention also provides a storage medium containing computer-executable instructions, which, when executed by a computer processor, are used to perform a two-axis gimbal motion control method, the method comprising: Obtain the current motion-sensing Euler angle of the target gimbal; The change in the perceived Euler angle and the change in inertia of the perceived angle at the current moment are determined based on the perceived Euler angle at the previous moment, the perceived Euler angle at the previous moment, and the change in inertia of the perceived angle at the previous moment. The position loop scaling factor, position loop limit, and target angle of the body are determined based on the change in the perceived Euler angle and the inertia of the perceived angle change at the current moment, as well as the initial angle of the body joints. The attitude of the target gimbal is adjusted based on the position ring proportional coefficient, the position ring amplitude limit, and the target angle of the machine body.

[0053] Storage media can be any type of memory device or storage device. The term "storage media" is intended to include: mounting media, such as CD-ROMs, floppy disks, or magnetic tape devices; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (e.g., hard disks or optical storage); registers or other similar types of memory elements. Storage media may also include other types of memory or combinations thereof. Furthermore, storage media may reside in a computer system in which the program is executed, or may reside in a different second computer system connected to the computer system via a network (such as the Internet). The second computer system can provide program instructions to the computer for execution. The term "storage media" can include two or more storage media that may reside in different locations (e.g., in different computer systems connected via a network). Storage media may store program instructions (e.g., specifically implemented as a computer program) that can be executed by one or more processors.

[0054] Of course, the computer-executable instructions provided in the embodiments of the present invention are not limited to the method operations described above, but can also perform related operations in the two-axis gimbal motion control method provided in any embodiment of the present invention.

[0055] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0056] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF, etc., or any suitable combination thereof.

[0057] Based on the above description of the implementation methods, those skilled in the art can clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods described in the various embodiments of the present invention.

[0058] Example 5 Embodiment 5 of the present invention also provides a computer program product, which includes a computer program (also referred to as code or instructions). The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, it is used to execute the two-axis gimbal motion control method provided in any of the above embodiments, and has the corresponding beneficial effects of the execution method.

[0059] Note that the above description is merely a preferred embodiment of the present invention and the technical principles employed. Those skilled in the art will understand that the present invention is not limited to the specific embodiments described herein, and various obvious changes, readjustments, and substitutions can be made without departing from the scope of protection of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments, and may include many other equivalent embodiments without departing from the concept of the present invention, the scope of which is determined by the scope of the appended claims.

Claims

1. A two-axis gimbal motion control method, characterized in that, include: Obtain the current motion-sensing Euler angle of the target gimbal; The change in the perceived Euler angle and the change in inertia of the perceived angle at the current moment are determined based on the perceived Euler angle at the previous moment, the perceived Euler angle at the previous moment, and the change in inertia of the perceived angle at the previous moment. The position loop scaling factor, position loop limit, and target angle of the body are determined based on the change in the perceived Euler angle and the inertia of the perceived angle change at the current moment, as well as the initial angle of the body joints. The attitude of the target gimbal is adjusted based on the position ring proportional coefficient, the position ring amplitude limit, and the target angle of the machine body.

2. The two-axis gimbal motion control method according to claim 1, characterized in that, The process of determining the change in the perceived Euler angle and the change in inertia of the perceived angle at the current moment based on the perceived Euler angle at the previous moment and the change in the perceived angle at the previous moment includes: The change in the current haptic Euler angle is determined based on the historical haptic Euler angle from the previous moment and the current haptic Euler angle. The inertia of the perceived angle change at the current moment is determined based on the change in the perceived Euler angle at the current moment, the historical change in the perceived angle at the previous moment, and the preset attenuation coefficient.

3. The two-axis gimbal motion control method according to claim 2, characterized in that, The step of determining the inertia of the perceived angle change at the current moment based on the change in Euler angle at the current moment, the historical change in inertia of the perceived angle at the previous moment, and a preset attenuation coefficient includes: P i new =P i old ×D i + ; Among them, P i new P represents the change in perceived angle at the current moment, which is the moment of inertia. i old D represents the change in perceived angle at the previous moment, which is the moment of inertia. i This represents the preset attenuation coefficient. This represents the change in the perceived Euler angle at the current moment.

4. The two-axis gimbal motion control method according to claim 1, characterized in that, The process of determining the position loop scaling factor, position loop limit, and target angle of the aircraft based on the current change in the perceived Euler angle, the inertia of the perceived angle change, and the initial angle of the body joints includes: The nonlinear parameters are calculated based on the change in the perceived Euler angle at the current moment. The nonlinear parameters include the position loop proportional coefficient change coefficient, the position loop limiting coefficient change coefficient, and the target angle change coefficient. The target magnification factor is determined based on the change in inertia of the perceived angle at the current moment and the preset scaling threshold. The position loop scaling factor and the position loop limiting factor are determined based on the target magnification factor, the position loop scaling factor variation factor, and the position loop limiting factor variation factor. The target angle of the machine is determined based on the target angle change coefficient, the deviation of the perceived Euler angle from the initial angle at the current moment, and the initial angle of the machine's joint angle.

5. The two-axis gimbal motion control method according to claim 4, characterized in that, The process of determining the target magnification factor based on the current perceived angle change inertia and a preset scaling threshold includes: S i =P i new / T i ; Among them, S i T represents the target magnification factor. i P represents the preset scaling threshold. i new Inertia represents the change in perceived angle at the current moment. The step of determining the position loop scaling factor and position loop limiting based on the target magnification factor, the position loop scaling factor variation factor, and the position loop limiting factor variation factor includes: kp i =kp_coe i ×S i ; plimit i =plimit_coe i ×S i ; Among them, kp i kp_coe represents the position ring scaling factor. i plimit represents the coefficient of change of the position ring proportionality coefficient. i plimit_coe indicates the position ring limiting. i This represents the position ring limiting variation coefficient.

6. The two-axis gimbal motion control method according to claim 4, characterized in that, The process of determining the target angle of the machine based on the target angle change coefficient, the deviation of the current perceived Euler angle from the initial angle, and the initial angle of the machine's joint angles includes: angle_aim i =angle_aim_coe i × +angle_init i ; Among them, angle_aim i Indicates the target angle of the machine body, angle_aim_coe i This represents the target angle variation coefficient. Indicates the deviation of the perceived Euler angles from the initial angles at the current moment, angle_init i This indicates the initial angle of the joint of the machine body.

7. The two-axis gimbal motion control method according to claim 1, characterized in that, The method further includes: Obtain the current joint angle of the target gimbal; Determine the first angle difference between the current perceived Euler angle and the initial perceived Euler angle, and the second angle difference between the current body joint angle and the initial body joint angle; If the absolute value of the difference between the first angle difference and the second angle difference is less than a preset first threshold, or the change in the haptic Euler angle is less than a preset second threshold, then the attitude of the target gimbal will not be controlled.

8. The two-axis gimbal motion control method according to claim 1, characterized in that, Before adjusting the attitude of the target gimbal based on the position loop scaling factor, the position loop limiting factor, and the target angle of the aircraft, the method further includes: The target angle of the machine body is subjected to a first-order low-pass filter, and the filtering formula is as follows: i fi new =θ fi old -a i ×(θ fi old -θ raw_i ); Where, θ fi new θ represents the filtered target angle of the machine body. fi old α represents the filtered historical target angle of the machine body at the previous moment. i Represents the filter coefficients, θ raw_i This indicates the target angle of the machine body before filtering.

9. A two-axis gimbal motion control device, characterized in that, include: The motion-sensing Euler angle acquisition module is used to acquire the motion-sensing Euler angle of the target gimbal at the current moment; The module for determining the amount of change in body angle is used to determine the amount of change in body angle and the amount of change in body angle inertia at the current moment based on the body angle at the current moment, the body angle at the previous moment, and the amount of change in body angle inertia at the previous moment. The parameter determination module is used to determine the position loop proportional coefficient, position loop limit, and target angle of the body based on the change in the perceived Euler angle and the inertia of the change in the perceived angle at the current moment, as well as the initial angle of the body joint. The attitude adjustment module is used to adjust the attitude of the target gimbal based on the position ring proportional coefficient, the position ring amplitude limit, and the target angle of the body.

10. A gimbal controller, characterized in that, include: One or more processors; Memory, used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the two-axis gimbal motion control method as described in any one of claims 1-8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that, When executed by the processor, the program implements the two-axis gimbal motion control method as described in any one of claims 1-8.

12. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the two-axis gimbal motion control method as described in any one of claims 1-8.

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