技术领域technical field
本发明涉及一种相机云台系统，有助于稳定和保持相机姿态，保证相机拍摄效果。The invention relates to a camera pan-tilt system, which is helpful for stabilizing and maintaining the attitude of the camera and ensuring the shooting effect of the camera.
背景技术Background technique
目前，自动稳定相机云台在航空拍摄等领域得到比较广泛应用，其目标是保证拍摄时相机的实时稳定性，从而保证相机的拍摄图像的稳定。但此类拍摄云台的承载能力不大，一般做旋转的角度也有限，且要求相机的质心与调节旋转轴轴心一致，因此一般只能支持特定型号的相机，且不能负载其他设备，使用范围较为窄，如大疆公司禅思系列云台[1]。At present, the automatic stabilization camera gimbal is widely used in fields such as aerial photography, and its goal is to ensure the real-time stability of the camera during shooting, so as to ensure the stability of the captured image of the camera. However, this type of shooting head has a small load-bearing capacity, and the rotation angle is generally limited, and the center of mass of the camera is required to be consistent with the axis of the adjustment rotation axis. Therefore, it can only support specific models of cameras and cannot load other equipment. The range is relatively narrow, such as DJI Zenmuse series gimbals[1] .
参考文献references
[1]禅思H3-3D云台|DJI大疆http://www.dji.com/cn/product/zenmuse-h3-3d[1] Zenmuse H3-3D gimbal | DJI Dajiang http://www.dji.com/cn/product/zenmuse-h3-3d
发明内容Contents of the invention
针对上述问题，本发明的目的就是克服现有技术的不足之处，提供一种高负载、高精度的相机云台，所采用的技术方案如下：For the problems referred to above, the object of the present invention is to overcome the deficiencies of the prior art, and provide a high-load, high-precision camera platform. The adopted technical solution is as follows:
一种相机云台系统，包括水平方向的旋转调整装置、俯仰方向的旋转调整装置、用于测量俯仰方向旋转角度的俯仰传感器和控制器，俯仰方向的旋转调整装置固定在水平方向的旋转调整装置上，其特征在于，俯仰方向的旋转调整装置采用粗细两级旋转调整结构，包括俯仰方向的活动支架1、固定在活动支架1端部的平台，粗调舵机7和所对应的粗调摇臂6、微调舵机3和所对应的微调摇臂4，粗调摇臂6和微调摇臂4之间通过拉杆5刚性连接；微调舵机3固定在平台上，粗调舵机7比微调舵机3的马力大，控制器用于根据俯仰传感器的测量信号控制两个舵机的运行。A camera pan/tilt system, comprising a rotation adjustment device in the horizontal direction, a rotation adjustment device in the pitch direction, a pitch sensor and a controller for measuring the rotation angle in the pitch direction, and the rotation adjustment device in the pitch direction is fixed on the rotation adjustment device in the horizontal direction Above, it is characterized in that the rotation adjustment device in the pitch direction adopts a thick and thin two-stage rotation adjustment structure, including the movable support 1 in the pitch direction, the platform fixed at the end of the movable support 1, the coarse adjustment steering gear 7 and the corresponding coarse adjustment pan The arm 6, the fine-tuning steering gear 3 and the corresponding fine-tuning rocker arm 4 are rigidly connected by the pull rod 5 between the coarse-tuning rocker arm 6 and the fine-tuning rocker arm 4; The steering gear 3 has a large horsepower, and the controller is used to control the operation of the two steering gears according to the measurement signal of the pitch sensor.
本发明由于采取以上技术方案，其具有以下优点：The present invention has the following advantages due to the adoption of the above technical scheme:
(1)高负载。本发明的云台借助舵机的动力可承载含相机在内的多种相关设备，根据舵机的动力大小一般可承载3～5kg的重量，且承载设备无严格安装布局要求，不需要严格将设备重心调整到与X、Y轴轴心均保持一致，从而保证承载能力的情况下提高了承载设备布局的灵活度。(1) High load. The pan/tilt of the present invention can carry a variety of related equipment including cameras by means of the power of the steering gear. Generally, it can carry a weight of 3 to 5 kg according to the power of the steering gear, and there is no strict installation and layout requirement for the bearing equipment, and there is no need to strictly install it. The center of gravity of the equipment is adjusted to be consistent with the axes of the X and Y axes, thereby improving the flexibility of the layout of the carrying equipment while ensuring the carrying capacity.
(2)对俯仰角的调整使用精细两级调整结构，加之软件策略配合，可以保证平台运动的精度，实现高精度平台旋转。(2) The adjustment of the pitch angle uses a fine two-stage adjustment structure, coupled with the software strategy, which can ensure the accuracy of the platform movement and realize high-precision platform rotation.
附图说明Description of drawings
图1：云台粗细两级旋转调整结构图Figure 1: Structural diagram of the two-stage rotation adjustment of the gimbal
图2：软件反馈控制策略流程图Figure 2: Flow chart of software feedback control strategy
具体实施方式detailed description
下面将结合附图和实施例对本发明作进一步的详细说明。此处所描述的具体实施例方式仅用于解释本发明，并不用于限定本发明的保护范围。The present invention will be further described in detail with reference to the accompanying drawings and embodiments. The specific embodiments described here are only used to explain the present invention, and are not used to limit the protection scope of the present invention.
本发明提供的大倾角、高负载、自平衡的高精度相机云台技术，包含两个方面的内容，一是硬件的设计和布局，二是基于上述硬件设备的自动平衡反馈控制软件。The high-inclination, high-load, self-balancing high-precision camera platform technology provided by the present invention includes two aspects, one is the design and layout of the hardware, and the other is the automatic balance feedback control software based on the above-mentioned hardware equipment.
(1)硬件的设计和布局：一种大倾角、高负载、自平衡的高精度相机云台，关键结构设计在于：在俯仰方向使用粗细两级旋转调整结构。(1) Design and layout of hardware: a high-precision camera head with large inclination angle, high load, and self-balancing. The key structural design is to use two-stage rotation adjustment structure in the pitch direction.
粗细两级旋转调整结构包括俯仰方向的支架1、一个粗调的舵机7(大舵机)和所对应的摇臂6、一个微调的舵机3(小舵机)和所对应的摇臂4、还有一个两个摇臂之间的连接部分—拉杆5The thick and fine two-stage rotation adjustment structure includes a bracket 1 in the pitch direction, a coarse-adjustment steering gear 7 (large steering gear) and the corresponding rocker arm 6, a fine-tuning steering gear 3 (small steering gear) and the corresponding rocker arm 4. There is also a connecting part between the two rocker arms - pull rod 5
其中，粗调的舵机使用的是大型舵机，其舵机的特点在于马力大，可以驱动平台上高负载设备的旋转，可调节的范围也较大，由于大型舵机的缺点在于精度略低，而且此时已经不需要较大范围内的旋转，所以微调的舵机我们使用小型舵机，针对大型舵机所遗留下的误差进行小范围高精度的调整。Among them, the steering gear used for coarse adjustment is a large steering gear. The steering gear is characterized by large horsepower, which can drive the rotation of high-load equipment on the platform, and the adjustable range is also large. The disadvantage of large steering gears is that the accuracy is slightly Low, and at this time there is no need to rotate in a large range, so we use small servos for fine-tuning servos, and make small-scale high-precision adjustments for the errors left by large servos.
粗调舵机7和与之相对应的摇杆6进行连接，当粗调舵机控制器接获得发送过来的控制指令向舵机发送信号，并驱使粗调舵机进行运动，使得设备在俯仰方向进行旋转，在达到预定阈值后，通过两个摇臂之间的连接部分—拉杆5，将两个舵机进行连接，当细调舵机控制器接获得发送过来的控制指令向舵机发送信号，驱使微调舵机进行运动，从而达到细微调节旋转的功能。The coarse adjustment steering gear 7 is connected with the corresponding rocker 6. When the coarse adjustment steering gear controller receives the sent control command, it sends a signal to the steering gear and drives the coarse adjustment steering gear to move, so that the equipment is pitching After the predetermined threshold is reached, the two steering gears are connected through the connecting part between the two rocker arms—the pull rod 5. When the fine-tuning steering gear controller receives the control command sent to the steering gear The signal drives the fine-tuning servo to move, so as to achieve the function of fine-tuning the rotation.
(2)自动平衡反馈控制软件(2) Automatic balance feedback control software
本发明为实现了相机云台的实时自动平衡，需要根据当前角度传感器的状态实时反馈调节X轴和Y轴的平衡状态，调节策略如下：In order to realize the real-time automatic balance of the camera pan/tilt, the present invention needs to adjust the balance state of the X-axis and the Y-axis according to the state of the current angle sensor in real time. The adjustment strategy is as follows:
a)对传感器数据进行滤波。由于传感器工作环境、自身状态、传输过程等因素会导致传感器产生的数据产生一定的不稳定性，导致错误数据的产生，从而会对系统平稳性造成干扰，因此软件系统首先会对传感器数据进行实时滤波处理，以消除偶然因素导致的数据错误。优选地，本发明采用限幅滤波和卡尔曼滤波相互结合的方式对数据进行滤波，消除错误数据，保证数据的正确性。a) Filter the sensor data. Due to factors such as the working environment of the sensor, its own state, and the transmission process, the data generated by the sensor will be unstable to a certain extent, resulting in the generation of wrong data, which will interfere with the stability of the system. Filter processing to eliminate data errors caused by accidental factors. Preferably, the present invention uses a combination of limiting filtering and Kalman filtering to filter the data to eliminate erroneous data and ensure the correctness of the data.
b)调节X轴平衡状态。在设计上，X轴(翻滚方向)平衡采用单个舵机调节，当X轴方向上传感器角度值与预设角度之间的差值，即角度偏差小于X轴允许误差值E(即精度)时，舵机停止X方向的调节。当X轴方向上传感器测得的角度偏差值大于允许误差值时，若偏差较大，则采用比例调节策略(详见下部说明)进行调节，若偏差较小(小于慢调节临界值T)，则采用慢调节策略，以慢速进行调节，保证调节的稳定性。b) Adjust the X-axis balance state. In design, the X-axis (rolling direction) balance is adjusted by a single steering gear. When the difference between the sensor angle value and the preset angle in the X-axis direction, that is, the angle deviation is less than the X-axis allowable error value E (ie accuracy) , the steering gear stops adjusting in the X direction. When the angle deviation value measured by the sensor in the X-axis direction is greater than the allowable error value, if the deviation is large, the proportional adjustment strategy (see the description below) is used for adjustment; if the deviation is small (less than the slow adjustment critical value T), The slow adjustment strategy is adopted to adjust at a slow speed to ensure the stability of the adjustment.
c)调节Y轴平衡状态。Y轴(俯仰方向)平衡采用大小两个舵机结合进行调节，当Y轴方向传感器角度值与预设角度之间的差值即角度偏差小于Y轴允许误差值(即精度)时，舵机停止调节。当Y轴方向上传感器测得的角度偏差大于允许误差值时，若传感器角度偏差较大(大于粗细调节转换临界角度值S)时，则采用大舵机，按照比例调节策略进行大范围快速调节，若传感器角度偏差较小(小于大于粗细调节转换临界角度值S)，则采用小舵机进行调节，且当传感器角度大于慢调节临界值时，小舵机按照比例调节方式进行调节，当小于慢调节临界值时，小舵机按照慢调节方式进行调节。c) Adjust the Y-axis balance state. The balance of the Y-axis (pitch direction) is adjusted by combining two servos. When the difference between the angle value of the Y-axis direction sensor and the preset angle, that is, the angle deviation is less than the allowable error value (ie, accuracy) of the Y-axis, the servo will Stop tuning. When the angle deviation measured by the sensor in the Y-axis direction is greater than the allowable error value, if the sensor angle deviation is large (greater than the critical angle value S for coarse and fine adjustment conversion), use a large steering gear and perform large-scale rapid adjustment according to the proportional adjustment strategy , if the sensor angle deviation is small (less than or greater than the critical angle value S for coarse and fine adjustment conversion), the small steering gear is used for adjustment, and when the sensor angle is greater than the slow adjustment critical value, the small steering gear is adjusted according to the proportional adjustment method, and when it is less than When the threshold value is adjusted slowly, the small servo will be adjusted in the slow adjustment mode.
d)重复以上三个过程，直至达到平衡状态(即角度传感器在X、Y轴两个方向的角度误差均在精度范围内)。d) Repeat the above three processes until a balanced state is reached (that is, the angular errors of the angle sensor in both directions of the X and Y axes are within the accuracy range).
比例调节策略是将传感器感知的角度值与预设角度之间的差值，即角度偏差(平衡时角度偏差应当为0)与比例K相乘而得到将要变化的舵机脉冲宽度调制值(△PWM值)，作为舵机脉冲宽度值(PWM)的变化量，附加到舵机原有的脉冲宽度值上而构成新的脉冲宽度值，从而对舵机进行调节的一种方式。The proportional adjustment strategy is to multiply the difference between the angle value sensed by the sensor and the preset angle, that is, the angle deviation (the angle deviation should be 0 in balance) and the ratio K to obtain the steering gear pulse width modulation value to be changed (△ PWM value), as the variation of the pulse width value (PWM) of the steering gear, is added to the original pulse width value of the steering gear to form a new pulse width value, thereby adjusting the steering gear.
慢调节策略，则是将每次变化脉冲宽度值△PWM设置为一个较小的固定值，该值仅与角度偏差正负有关，与角度偏差大小无关，从而使舵机以比较稳定的慢速度运转的调节方式。The slow adjustment strategy is to set the pulse width value △PWM for each change to a small fixed value, which is only related to the positive or negative angle deviation, and has nothing to do with the angle deviation, so that the steering gear can be controlled at a relatively stable slow speed. Mode of operation adjustment.
自动平衡反馈控制软件可在通用个人计算机平台上实现，也可在嵌入式单片机系统下实现。The automatic balance feedback control software can be implemented on a general-purpose personal computer platform, and can also be implemented under an embedded single-chip microcomputer system.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611031429.2ACN106499926A (en) | 2016-11-22 | 2016-11-22 | A camera pan-tilt system |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611031429.2ACN106499926A (en) | 2016-11-22 | 2016-11-22 | A camera pan-tilt system |
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| CN106499926Atrue CN106499926A (en) | 2017-03-15 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201611031429.2APendingCN106499926A (en) | 2016-11-22 | 2016-11-22 | A camera pan-tilt system |
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| CN (1) | CN106499926A (en) |
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