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WO2020215302A1 - Procédé de commande de cardan et plateforme mobile - Google Patents

Procédé de commande de cardan et plateforme mobile Download PDF

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Publication number
WO2020215302A1
WO2020215302A1 PCT/CN2019/084482 CN2019084482W WO2020215302A1 WO 2020215302 A1 WO2020215302 A1 WO 2020215302A1 CN 2019084482 W CN2019084482 W CN 2019084482W WO 2020215302 A1 WO2020215302 A1 WO 2020215302A1
Authority
WO
WIPO (PCT)
Prior art keywords
pan
tilt
mobile platform
rotation
attack
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/CN2019/084482
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English (en)
Chinese (zh)
Inventor
刘帅
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
SZ DJI Technology Co Ltd
Original Assignee
SZ DJI Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by SZ DJI Technology Co Ltd filed Critical SZ DJI Technology Co Ltd
Priority to PCT/CN2019/084482 priority Critical patent/WO2020215302A1/fr
Priority to CN201980008902.0A priority patent/CN111656764B/zh
Publication of WO2020215302A1 publication Critical patent/WO2020215302A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules
    • H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63F—CARD, BOARD, OR ROULETTE GAMES; INDOOR GAMES USING SMALL MOVING PLAYING BODIES; VIDEO GAMES; GAMES NOT OTHERWISE PROVIDED FOR
    • A63F9/00—Games not otherwise provided for
    • A63F9/02—Shooting or hurling games
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00—Self-movable toy figures
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
    • H04N23/60—Control of cameras or camera modules

Definitions

  • the invention relates to the field of pan-tilt control, in particular to a method and a mobile platform for pan-tilt control.
  • the attacking robot on the playing field is equipped with a pan-tilt. After the attacking robot is attacked, the attacking robot usually controls the lighting effect of the indicator light on the attacking robot to indicate that the attacking robot is under attack. If the camera does not capture the indicator light, players and viewers cannot know whether the attacking robot is attacked or not; in addition, in robot education, the programming method for controlling the indicator light is relatively simple, which does not meet the teaching purpose; attacking robots need to add indicator lights Modules increase the cost.
  • the invention provides a pan-tilt control method and a mobile platform.
  • the present invention is implemented through the following technical solutions:
  • a pan/tilt control method applied to a first mobile platform including a fuselage and a pan/tilt mounted on the fuselage, the method including:
  • controlling the rotation of the pan-tilt to indicate that the first mobile platform is under the attack controlling the rotation of the pan-tilt to indicate that the first mobile platform is under the attack.
  • a mobile platform comprising:
  • One or more processors the one or more processors are electrically connected to the pan-tilt, and the one or more processors are individually or collectively configured to:
  • control the rotation of the pan-tilt to indicate that the mobile platform is under the attack.
  • the mobile platform of the present invention controls the rotation of the pan/tilt according to the parameter information of the attack. Since the rotation of the pan/tilt can be directly installed on the camera (the pan/tilt of the mobile platform) (Or site installation) is reflected in the captured images or is directly felt by the user’s vision, so the images captured by the camera can be visually displayed or through the user’s direct visual senses to determine whether the mobile platform has been attacked, so as to realize the special effects simulation of the mobile platform being hit ; Moreover, the process of controlling the rotation of the pan/tilt according to the parameter information of the attack is more interesting and the implementation of the program is relatively complicated, which can guide the user to learn programming and meet the needs of robot education; the pan/tilt control method of the present invention is suitable for competitive competitions , Robot education and other fields.
  • FIG. 1 is a method flowchart of a pan-tilt control method in an embodiment of the present invention
  • FIG. 2 is a method flowchart of a pan-tilt control method in another embodiment of the present invention.
  • FIG. 3A is a method flowchart of a pan/tilt control method in an embodiment of the present invention, which discloses an implementation manner of controlling the rotation of the pan/tilt according to at least one of a rotation amplitude and an initial rotation direction;
  • 3B is a method flowchart of a pan/tilt control method in an embodiment of the present invention, which discloses another implementation manner of controlling the rotation of the pan/tilt according to at least one of a rotation amplitude and an initial rotation direction;
  • FIG. 4 is a method flow chart of the pan/tilt control method in an embodiment of the present invention, which discloses another implementation manner of controlling the rotation of the pan/tilt according to at least one of the rotation amplitude and the initial rotation direction;
  • FIG. 5A is a schematic diagram of the positional relationship of the pan-tilt during a special effect simulation of an attack in an embodiment of the present invention
  • FIG. 5B is a schematic diagram of the positional relationship of the pan-tilt during a special effect simulation of an attack in another embodiment of the present invention.
  • FIG. 6 is a method flowchart of a pan-tilt control method in another embodiment of the present invention.
  • FIG. 7 is a method flowchart of a pan-tilt control method in still another embodiment of the present invention.
  • Figure 8 is a schematic structural diagram of a mobile platform in an embodiment of the present invention.
  • Fig. 9 is a structural block diagram of a mobile platform in an embodiment of the present invention.
  • the two sides will attack each other, and the result of the game will be determined according to the result of the attack.
  • the two sides of the competition can attack each other in contact mode or non-contact mode; among them, the contact mode can include projectile launch attack, and the non-contact mode can include light launch attack, such as infrared light launch attack.
  • the competition object usually chooses a mobile platform, and the mobile platform has a PTZ.
  • the mobile platform of the present invention controls the rotation of the pan/tilt according to the parameter information of the attack. Because the rotation of the pan/tilt can be directly reflected in the image taken by the camera (installed on other mobile platforms or on the venue) or by The user’s vision is directly felt, so the image taken by the camera can be visually displayed or through the user’s direct visual senses to determine whether the mobile platform is attacked, so as to realize the special effect simulation of the mobile platform being hit; and control the PTZ according to the attack parameter information
  • the process of turning is more interesting and the program implementation is more complicated, which can guide users to perform programming learning and meet the needs of robot education; the pan/tilt control method of the present invention is suitable for fields such as competitive competitions and robot education.
  • the pan/tilt control method of the embodiment of the present invention is applied to a first mobile platform.
  • the first mobile platform may include a fuselage and a pan/tilt mounted on the fuselage.
  • the pan/tilt may be a single-axis pan/tilt or a three-axis pan/tilt. Axis PTZ, etc.
  • a mobile platform with a fuselage and a pan/tilt mounted on the fuselage is called the first mobile platform.
  • Fig. 1 is a method flowchart of a pan-tilt control method in an embodiment of the present invention. As shown in Fig. 1, the PTZ control method may include the following steps:
  • the attack detection method is determined according to the specific attack method.
  • the attack method is a contact attack, such as a projectile attack.
  • the fuselage and/or the pan/tilt are equipped with armor, and the armor can sense external attacks.
  • Armor can be set at one or more positions of the first movable platform according to actual needs.
  • the armour can be set on the left, right, front, right and/or other positions of the fuselage.
  • the armor can be placed on the left, right and/or other positions of the gimbal.
  • the attack method is a non-contact attack, such as a light emission attack.
  • an infrared receiver is provided on the fuselage or the pan/tilt.
  • the infrared receiver can be installed on the outer frame of the fuselage to facilitate the detection of infrared light sent by another mobile platform, thereby sensing external attacks.
  • the infrared receiver can receive the infrared light sent by another mobile platform at 360 degrees and detect all-round attacks.
  • the attack in this step may include external attacks on different positions of the first mobile platform.
  • detecting that the first mobile platform is attacked by external may include: detecting that the fuselage is attacked by external .
  • the attack on the fuselage may include attacks on at least one of the left, right, front, and rear sides of the fuselage. It can be understood that the attack on the fuselage may also include attacks from other positions of the fuselage.
  • detecting that the first mobile platform is subject to an external attack may further include: detecting that the PTZ is subject to an external attack.
  • the attack on the pan/tilt may include attacks on at least one of the left and right sides of the pan/tilt. It can be understood that the attacks on the PTZ may also include attacks from other locations of the PTZ.
  • the parameter information may include at least one of the following: intensity, azimuth information, and acting position.
  • the intensity may include the intensity of the attack on the fuselage and/or the PTZ.
  • the location information may include the direction of the source of the attack, or the direction of the force that the attack acts on the first mobile platform, or is used to indicate the location of the attack.
  • the action position may include the specific position of the attack on the fuselage and/or the specific position of the attack on the pan/tilt.
  • the fuselage of the first mobile platform may also be provided with a launching device (500 in Figure 8).
  • the first mobile platform can attack other mobile platforms through the launching device.
  • the launching device can be a projectile launching device or
  • the light emitting device (such as an infrared light emitting device), of course, the emitting device can also be of other types.
  • the launching device is arranged on the pan-tilt, and the direction of the launching device is controlled by controlling the rotation of the pan-tilt, so as to achieve an attack on the target.
  • the pan-tilt has a camera function or the pan-tilt is equipped with a camera (400 in Figure 8).
  • the image taken by the pan-tilt or the camera-mounted camera can present the first mobile platform.
  • the rotation of the pan/tilt is performed by the simulation of the special effects of the attack; optionally, the process of controlling the rotation of the pan/tilt according to the attack of the first mobile platform can also be intuitively felt by the user through the rotation of the pan/tilt.
  • the first mobile platform Since the first mobile platform is in the working state (such as the operating state corresponding to target recognition), it will also control the rotation of the pan-tilt to obtain an image, which can be used to determine the real-time position of the first mobile platform, and can also be used to determine the first movement Whether the platform recognizes the specified target, of course, the image obtained by the PTZ can also have other functions.
  • the PTZ rotation when the first mobile platform is attacked can be set to be different from that when the first mobile platform is working.
  • the pan/tilt rotates in the state
  • set the pan/tilt rotation when the first mobile platform is attacked to the pan/tilt shaking mode, and the corresponding image obtained by the camera installed on the pan/tilt of the first mobile platform will also show a shaking effect, so that the pan/tilt mount is installed
  • the display effect of the image taken by the shooting device can realize the special effects simulation of the attack on the first mobile platform;
  • the shooting device installed in the competition field can shoot the image of the first mobile platform, and the image can directly reflect the shaking of the head Whether the pan/tilt shakes in the image is used to determine whether the first mobile platform is under attack; the effect of pan/tilt shaking can also be intuitively experienced by the user, that is, the user can judge whether the first mobile platform is
  • the implementation of S102 may include multiple ways. In the following, the control of the pan-tilt rotation according to the parameter information in S102 will be described in detail through the embodiment corresponding to FIG. 2.
  • the implementation process of S102 may include:
  • S201 Determine at least one of the rotation range of the pan/tilt and the initial rotation direction of the pan/tilt according to the parameter information
  • the rotation amplitude is determined according to the strength, that is, the rotation amplitude of the pan-tilt rotation is determined according to the strength of the external attack received by the first mobile platform, so as to simulate the first mobile platform's rotation amplitude.
  • the rotation amplitude is positively correlated with the strength, that is, the greater the strength of the external attack on the first mobile platform, the greater the rotation amplitude determined in S201.
  • the rotation amplitude is determined based on the position of action. For example, when the acting position is on the fuselage and/or on the pan/tilt, and when the acting position is on the pan/tilt, the corresponding rotation amplitude is different from that when the acting position is on the fuselage. Simulate the location of the attack on the first mobile platform.
  • the corresponding rotation amplitude is greater than when the acting position is on the fuselage. Furthermore, when the acting position is on the pan/tilt, the corresponding rotation amplitude is in multiples with the acting position on the fuselage, and the multiple is an integer and greater than 1. If the acting position is on the pan/tilt, the corresponding The rotation amplitude of is twice the corresponding rotation when the acting position is on the fuselage.
  • the fuselage includes a plurality of hit surfaces, wherein the action positions on at least two hit surfaces have different rotation amplitudes.
  • the attack surface includes the left, right, front and right sides of the fuselage. When the left side of the fuselage is attacked, the corresponding rotation amplitude is greater than when the right side of the fuselage is attacked, and/or When the front side of the fuselage is attacked, the corresponding rotation amplitude is greater than that when the rear side of the fuselage is attacked.
  • the rotation amplitude is determined according to the strength of the attack and the attack position.
  • the rotation amplitude is positively correlated with the strength, and when the position is on the pan/tilt, the corresponding rotation amplitude is different from
  • the corresponding rotation amplitude can be used to simulate the intensity and action position of the attack on the first mobile platform by controlling the rotation amplitude of the pan-tilt.
  • the initial rotation direction is determined according to at least one of the azimuth information and the acting position, and the direction of the attack on the first mobile platform is simulated by controlling the initial rotation direction of the pan/tilt. It should be noted that, in the embodiment of the present invention, the initial rotation direction is that after the first mobile platform is attacked by the outside, the direction of rotation of the pan/tilt head is controlled according to the parameter information of the attack.
  • the azimuth information is the source direction of the attack, and the initial rotation direction is opposite to the source direction of the attack.
  • the attack is an attack on the second mobile platform located on the left side of the first mobile platform, that is, the source direction of the attack is the left side of the first mobile platform, and the initial rotation direction is to the right, that is, the first mobile platform is affected by the first mobile platform.
  • the second mobile platform on the left side of the platform will control the gimbal to rotate to the right.
  • the azimuth information is the direction of the attacking force acting on the first mobile platform
  • the initial rotation direction is the same as the direction of the attacking force acting on the first mobile platform.
  • the direction of the attack force acting on the first mobile platform is left
  • the initial rotation direction is left, that is, after the first mobile platform is attacked by the force direction to the left, it will control the pan/tilt to rotate to the left.
  • the location information is used to indicate the location of the attack.
  • the initial rotation direction is right; or when the active position is the pan/tilt or the right side of the fuselage, the initial rotation direction is left; or when the active position is the fuselage
  • the left or right initial rotation direction can be realized by the yaw structure of the gimbal
  • the upward or downward rotation direction can be realized by the pitch structure of the gimbal.
  • the method for determining the initial rotation direction according to at least one of the azimuth information and the action position is not limited to the methods listed in the above embodiments.
  • Use other methods Use other methods.
  • S202 Control the pan/tilt to rotate according to at least one of the rotation amplitude and the initial rotation direction.
  • the pan/tilt rotation can be controlled according to the rotation range (that is, the initial rotation direction may not be limited), the rotation of the gimbal can be controlled according to the initial rotation direction (that is, the rotation range can be omitted), and it can also be controlled according to the rotation range and initial rotation direction PTZ rotation, you can choose one of the methods to control the PTZ rotation to realize the special effects simulation of the current attack.
  • the implementation of S202 may include multiple, for example, controlling the pan-tilt to shake a preset number of times, such as one or more times, according to at least one of the rotation amplitude and the initial rotation direction, so as to realize the special effect simulation of the current attack.
  • the amplitude of the pan/tilt's multiple jitters may be a fixed amplitude, such as the rotation amplitude; the amplitude of the pan/tilt's multiple jitters changes according to a preset rule, such as gradually decreasing.
  • the process of controlling the rotation of the pan/tilt may include:
  • S301 Determine the first position according to at least one of the rotation amplitude and the initial rotation direction
  • the method for determining the first position can be selected according to needs.
  • the first position is the position where the pan/tilt is located after the rotation amplitude is rotated around the initial rotation direction, that is, the pan/tilt is received by the first mobile platform.
  • the position of the pan/tilt head rotates around the initial rotation direction after the rotation amplitude.
  • the first position is the position where the pan/tilt head rotates around the preset rotation direction by the amount of rotation, that is, the pan/tilt head rotates around the preset rotation direction from the position when the first mobile platform is attacked by the outside.
  • the preset rotation direction can be set as required.
  • the first position is the position where the pan/tilt is rotated by a preset amplitude around the initial rotation direction, that is, the pan/tilt is rotated by a preset amplitude around the initial rotation direction from the position when the first mobile platform is attacked by the outside.
  • the preset amplitude can be set as required.
  • the position change of the pan-tilt includes: the position of the pan-tilt when the first mobile platform is attacked by the outside -> the first position.
  • the first position is the position where the pan/tilt rotates around the initial rotation direction by the magnitude of the rotation amplitude
  • controlling the pan/tilt to shake once is to control the pan/tilt to rotate around the initial position when the first mobile platform is attacked by the outside.
  • the pan-tilt is rotated around the preset rotation direction from the position when the first mobile platform is attacked by the outside, so that the pan-tilt is in the first position; when the first position is the preset amplitude of the pan-tilt rotation around the initial rotation direction After the position, controlling the pan-tilt to perform a jitter is to control the position of the pan-tilt when the first mobile platform is attacked by the outside by a preset amplitude around the initial rotation direction, so that the pan-tilt is in the first position.
  • the shaking of the pan-tilt will affect the operation of the first mobile platform.
  • the operation of the pan/tilt is affected by the jitter of the pan/tilt, so that the final position of the pan/tilt is the superposition of the desired position and the first position, resulting in the failure of target recognition.
  • the process of controlling the rotation of the pan/tilt may further include:
  • S303 Control the pan/tilt to move from the first position to the reset position of the pan/tilt.
  • step S303 is executed after step S302.
  • the special effects simulation of the current attack is realized by controlling the pan-tilt to shake once.
  • the position change of the pan/tilt includes: the position of the pan/tilt when the first mobile platform is attacked by the outside -> the first position -> the reset position.
  • the special effects simulation of the current attack is realized by controlling the pan-tilt to shake multiple times. For example, if the pan-tilt is controlled to shake twice, the position change of the pan-tilt includes: the position of the pan-tilt when the first mobile platform is attacked by the outside -> first position -> reset position -> first position -> reset position.
  • the gimbal will jitter many times. If the gimbal is always in a static state when the first mobile platform is attacked by an external attack and during the special effect simulation of the current attack, the gimbal will be in a static state for many times.
  • the reset position remains unchanged during the shaking process; if it is detected that the first mobile platform is under an external attack, or during the special effects simulation of the current attack, the pan/tilt is in motion, then the reset position of the pan/tilt during multiple shaking Among them, at least part of the reset position is changed.
  • the reset position can be determined according to the state of the pan-tilt when the first mobile platform is attacked by the outside, so as to meet the actual operating conditions of the pan-tilt. For example, if it is detected that the first mobile platform is under an external attack, and during the special effects simulation of the current attack, the pan/tilt is in a static state, the reset position can include a preset position, such as the position when the pan/tilt is returned to the center. Position; Of course, the reset position can also include the real-time position of the gimbal when the first mobile platform is detected to be attacked by the outside, and the real-time position of the gimbal when the first mobile platform is detected to be attacked by the external Location.
  • the reset position may include the cloud based on the detection of the first mobile platform under the external attack.
  • the position change of the pan-tilt includes: the position of the pan-tilt when the first mobile platform is attacked by the outside -> the first position -> the reset position (may be the first mobile The position of the pan/tilt when the platform is attacked by the outside), that is, the pan/tilt in this implementation mode directly moves from the first position to the reset position.
  • the left side of the fuselage is attacked, first control the magnitude M of the movement of the gimbal to the right around the yaw axis, and then control the magnitude M of the movement of the gimbal to the left around the yaw; the right side of the fuselage is attacked, control first The magnitude of the movement amplitude M of the pan/tilt moving around yaw to the left, and then controlling the magnitude of the movement magnitude M of the pan/tilt moving to the right around yaw.
  • the left side of the gimbal is attacked. First control the gimbal to move to the right by 2M around the yaw axis, and then control the gimbal to move to the left by 2M around the yaw; the right side of the gimbal is attacked, first control the cloud
  • the platform moves around yaw to the left with a magnitude of 2M, and then controls the pan/tilt to move around yaw to the right with a magnitude of 2M.
  • firstly control the pan/tilt to move in the first direction, so that the pan/tilt moves from the first position to the second position; then, control the pan/tilt to move in the second direction so that the pan/tilt moves from the second position.
  • the position moves to the reset position.
  • first direction and the second direction are opposite directions, and the first position and the second position are located on both sides of the reset position.
  • the position change of the pan-tilt includes: the position of the pan-tilt when the first mobile platform is attacked by the outside -> first position -> second position -> reset position
  • the position change of the gimbal includes: the movement of the gimbal when the first mobile platform receives an external attack Position -> first position -> reset position -> second position -> reset position
  • the pan-tilt shaking in this implementation is similar to the movement of a simple pendulum, and the pan-tilt shaking is more in line with the law of natural motion.
  • the first direction needs to be determined according to the direction of rotation of the pan/tilt when the pan/tilt is controlled to rotate to the first position in step S302. Specifically, the first direction is opposite to the direction of rotation of the pan/tilt when the pan/tilt is controlled to rotate to the first position in step S302.
  • the rotation direction of the pan/tilt head when the pan/tilt head is controlled to rotate to the first position in step S302 is the initial rotation direction, and the first direction and the initial rotation direction are opposite directions.
  • the first position and the second position are symmetrically arranged with respect to the reset position. Take, for example, when the first mobile platform is under external attack and during special effects simulation, the pan/tilt is always in a static state.
  • the first position is the position where the pan/tilt is located when the first mobile platform is attacked by the outside after rotating the initial rotation direction by the magnitude of the rotation
  • the second position is the position where the pan/tilt is moved by the first mobile platform.
  • the position at the time of receiving an external attack rotates in a direction opposite to the initial rotation direction after the rotation amplitude.
  • the first position and the second position can also be set asymmetrically, which are specifically set as required.
  • the process of controlling the rotation of the pan/tilt may include:
  • S401 Determine the third position and the fourth position according to at least one of the rotation amplitude and the initial rotation direction;
  • the third position and the first position are the same position, and the fourth position and the second position are the same position.
  • the determination process of the third position please refer to the determination process of the first position and the determination of the fourth position in the above embodiment.
  • the process refer to the process of determining the second position in the foregoing embodiment.
  • the third position and the fourth position may also be other positions.
  • the third position and the fourth position are set symmetrically with respect to the reset position of the pan/tilt. That is, the amplitude of the pan/tilt moving from the reset position to the third position is equal to the amplitude of the pan/tilt moving from the reset position to the fourth position. Moreover, after the last cycle of reciprocating motion, the pan/tilt is in the reset position to prevent the special effects simulation from affecting the operation of the first mobile platform.
  • the pan/tilt may be controlled to make a cycle of reciprocating movement according to the third position and the fourth position, or the pan/tilt may be controlled to make multiple cycles of reciprocating movement according to the third position and the fourth position.
  • the reset position of the pan/tilt in multiple cycles of reciprocating motion is unchanged; optionally, the reset position of the pan/tilt in multiple cycles of reciprocating motion is variable.
  • the process of determining the reset position in step S402 is similar to the process of determining the reset position in step S303, and will not be repeated here.
  • the amplitude of the reciprocating motion in each period is less than or equal to the rotation amplitude (that is, the rotation amplitude of the pan/tilt head determined in S201).
  • the multiple cycles of reciprocating motion are reciprocating motions of equal amplitude.
  • the amplitudes of multiple cycles of reciprocating motion are all the rotation amplitudes.
  • the third position is A
  • the fourth position is B
  • the reset position is O
  • the movement of the gimbal from O to B The magnitude of is the rotation magnitude.
  • the position change of the pan/tilt corresponding to a cycle of reciprocating motion includes: O->A->O->B->O.
  • the amplitude of multiple cycles of reciprocating motion is smaller than the rotation amplitude.
  • the third position is A
  • the fourth position is B
  • the reset position is O
  • A'and B'are about O is set symmetrically
  • the amplitude of the movement of the pan/tilt from O to A' is equal to the amplitude of movement of the pan/tilt from O to B', and both are smaller than the rotation amplitude.
  • the position change of the pan/tilt corresponding to one cycle of reciprocating motion includes: O->A'->O->B'->O.
  • the multiple cycles of reciprocating motion are reciprocating motions of unequal amplitude.
  • the amplitude of the reciprocating motion of multiple cycles gradually decreases with time, and the amplitude of the reciprocating motion of the first cycle is the rotation amplitude.
  • the gimbal includes two cycles of reciprocating motion: O->A->O->B->O->A'->O->B' ->O, for the reciprocating movement in the first cycle, the pan/tilt position changes include: O->A->O->B->O; for the reciprocating movement in the second cycle, the pan/tilt position changes include: O- >A'->O->B'->O.
  • the reciprocating motion of each cycle is a sinusoidal motion, so that the jitter of the pan-tilt is different from the rotation of the pan-tilt when the first mobile platform is in the working state, which is convenient for players and audiences to follow the rotation of the pan-tilt. Determine whether the pan/tilt is attacked from outside.
  • the rotation angle change curve of the pan/tilt head corresponding to each cycle of reciprocating motion is a sinusoidal curve, for example, the angle change curve is sin(x)+c1, where x is the rotation time of the pan/tilt head and c1 is an empirical value.
  • the speed change curve of the pan/tilt corresponding to each cycle of reciprocating motion is a cosine curve, for example, the speed change curve is -cos(x)+c2, where x is the rotation time of the pan/tilt, and c2 is an empirical value.
  • the first mobile platform may be subject to multiple external attacks at the same time.
  • the attack is multiple external attacks that the first mobile platform received at the same time.
  • the parameter information is obtained after merging the parameter information corresponding to the multiple attacks. The special effects simulation of the PTZ after being attacked More fit the actual attack effect.
  • the method of merging the parameter information corresponding to multiple attacks may be to directly superimpose the parameter information corresponding to multiple attacks.
  • the source direction of the two attacks is the same, or the direction of the force acting on the first mobile platform is the same, or the acting position is the same force surface of the first mobile platform, then the parameter information corresponding to the two attacks is merged
  • the intensity is the intensity obtained by directly adding the corresponding intensity of the two attacks
  • the azimuth information is the azimuth information of any one of the two attacks.
  • the two attacks correspond to After the parameter information is merged, the strength is:
  • a feasible implementation method is to use the parameter information corresponding to the most powerful attack among multiple attacks as the parameter information determined after merging the parameters of the multiple attacks.
  • a feasible way to achieve this is: if there are multiple attacks, the attack position is located in the gimbal and the attack position is located in the fuselage, the attack position is located in the gimbal and the parameter information corresponding to the most powerful attack is used as The parameter information determined after the parameters of multiple attacks are combined.
  • multiple attacks include an attack with an action position on the PTZ and an attack with an action position on the fuselage, the parameter information of the attack with the action position on the PTZ is used as the parameter information determined after the parameters of the multiple attacks are combined.
  • the method of merging the parameter information corresponding to the attack is not limited to the three processing methods listed above, and can also be other processing methods.
  • the method of merging the parameter information corresponding to multiple attacks can be designed according to the needs of special effects simulation. .
  • the pan-tilt control method may further include:
  • S603 Determine new rotation information according to the current rotation information of the pan/tilt and the parameter information of the new attack
  • the current rotation information of the pan/tilt includes real-time rotation information for controlling the rotation of the pan/tilt according to the parameter information, and may include the real-time amplitude and real-time rotation direction of the current rotation of the pan/tilt.
  • the new rotation information includes the new amplitude and the new rotation direction.
  • the new amplitude is: real-time rotation amplitude + according to the new The new rotation range of the PTZ determined by the parameter information of the attack, and the new rotation direction is the real-time rotation direction;
  • the real-time rotation direction is opposite to the rotation direction of the PTZ determined according to the new attack parameter information, the new The amplitude is:
  • S604 Control the rotation of the pan/tilt according to the new rotation information.
  • the rotation of the pan/tilt is controlled according to the parameter information of the attack, because the rotation of the pan/tilt is different from the rotation of the pan/tilt when the first mobile platform is in operation.
  • the pan-tilt rotation can be directly reflected in the image taken by the camera (the pan-tilt installation on the mobile platform or the venue installation) or directly felt by the user's vision, so the image captured by the camera can be displayed intuitively or through the user's direct vision
  • the sense organs determine whether the first mobile platform is attacked, and realize the special effect simulation of the first mobile platform being attacked; and the process of controlling the rotation of the PTZ according to the parameter information of the attack is more interesting and the program implementation is more complicated, which can guide the user Perform programming learning to meet the needs of robot education; the pan-tilt control method of the present invention is suitable for fields such as competitive competitions and robot education.
  • the first mobile platform performs preset operations after acquiring the competition object (such as the second mobile platform). For example, after releasing a specific skill, it can simulate the special effects by controlling the rotation of the pan-tilt, so that players and spectators can be timely Learn that the competitor has performed a preset operation.
  • the PTZ control method may further include:
  • the preset operation may include that a competitor of the first mobile platform releases a specific skill, where the specific skill may include a first specific skill for instructing the pan/tilt of the mobile platform to be hit to a preset position or others.
  • the preset action information of the first specific skill is used to instruct the pan/tilt of the mobile platform that is hit to rotate to the preset position.
  • the preset position can be set according to needs. For example, when the PTZ is in the preset position, the PTZ cannot recognize the target in a specific area, that is, if the second mobile platform releases the first specific skill, Target recognition on a mobile platform is limited by the first specific skill.
  • the second mobile platform sends a trigger signal to the first mobile platform to trigger the first platform to obtain preset action information based on the preset operation, where the trigger signal carries useful information Information indicating that the second mobile platform has performed a preset operation.
  • the first mobile platform may pre-store the corresponding relationship between the preset action information and the preset operation.
  • the first mobile platform may use the preset operation in the trigger signal from the pre-stored corresponding relationship Determine the corresponding preset action information; optionally, the preset action information is carried in the trigger signal sent by the second mobile platform.
  • the first mobile platform directly analyzes the trigger signal to obtain the information carried in the trigger The preset action information in the signal.
  • the competitor of the first mobile platform performs a preset operation. For example, after releasing a specific skill, the first mobile platform will control its pan-tilt rotation, thereby simulating the special effect of the competitor of the first mobile platform performing the preset operation, so that the player and The audience learns the information that the competitor of the first mobile platform performs a preset operation.
  • the implementation manner of controlling the rotation of the pan/tilt according to the preset action information in S702 may be similar to the implementation manner of controlling the rotation of the pan/tilt according to the attack parameter information in the above embodiment;
  • the motion information and the realization method of controlling the rotation of the pan/tilt can also choose other realization methods, such as controlling the rotation of the pan/tilt to a preset position, so that the pan/tilt cannot recognize the target in a specific area.
  • the embodiment of the present invention also provides a mobile platform.
  • the mobile platform may include: a body 100, a cloud provided on the body 100 A table 200 and one or more processors 300.
  • the one or more processors 300 are electrically connected to the pan/tilt, and the one or more processors 300 are individually or collectively configured to: detect that the mobile platform is attacked by the outside , Acquire parameter information of the attack; according to the parameter information, control the rotation of the pan-tilt to indicate that the mobile platform is under the attack.
  • the processor 300 can implement the pan/tilt control method of the embodiment shown in FIGS. 1 to 4 and FIG. 6 to FIG. 7.
  • the mobile platform of this embodiment can be described with reference to the pan/tilt control method in the foregoing embodiment.
  • the pan-tilt in this embodiment may have a camera function, or the pan-tilt is equipped with a photographing device (400 in FIG. 8), and images captured by the pan-tilt or the photographing device on the pan-tilt intuitively reflect the effect of pan-tilt shaking.
  • the pan/tilt may not have a camera function, nor is it equipped with a camera. You can judge whether the pan/tilt is shaking by using the images taken by the camera on the field or the user’s intuitive experience to determine whether it is moving. Whether the platform is under attack.
  • armor is installed on the fuselage and/or the gimbal, and the armor can sense external attacks.
  • Armor can be set at one or more positions of the first movable platform according to actual needs.
  • the armour can be set on the left, right, front, right and/or other positions of the fuselage.
  • the armor can be placed on the left, right and/or other positions of the gimbal.
  • Each armor is electrically connected with at least one processor in the mobile platform, and the sensed external attack is transmitted to the processor in real time.
  • an infrared receiver (or other light receiver) is provided on the fuselage or the pan/tilt.
  • the infrared receiver can be installed on the outer frame of the fuselage to facilitate the detection of infrared light sent by another mobile platform, thereby Detect external attacks.
  • the infrared receiver can receive the infrared light sent by another mobile platform at 360 degrees and detect all-round attacks.
  • the fuselage of the mobile platform is provided with a launching device (500 in FIG. 8) for attacking other mobile platforms.
  • the launching device may be a projectile launching device and/or a light launching device, or other.
  • the transmitting device of this embodiment is electrically connected to at least one processor in the mobile platform, and the processor controls the operation of the transmitting device.
  • the launching device is arranged on the pan-tilt, and the direction of the launching device is controlled by controlling the rotation of the pan-tilt to aim at the attack target.
  • the aforementioned processor 300 may be a central processing unit (CPU).
  • the processor 300 may further include a hardware chip.
  • the aforementioned hardware chip may be an application-specific integrated circuit (ASIC), a programmable logic device (PLD) or a combination thereof.
  • ASIC application-specific integrated circuit
  • PLD programmable logic device
  • the above-mentioned PLD may be a complex programmable logic device (CPLD), a field-programmable gate array (FPGA), a generic array logic (GAL) or any combination thereof.
  • CPLD complex programmable logic device
  • FPGA field-programmable gate array
  • GAL generic array logic
  • an embodiment of the present invention also provides a computer-readable storage medium on which a computer program is stored, and when the program is executed by a processor, the steps of the pan-tilt control method of the above-mentioned embodiment are realized.
  • the program can be stored in a computer readable storage medium. During execution, it may include the procedures of the above-mentioned method embodiments.
  • the storage medium may be a magnetic disk, an optical disc, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM), etc.

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Abstract

L'invention concerne un procédé de commande de cardan et une plateforme mobile. Le procédé de commande de cardan est appliqué à une première plateforme mobile qui comprend un corps de machine (100) et un cardan (200) disposé sur le corps de machine. Le procédé consiste à : détecter que la première plateforme mobile est soumise à une attaque externe, et obtenir des informations de paramètre de l'attaque ; et selon les informations de paramètre, commander la rotation du cardan pour indiquer que la première plateforme mobile est attaquée. Après avoir été attaquée, la plate-forme mobile commande, en fonction des informations de paramètre de l'attaque, le cardan à tourner. Étant donné que la rotation du cardan peut être directement réfléchie dans une vidéo photographiée par un dispositif de photographie (400) monté sur le cardan de la plate-forme mobile ou montée sur un lieu ou peut être directement visualisée par un utilisateur, si la plate-forme mobile est attaquée, peut être visuellement affichée dans la vidéo photographiée par le dispositif de photographie ou peut être directement déterminée par une sensation visuelle de l'utilisateur, ce qui permet de réaliser une simulation d'effet spécial de la plate-forme mobile qui est attaquée.
PCT/CN2019/084482 2019-04-26 2019-04-26 Procédé de commande de cardan et plateforme mobile Ceased WO2020215302A1 (fr)

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