阅读说明：本技术 竖向增稳机构及其控制方法以及可移动设备 (Vertical stability augmentation mechanism, control method thereof and movable equipment ) 是由 许文 于 2018-10-31 设计创作，主要内容包括：一种竖向增稳机构(20)的控制方法，竖向增稳机构(20)用于带动负载(30)相对基座(10)在竖向增稳机构(20)的上限位与下限位之间活动，控制方法包括：(S1)获取竖向增稳机构(20)的第一期望姿态和实际姿态；(S2)在第一期望姿态位于上限位与上预设姿态之间或位于下限位与下预设姿态之间时，将第一期望姿态修正为第二期望姿态，并根据第二期望姿态及实际姿态控制竖向增稳机构(20)转动以使竖向增稳机构(20)到达第二期望姿态；及(S3)在第一期望姿态位于上预设姿态与下预设姿态之间时，根据第一期望姿态及实际姿态控制竖向增稳机构(20)转动以使竖向增稳机构(20)到达第一期望姿态。还公开了一种竖向增稳机构(20)和可移动设备(100)。(A control method of a vertical stability augmentation mechanism (20), wherein the vertical stability augmentation mechanism (20) is used for driving a load (30) to move between an upper limit and a lower limit of the vertical stability augmentation mechanism (20) relative to a base (10), and the control method comprises the following steps: (S1) acquiring a first expected posture and an actual posture of the vertical stability augmentation mechanism (20); (S2) when the first expected posture is positioned between the upper limit and the upper preset posture or between the lower limit and the lower preset posture, correcting the first expected posture into a second expected posture, and controlling the vertical stability increasing mechanism (20) to rotate according to the second expected posture and the actual posture so as to enable the vertical stability increasing mechanism (20) to reach the second expected posture; and (S3) when the first expected posture is between the upper preset posture and the lower preset posture, controlling the vertical stability increasing mechanism (20) to rotate according to the first expected posture and the actual posture so as to enable the vertical stability increasing mechanism (20) to reach the first expected posture. A vertical stability augmentation mechanism (20) and a mobile device (100) are also disclosed.)

1. A control method of a vertical stability augmentation mechanism is characterized in that one end of the vertical stability augmentation mechanism is rotatably connected with a base, the other end of the vertical stability augmentation mechanism is connected with a load, the vertical stability augmentation mechanism is used for driving the load to move between an upper limit and a lower limit of the vertical stability augmentation mechanism relative to the base, and the control method comprises the following steps:

acquiring a first expected posture and an actual posture of the vertical stability augmentation mechanism, wherein the first expected posture is positioned between the upper limit and the lower limit;

when the first expected posture is located between the upper limit and the upper preset posture or between the lower limit and the lower preset posture, correcting the first expected posture into a second expected posture, wherein the second expected posture is the upper preset posture or the lower preset posture, and controlling the vertical stability increasing mechanism to rotate according to the second expected posture and the actual posture so as to enable the vertical stability increasing mechanism to reach the second expected posture, and the upper preset posture and the lower preset posture are located between the upper limit and the lower limit;

and when the first expected posture is positioned between the upper preset posture and the lower preset posture, controlling the vertical stability increasing mechanism to rotate according to the first expected posture and the actual posture so as to enable the vertical stability increasing mechanism to reach the first expected posture.

2. The control method according to claim 1, characterized by comprising:

calculating a pose difference between the first desired pose or the second desired pose and the actual pose;

performing iterative computation by using the attitude difference to generate a control signal;

and controlling the vertical stability augmentation mechanism to rotate according to the control signal so that the vertical stability augmentation mechanism reaches the first expected posture or the second expected posture.

3. The control method according to claim 1, wherein, when the first desired attitude is between the upper limit and an upper preset attitude or between the lower limit and a lower preset attitude, the correcting the first desired attitude to a second desired attitude, and controlling the rotation of the vertical stability increasing mechanism according to the second desired attitude and the actual attitude to bring the vertical stability increasing mechanism to the second desired attitude comprises:

when the first expected posture is located between the upper limit and the upper preset posture, correcting the first expected posture into the upper preset posture, and controlling the vertical stability increasing mechanism to rotate according to the upper preset posture and the actual posture so as to enable the vertical stability increasing mechanism to reach the upper preset posture; or

And when the first expected posture is positioned between the lower limit and the lower preset posture, correcting the first expected posture into the lower preset posture, and controlling the vertical stability increasing mechanism to rotate according to the lower preset posture and the actual posture so as to enable the vertical stability increasing mechanism to reach the lower preset posture.

4. The control method of claim 1, wherein obtaining a first desired attitude and an actual attitude of the vertical stability augmentation mechanism comprises:

acquiring the motion parameters of the base;

and acquiring the first expected posture according to the motion parameters.

5. The control method of claim 1, wherein obtaining a first desired attitude and an actual attitude of the vertical stability augmentation mechanism comprises:

and acquiring the first expected posture of the vertical stability augmentation mechanism according to user input.

6. The control method according to claim 5, wherein the user input comprises any one of a remote controller, a mobile phone, a tablet computer, a notebook computer, a desktop computer, a smart watch, a smart bracelet, and a smart helmet.

7. The control method according to claim 1, characterized by further comprising:

acquiring the state information of the load;

determining whether the load is in an operating state; and

and if the load is in a working state, the step of acquiring a first expected posture and an actual posture of the vertical stability augmentation mechanism is carried out.

8. The control method according to any one of claims 1 to 7, wherein the vertical stability augmentation mechanism includes:

a drive device mounted on the base; and

the connecting device comprises a first connecting rod, a second connecting rod and a bearing part, the load is installed on the bearing part, two ends of the first connecting rod, which are opposite to each other, are respectively rotatably installed on the base and the bearing part, one end of the base is connected with the driving device, the driving device can drive the first connecting rod to rotate, two ends of the second connecting rod, which are opposite to each other, are respectively rotatably installed on the base and the bearing part, and the first connecting rod and the second connecting rod are oppositely arranged in parallel.

9. The control method according to claim 8, wherein the load comprises a pan-tilt device and an actuator, the pan-tilt device is mounted on the vertical stability augmentation mechanism, the actuator is mounted on the pan-tilt device, and the pan-tilt device is used for driving the actuator to rotate.

10. The control method according to any one of claims 1 to 7, wherein an inclination angle of the vertical stability increasing mechanism at the upper limit position or the lower limit position differs by 5 degrees from an inclination angle of the vertical stability increasing mechanism at the upper preset posture or the lower preset posture, respectively.

11. The control method according to claim 10, wherein the vertical stability increasing mechanism includes an initial posture position, and an inclination angle of the vertical stability increasing mechanism with respect to the initial posture position is 30 degrees when the vertical stability increasing mechanism is at the upper preset posture or the lower preset posture.

12. The utility model provides a vertical steady mechanism that increases, its characterized in that, vertical steady mechanism that increases's one end and base rotate to be connected, and the other end is connected with the load, vertical steady mechanism that increases is used for driving the load is relative the base is in vertical steady mechanism that increases moves between the last spacing and the lower spacing, vertical steady mechanism that increases includes:

the acquisition module is used for acquiring a first expected posture of the vertical stability augmentation mechanism, and the first expected posture is located between the upper limit and the lower limit;

the attitude acquisition element is used for acquiring the actual attitude of the vertical stability augmentation mechanism; and

a microcontroller connected to the acquisition module and the microcontroller, the microcontroller being configured to modify the first desired attitude to a second desired attitude when the first desired attitude is between the upper limit and the upper preset attitude or between the lower limit and the lower preset attitude, and controlling the vertical stability augmentation mechanism to rotate according to the second expected posture and the actual posture so as to enable the vertical stability augmentation mechanism to reach the second expected posture, and when the first desired pose is between the upper preset pose and the lower preset pose, controlling the vertical stability augmentation mechanism to rotate according to the first expected posture and the actual posture so as to enable the vertical stability augmentation mechanism to reach the first expected posture, the second expected gesture is the upper preset gesture or the lower preset gesture, and the upper preset gesture and the lower preset gesture are located between the upper limit and the lower limit.

13. The vertical stability augmentation mechanism of claim 12, wherein the microcontroller is configured to: calculating the attitude difference between the first expected attitude or the second expected attitude and the actual attitude, performing iterative calculation by using the attitude difference, generating a control signal, and controlling the vertical stability increasing mechanism to rotate according to the control signal so as to enable the vertical stability increasing mechanism to reach the first expected attitude or the second expected attitude.

14. The vertical stability augmentation mechanism of claim 12, wherein the microcontroller is configured to modify the first desired attitude to the upper predetermined attitude when the first desired attitude is between the upper limit and the upper predetermined attitude, and to control the vertical stability augmentation mechanism to rotate according to the upper predetermined attitude and the actual attitude to enable the vertical stability augmentation mechanism to reach the upper predetermined attitude; and when the first expected posture is located between the lower limit and the lower preset posture, correcting the first expected posture into the lower preset posture, and controlling the vertical stability increasing mechanism to rotate according to the lower preset posture and the actual posture so as to enable the vertical stability increasing mechanism to reach the lower preset posture.

15. The vertical stability augmentation mechanism of claim 12, wherein the acquisition module is configured to acquire a motion parameter of the base, and acquire the first desired attitude according to the motion parameter.

16. The vertical stability augmentation mechanism of claim 12, wherein the obtaining module is configured to obtain the first desired pose of the vertical stability augmentation mechanism according to a user input.

17. The vertical stability augmentation mechanism of claim 16, wherein the user input comprises user input using any one of a remote control, a cell phone, a tablet, a laptop, a desktop, a smart watch, a smart bracelet, and a smart helmet.

18. The vertical stability augmentation mechanism of claim 12, further comprising:

the processor is connected with the load and used for acquiring the state information of the load and determining whether the load is in a working state;

when the load is in a working state, the acquisition module acquires a first expected posture of the vertical stability augmentation mechanism, and the posture acquisition element acquires an actual posture of the vertical stability augmentation mechanism.

19. The vertical stability augmenting mechanism according to any one of claims 12 to 18, comprising:

a drive device mounted on the base; and

the connecting device comprises a first connecting rod, a second connecting rod and a bearing part, the load is installed on the bearing part, two ends of the first connecting rod, which are opposite to each other, are respectively rotatably installed on the base and the bearing part, one end of the base is connected with the driving device, the driving device can drive the first connecting rod to rotate, two ends of the second connecting rod, which are opposite to each other, are respectively rotatably installed on the base and the bearing part, and the first connecting rod and the second connecting rod are oppositely arranged in parallel.

20. The vertical stability augmenting mechanism according to any one of claims 12 to 18, wherein the angle of inclination of the vertical stability augmenting mechanism when the load is at the upper limit or the lower limit differs by 5 degrees from the angle of inclination of the vertical stability augmenting mechanism when the load is at the upper preset attitude or the lower preset attitude, respectively.

21. The vertical stability augmenting mechanism of claim 20, comprising an initial attitude position, the vertical stability augmenting mechanism being inclined at an angle of 30 degrees relative to the initial attitude position when the load is at the upper or lower preset attitude.

22. The vertical stability augmentation mechanism of claim 12, wherein the attitude capture element is at least one of a gyroscope, an encoder, and a potentiometer.

23. A mobile device, characterized in that the mobile device comprises:

a base;

the vertical stability enhancement mechanism of any one of claims 12 to 22, wherein said vertical stability enhancement mechanism is mounted on said base; and

the load comprises a holder device and an executing device, the executing device is installed on the vertical stability augmentation mechanism, the executing device is installed on the holder device, and the holder device is used for driving the executing device to rotate.

24. The mobile device according to claim 23, further comprising a mobile platform on which the base rides.

25. The mobile device according to claim 24, wherein the mobile platform comprises any one of a handheld support, a drone, an unmanned vehicle, and an unmanned ship.

26. The mobile device according to claim 23, wherein the mobile device is an image capture device and the execution means is a camera.

Technical Field

The application relates to the technical field of image acquisition, in particular to a vertical stability augmentation mechanism, a control method thereof and a movable device.

Background

In the conventional image acquisition equipment, for the purpose of realizing stable shooting, a lot of loads are used in combination with the vertical stability increasing mechanism, however, when the image acquisition equipment is lifted or landed by a user quickly, the vertical stability increasing mechanism is easy to collide with certain elements in the image acquisition equipment to influence the shooting effect of the loads.

Disclosure of Invention

The application provides a vertical stability augmentation mechanism, a control method thereof and movable equipment.

The application provides a control method of vertical mechanism that increases steady, the one end and the base of vertical mechanism that increases steady rotate to be connected, and the other end is connected with the load, vertical mechanism that increases steady is used for driving the load is relative the base is in vertical mechanism that increases steady goes up spacing and lower spacing between the activity, control method includes: acquiring a first expected posture and an actual posture of the vertical stability augmentation mechanism, wherein the first expected posture is positioned between the upper limit and the lower limit; when the first expected posture is located between the upper limit and the upper preset posture or between the lower limit and the lower preset posture, correcting the first expected posture into a second expected posture, wherein the second expected posture is the upper preset posture or the lower preset posture, and controlling the vertical stability increasing mechanism to rotate according to the second expected posture and the actual posture so as to enable the vertical stability increasing mechanism to reach the second expected posture, and the upper preset posture and the lower preset posture are located between the upper limit and the lower limit; and when the first expected posture is located between the upper preset posture and the lower preset posture, controlling the vertical stability increasing mechanism to rotate according to the first expected posture and the actual posture so as to enable the vertical stability increasing mechanism to reach the first expected posture.

The application provides a vertical stability augmentation mechanism, one end of the vertical stability augmentation mechanism is rotatably connected with a base, the other end of the vertical stability augmentation mechanism is connected with a load, the vertical stability augmentation mechanism is used for driving the load to move relative to the base between an upper limit and a lower limit of the vertical stability augmentation mechanism, the vertical stability augmentation mechanism comprises an acquisition module, a posture acquisition element and a microcontroller, the acquisition module is used for acquiring a first expected posture of the vertical stability augmentation mechanism, and the first expected posture is located between the upper limit and the lower limit; the attitude acquisition element is used for acquiring the actual attitude of the vertical stability augmentation mechanism; the controller is used for correcting the first expected posture into a second expected posture when the first expected posture is positioned between the upper limit and the upper preset posture or between the lower limit and the lower preset posture, and controlling the vertical stability augmentation mechanism to rotate according to the second expected posture and the actual posture so as to enable the vertical stability augmentation mechanism to reach the second expected posture, and when the first desired pose is between the upper preset pose and the lower preset pose, controlling the vertical stability augmentation mechanism to rotate according to the first expected posture and the actual posture so as to enable the vertical stability augmentation mechanism to reach the first expected posture, the second expected gesture is the upper preset gesture or the lower preset gesture, and the upper preset gesture and the lower preset gesture are located between the upper limit and the lower limit.

The application provides a movable device, which comprises a base, the vertical stability augmentation mechanism and a load, wherein the vertical stability augmentation mechanism is installed on the base; the load comprises a holder device and an executing device, the holder device is installed on the vertical stability augmentation mechanism, the executing device is installed on the holder device, and the holder device is used for driving the executing device to rotate.

In the vertical stability augmentation mechanism, the control method thereof and the mobile device in the embodiment of the application, intervals are formed between the upper limit and the upper preset posture and between the lower limit and the lower preset posture. When utilizing vertical steady mechanism that increases to carry out attitude control to the load, can revise first expected gesture, avoid vertical steady mechanism that increases to collide limit structure and produce vibrations, guarantee the stability of load work.

Additional aspects and advantages of embodiments of the present application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of embodiments of the present application.

Drawings

The above and/or additional aspects and advantages of the present application will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings of which:

fig. 1 is a schematic structural diagram of a mobile device according to an embodiment of the present application.

Fig. 2 is a schematic partial cross-sectional view of a mobile device according to an embodiment of the present application.

Fig. 3 is an exploded schematic view of a vertical stability augmentation mechanism according to an embodiment of the present application.

Fig. 4 is a working schematic diagram of the vertical stability augmentation mechanism in the initial position posture according to the embodiment of the application.

Fig. 5 is a working schematic diagram of the vertical stability augmentation mechanism of the embodiment of the present application at the upper limit position.

Fig. 6 is a working schematic diagram of the vertical stability augmentation mechanism of the embodiment of the present application at a lower limit position.

Fig. 7 is a flowchart of a control method of the vertical stability increasing mechanism according to the embodiment of the present application.

Fig. 8 is a schematic view of the posture and position of the vertical stability increasing mechanism according to the embodiment of the present application.

Fig. 9 is a schematic block diagram of a vertical stability increasing mechanism according to an embodiment of the present application.

Fig. 10 is a schematic view of the attitude control of the vertical stability increasing mechanism according to the embodiment of the present application.

Fig. 11 is another flowchart of a control method of the vertical stability increasing mechanism according to the embodiment of the present application.

Fig. 12 is still another flowchart of a control method of the vertical stability increasing mechanism according to the embodiment of the present application.

Fig. 13 is still another flowchart of a control method of the vertical stability increasing mechanism according to the embodiment of the present application.

Description of the main elements of the drawings:

the device comprises a movable device 100, a base 10, a vertical stability augmentation mechanism 20, a driving device 21, a connecting device 22, a first connecting rod 221, a lower limit structure 2212, a second connecting rod 222, an upper limit structure 2222, a bearing part 223, a motor connecting rod 224, an elastic piece 225, an acquisition module 23, a posture acquisition element 24, a microcontroller 25, a processor 26, a load 30, a tripod head device 32 and an executing device 34.

Detailed Description

Reference will now be made in detail to embodiments of the present application, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the accompanying drawings are illustrative and are only for the purpose of explaining the present application and are not to be construed as limiting the present application.

The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.

Referring to fig. 1 to 6, a mobile device 100 according to an embodiment of the present disclosure includes a base 10, a vertical stability increasing mechanism 20, and a load 30, where the vertical stability increasing mechanism 20 is installed on the base 10. The load 30 comprises a holder device 32 and an actuating device 34, the holder device 32 is mounted on the vertical stability augmentation mechanism 20, the actuating device 34 is mounted on the holder, and the holder device 32 is used for driving the actuating device 34 to rotate so as to adjust the posture of the actuating device 34.

In some embodiments, the pan-tilt apparatus 32 may be a three-axis pan-tilt. The triaxial holder can drive the actuator 34 to rotate around axes such as a yaw axis (yaw), a roll axis (roll) and a pitch axis (pitch) to adjust the posture of the actuator 34, so as to realize axial stability augmentation of the actuator 34.

The vertical steady mechanism 20 that increases of this application embodiment's one end rotates in base 10 to be connected, and the other end is connected with load 30, vertical steady mechanism 20 that increases is used for driving load 30 is relative base 10 moves between vertical steady mechanism 20's last spacing and lower spacing. The vertical stabilizing mechanism 20 is capable of balancing the weight of the load 30 and is used to eliminate the effect of vertical displacement of the movable apparatus 100 on the actuator 34.

It should be noted that the vertical stability augmentation mechanism 20 according to the embodiment of the present application may also be applied to other apparatuses that require vertical stability augmentation. The load 30 may not be limited to the pan and tilt head device 32 and the actuator device 34, but may be changed according to actual needs.

In some embodiments, the movable apparatus 100 may be an image acquisition apparatus, the load 30 includes a pan and tilt device 32 and a camera mounted on the pan and tilt device 32, the camera may achieve axial stability augmentation via the pan and tilt device 32 and vertical stability augmentation (e.g., vertical stability augmentation) via the vertical stability augmentation mechanism 20. The shooting device can acquire stable shooting pictures, and the shooting quality is improved.

Wherein the camera is used for capturing images/video. The shooting device can be a digital camera, a video camera, a mobile phone with a camera shooting function, a tablet personal computer and the like.

Of course, in some embodiments, the mobile device 100 may be a mobile device having other functions, such as mapping, distance detection, etc., in which case the implement device 34 may be other devices, such as a mapper, an infrared device, a searchlight, a laser device, etc.

In some embodiments, the vertical stabilizing mechanism 20 includes a driving device 21 and a connecting device 22. The driving device 21 is mounted on the base 10. The connecting device 22 includes a first connecting rod 221, a second connecting rod 222 and a bearing portion 223, the load 30 is mounted on the bearing portion 223, two opposite ends of the first connecting rod 221 are respectively rotatably mounted on the base 10 and the bearing portion 223, one end of the first connecting rod 221 mounted on the base 10 is connected with the driving device 21, the driving device 21 can drive the first connecting rod 221 to rotate, two opposite ends of the second connecting rod 222 are respectively rotatably mounted on the base 10 and the bearing portion 223, and the first connecting rod 221 and the second connecting rod 222 are arranged oppositely and in parallel.

Thus, the first link 221, the second link 222, the base 10 and the bearing portion 223 form a quadrilateral linkage, and when the driving device 21 drives the first link 221 to rotate, the driving device drives the second link 222 to rotate, so that the bearing portion 223 generates a vertical displacement.

Specifically, the lower limit structure 2212 of the vertical stability increasing mechanism 20 is disposed on the first link 221 to determine the lower limit of the vertical stability increasing mechanism 20, and the upper limit structure 2222 is disposed on the second link 222 to determine the upper limit of the vertical stability increasing mechanism 20. So that the connecting means 22 can only move between the upper limit and the lower limit. When the rotation angle of the connecting device 22 relative to the base 10 exceeds a certain angle, the upper limit structure 2222 or the lower limit structure 2212 of the vertical stability increasing mechanism 20 collides with the driving device 21 and/or the base 10, and the rotation posture of the vertical stability increasing mechanism 20 is limited. The load 30 is connected to the bearing part 223, so that the vertical displacement of the load 30 can be adjusted by controlling the connecting device 22 through the driving device 21, and the vertical stability-increasing function is provided for the movable equipment 100.

In one example, the driving device 21 may be a dc servo motor, and the first link 221 is connected to a rotor of the dc servo motor through a motor link 224. When the dc servo motor rotates, the first link 221 is driven to rotate by the motor link 224.

In some embodiments, the connection device 22 includes an elastic member 225, and the elastic member 225 connects the base 10 and the bearing portion 223 and is located between the first link 221 and the second link 222. The tension of the elastic member 225 can balance the gravity of the load 30 and the self-weight of the vertical stabilizing mechanism 20.

In some embodiments, the mobile device 100 further includes a mobile platform (not shown) on which the base rests.

In this way, the mobile device 100 can be moved by the mobile platform, and the execution apparatus can meet the requirements of being applied to different scenes.

In certain embodiments, the mobile platform comprises any one of a handheld support device, a drone, an unmanned vehicle, and an unmanned ship.

Wherein, the user can transform image acquisition device's shooting visual angle through handheld strutting arrangement, unmanned aerial vehicle, unmanned vehicle and unmanned ship etc. except shooting image/video, can acquire navigation line or road conditions information through mobile device, realize that intelligence keeps away functions such as barrier.

Referring to fig. 7, 8, and 9, the control method of the vertical stability increasing mechanism 20 according to the embodiment of the present application may be applied to the vertical stability increasing mechanism 20 according to the embodiment of the present application. The control method comprises the following steps:

step S1, acquiring a first expected posture and an actual posture of the vertical stability augmentation mechanism 20;

step S2, when the first expected posture is between the upper limit and the upper preset posture or between the lower limit and the lower preset posture, the first expected posture is corrected to be a second expected posture, and the vertical stability increasing mechanism 20 is controlled to rotate according to the second expected posture and the actual posture so that the vertical stability increasing mechanism 20 reaches the second expected posture; and

step S3, when the first desired posture is between the upper preset posture and the lower preset posture, the vertical stability increasing mechanism 20 is controlled to rotate according to the first desired posture and the actual posture so that the vertical stability increasing mechanism 20 reaches the first desired posture.

The first expected posture is located between the upper limit and the lower limit, the second expected posture is an upper preset posture or a lower preset posture, and the upper preset posture and the lower preset posture are located between the upper limit and the lower limit.

Specifically, the vertical stability increasing mechanism 20 includes an obtaining module 23, an attitude obtaining element 24, and a MicroController 25 (microcontrollerunit, MCU), step S1 may be implemented by the obtaining module 23 and the attitude obtaining element 24, where the obtaining module 23 is configured to obtain a first desired attitude of the vertical stability increasing mechanism 20, and the attitude obtaining element 24 is installed on the connecting device 22 and is configured to obtain an actual attitude of the vertical stability increasing mechanism 20. Steps S2 and S3 may be implemented by the microcontroller 25. The microcontroller 25 is electrically connected with the driving device 21, and the microcontroller 25 controls the driving device 21 to drive the connecting device 22 to rotate so as to adjust the posture of the vertical stability augmentation mechanism 20.

It should be noted that, referring to fig. 10, the control method according to the embodiment of the present application performs automatic control based on a feedback principle, and obtains expected system performance by comparing deviations between system behaviors (outputs) and expected behaviors and eliminating the deviations. That is, the deviation between the actual posture of the vertical stabilizing mechanism 20 and the desired posture is compared according to the actual posture of the vertical stabilizing mechanism 20, and the vertical stabilizing mechanism 20 is controlled so that the vertical stabilizing mechanism 20 reaches the desired posture.

In some embodiments, the gesture capture component 24 may be at least one of a gyroscope, an encoder, a potentiometer, and the like.

Specifically, the posture acquiring element 24 may acquire the actual posture of the vertical stability increasing mechanism 20 by detecting the rotation angle of the connecting device 22 with respect to the base 10. It is understood that, when the movable apparatus 100 operates, the posture acquiring element 24 acquires the actual posture of the vertical stability augmentation mechanism 20 in real time, so that the movable apparatus 100 can adjust the vertical displacement of the actuator 34 in time. The encoder may be a photoelectric rotary encoder, a magnetoelectric rotary encoder, or a contact brush type rotary encoder, and the like, and is configured to convert the rotation angle into an electrical signal to determine the actual posture of the vertical stabilizing mechanism 20.

Referring to fig. 11, in some embodiments, step S1 includes:

step S11, obtaining the motion parameters of the base 10; and

step S12, a first desired posture of the vertical stability increasing mechanism 20 is obtained according to the motion parameters of the base 10.

Specifically, step 11 and step S12 may be implemented by the obtaining module 23. In one example, the acquisition module 23 includes an Inertial Measurement Unit (IMU), and the acquisition module 23 may detect the angular velocity and acceleration of the base 10 through the IMU.

It can be understood that, when the base 10 moves, one end of the vertical stability increasing mechanism 20 is connected to the base 10 and can move along with the base 10, and the vertical stability increasing mechanism 20 can perform posture control according to the movement parameters of the base 10 to adjust the vertical displacement of the load 30 connected to the other end of the vertical stability increasing mechanism 20. For example, when the base 10 moves downward in the natural coordinate system, the vertical stability increasing mechanism 20 is controlled to rotate so that the load 30 moves upward relative to the base 10, the relative position of the load 30 and the natural coordinate system can be kept unchanged, the working stability of the load 30 is ensured, and the vertical stability increasing of the load 30 is realized. Correspondingly, when the base 10 moves upwards in the natural coordinate system, the vertical stability augmentation mechanism 20 is controlled to rotate, so that the load 30 moves downwards relative to the base 10, the working stability of the load 30 can be ensured, and the vertical stability augmentation of the load 30 is realized.

In this manner, in one example, the angle of rotation of the coupling device 22 relative to the base 10 corresponds to the position of the load 30 relative to the base 10. To keep the position of the load 30 unchanged, when the position of the base 10 changes, the obtaining module 23 may determine the rotation angle of the connecting device 22 relative to the base 10 according to the motion parameters of the base 10, that is, the obtaining module 23 may obtain the first desired posture of the vertical stability increasing mechanism 20 according to the motion parameters of the base 10.

It is understood that the first desired attitude refers to an attitude to which the vertical stabilizing mechanism 20 needs to be controlled to achieve vertical stabilization of the load 30 during movement of the base 10.

In certain embodiments, step S1 includes: a first desired pose of the vertical stability augmentation mechanism 20 is obtained from a user input.

Specifically, the obtaining module 23 may be configured to obtain a first desired posture of the vertical stability augmentation mechanism 20 according to a user input. It can be understood that, when the user needs to change the position of the load 30, the user may actively input an instruction, and the obtaining module 23 obtains the first desired posture of the vertical stability increasing mechanism 20 according to the control instruction, and determines the position that the load 30 wants to reach.

In some embodiments, the user input includes user input using any one of a remote control, a cell phone, a tablet computer, a laptop computer, a desktop computer, a smart watch, a smart bracelet, and a smart helmet.

In this way, the user can actively control the posture of the vertical stability increasing mechanism 20. In some examples, the remote controller, the mobile phone, the tablet computer, the notebook computer, the desktop computer, the smart watch, the smart bracelet, and the smart helmet may be connected to the vertical stability increasing mechanism 20 through wireless communication, and the user may remotely control the posture of the vertical stability increasing mechanism 20 and the load 30.

In some embodiments, the microcontroller 25 may be configured to determine an attitude position of the first desired attitude of the vertical stability augmentation mechanism 20. When the first desired posture of the vertical stabilizing mechanism 20 is located between the upper limit and the upper preset posture or between the lower limit and the lower preset posture, the microcontroller 25 may be configured to correct the first desired posture to the second desired posture, and control the vertical stabilizing mechanism 20 to rotate according to the second desired posture and the actual posture so that the vertical stabilizing mechanism 20 reaches the second desired posture. When the first desired attitude is between the upper preset attitude and the lower preset attitude, the microcontroller 25 may be configured to control the rotation of the vertical stability increasing mechanism according to the first desired attitude and the actual attitude so that the vertical stability increasing mechanism reaches the first desired attitude.

So, go up spacing and last predetermine between the gesture and down predetermine between the gesture and be formed with the interval. When carrying out attitude control to vertical steady mechanism 20 that increases, can revise first expected gesture, avoid vertical steady mechanism 20 that increases to collide limit structure and produce vibrations, guarantee the stability of load 30 work.

Specifically, in certain embodiments, step S2 includes: when the first expected posture is located between the upper limit and the upper preset posture, the second expected posture is the upper preset posture, at the moment, the first expected posture is corrected to be the upper preset posture, and the vertical stability increasing mechanism 20 is controlled to rotate according to the upper preset posture and the actual posture so that the vertical stability increasing mechanism 20 reaches the upper preset posture. When the first expected posture is located between the lower limit and the lower preset posture, the second expected posture is the lower preset posture, at the moment, the first expected posture is corrected to be the lower preset posture, and the vertical stability increasing mechanism 20 is controlled to rotate according to the lower preset posture and the actual posture so that the vertical stability increasing mechanism 20 reaches the lower preset posture.

Referring to fig. 12, in some embodiments, the control method includes:

step S10, calculating the attitude difference between the first expected attitude or the second expected attitude and the actual attitude;

step S20, iterative computation is carried out by utilizing the attitude difference to generate a control signal; and

and step S30, controlling the vertical stability increasing mechanism 20 to rotate according to the control signal so as to enable the vertical stability increasing mechanism 20 to reach the first expected posture or the second expected posture.

Specifically, step S10, step S20, and step S30 may be implemented by the microcontroller 25. In one example, the actual posture of the vertical stability augmentation mechanism 20 acquired by the posture acquisition element 24 may be an actual rotation angle of the connection device 22 relative to the base 10, the first desired posture or the second desired posture is a desired rotation angle of the connection device 22 relative to the base 10 that is desired to reach, and the posture difference is an angular difference between the desired rotation angle and the actual rotation angle. That is, in step S10, the microcontroller 25 can calculate the angle that the connecting device 22 needs to be rotated relative to the base 10 from the actual rotation angle to the desired rotation angle.

It can be understood that, in the process of controlling the rotation of the vertical stability increasing mechanism 20, in order to improve the accuracy of the control, the actual posture of the vertical stability increasing mechanism 20 can be obtained in real time, and for the actual posture of the vertical stability increasing mechanism 20 obtained each time in the control process, in step S34, the microcontroller 25 may perform iterative computation by using the following conditional expression to generate a control signal:

wherein, x (k) is the attitude difference in the k-th iteration calculation; y (k) is a control signal at the time of the kth iterative computation, a₀...a_nIs the denominator coefficient of the difference equation, b₀...b_nAre the molecular coefficients of the difference equation.

In the above conditional expression, the denominator coefficient and the numerator coefficient can be obtained in the debugging process. In one example, the control signal may be a motor torque command for controlling operation of the dc servo motor.

In step S30, the microcontroller 25 may control the driving device 21 according to the control signal generated by each iterative calculation, so that the vertical stability increasing mechanism 20 rotates to the first desired posture or the second desired posture, and the vertical stability increasing mechanism 20 is controlled to reach the first desired posture or the second desired posture in real time.

For step S2, the microcontroller 25 is configured to calculate an attitude difference between the second desired attitude and the actual attitude, and to perform iterative calculations using the attitude difference, generate a control signal, and to control the rotation of the vertical stability increasing mechanism 20 according to the control signal so that the vertical stability increasing mechanism 20 reaches the second desired attitude.

For step S3, the microcontroller 25 is configured to calculate an attitude difference between the first desired attitude and the actual attitude, and to perform iterative calculations using the attitude difference, generate a control signal, and to control the rotation of the vertical stability increasing mechanism 20 according to the control signal so that the vertical stability increasing mechanism 20 reaches the first desired attitude.

Referring to fig. 13, in some embodiments, the control method includes:

step S01, acquiring status information of load 30;

step S02, determining whether the load 30 is in an operating state; and if the load 30 is in the working state, entering a step of acquiring a first expected posture and an actual posture of the vertical stability augmentation mechanism 20.

Specifically, the vertical stability augmentation mechanism 20 also includes a processor 26. Steps S01 and S02 may be implemented by the processor 26.

In this way, when the load 30 is in the working state, the load 30 may be provided with the vertical stability increasing function by the vertical stability increasing mechanism 20, and at this time, the process proceeds to step S1. That is, the attitude acquisition element 24 may acquire the actual attitude of the vertical stability increasing mechanism 20 when the load 30 is in the operating state.

In some embodiments, a control method comprises: in step S03, if the load 30 is in the non-operating state, the vertical stability increasing mechanism 20 is controlled to be in the standby state.

In particular, in some embodiments, when the vertical stability increasing mechanism 20 is rotated to the upper limit and the actual posture of the vertical stability increasing mechanism 20 enters between the upper limit and the upper preset posture, the upper preset posture is set to the first desired posture of the vertical stability increasing mechanism 20; or when the vertical stability increasing mechanism 20 rotates downward in a limiting manner and the actual posture of the vertical stability increasing mechanism 20 enters between the lower limit and the lower preset posture, the lower preset posture is set to be the first expected posture of the vertical stability increasing mechanism 20, and the vertical stability increasing mechanism 20 is controlled according to the actual posture and the first expected posture so that the vertical stability increasing mechanism 20 reaches the first expected posture.

It can be understood that, the region between the upper limit and the upper preset posture or between the lower limit and the lower preset posture can be a buffer region, when the actual posture of the vertical stability increasing mechanism 20 enters between the upper limit and the upper preset posture or between the lower limit and the lower preset posture, the microcontroller 25 actively performs posture control on the vertical stability increasing mechanism 20, the upper preset posture or the lower preset posture is set as the first expected posture of the vertical stability increasing mechanism 20, the vertical stability increasing mechanism 20 is controlled to rotate to the upper preset posture or the lower preset posture, and the vertical stability increasing mechanism 20 is prevented from colliding and generating vibration when reaching the lower limit or the upper limit, so that the working stability of the load 30 is kept.

In one example, when the load 30 moves upward at an acceleration of 1 or less acceleration of gravity, so that the vertical stability increasing mechanism 20 performing posture control enters between the upper limit and the upper preset posture or moves downward to enter between the lower limit and the lower preset posture, the microcontroller 25 may actively control the posture of the vertical stability increasing mechanism 20 so that the vertical stability increasing mechanism 20 does not collide with the limit, thereby ensuring the working stability of the load 30.

In some embodiments, the inclination angle of the vertical stability increasing mechanism 20 at the upper limit or the lower limit is different from the inclination angle of the vertical stability increasing mechanism 20 at the upper preset posture or the lower preset posture by 5 degrees.

Specifically, the inclination angle of the vertical stability increasing mechanism 20 at the upper limit position is 5 degrees different from the inclination angle of the vertical stability increasing mechanism 20 at the upper preset posture, that is, when the vertical stability increasing mechanism 20 is respectively located at the upper limit position and the upper preset posture, the included angle α 1 of the load 30 relative to the base 10 is 5 degrees, and the inclination angle of the vertical stability increasing mechanism 20 at the lower limit position is 5 degrees different from the inclination angle of the vertical stability increasing mechanism 20 at the lower preset posture, that is, when the vertical stability increasing mechanism 20 is respectively located at the lower limit position and the lower preset posture, the included angle α 2 of the load 30 relative to the base 10 is 5 degrees.

Thus, the load 30 moves upward at an acceleration of 1 or less acceleration of gravity, so that when the attitude-controlled vertical stability augmentation mechanism 20 enters between the upper limit and the upper preset attitude or moves downward to enter between the lower limit and the lower preset attitude, the microcontroller 25 can actively control the attitude of the vertical stability augmentation mechanism 20 so that the vertical stability augmentation mechanism 20 does not collide with the limit, thereby ensuring the working stability of the load 30.

Of course, in other embodiments, the angle of inclination when the vertical stabilizing mechanism 20 is at the upper limit position or the lower limit position, which is different from the angle of inclination when the vertical stabilizing mechanism 20 is at the upper preset posture or the lower preset posture, respectively, may not be limited to the above-discussed embodiments, but may be changed according to the performance of the driving device 21, the size of the connecting device 22, and the like, and is not specifically limited herein.

In some embodiments, the vertical stability increasing mechanism 20 includes an initial posture position, and the vertical stability increasing mechanism 20 is inclined at an angle of 30 degrees with respect to the initial posture position when the vertical stability increasing mechanism 20 is in the upper preset posture or the lower preset posture.

Specifically, the initial posture position may be a posture position in which the vertical stabilizing mechanism 20 is horizontally disposed, an angle β 1 with respect to the base 10 when the vertical stabilizing mechanism 20 is in the posture from the upper preset posture to the initial position is 30 degrees, and an angle β 2 with respect to the base 10 when the load 30 is in the posture from the lower preset posture to the initial position is 30 degrees.

As such, the vertical stability increasing mechanism 20 can rotate relative to the base 10 within a range of 60 degrees, so that the load 30 can be vertically displaced relative to the base 10 within a certain range, and when the movable device 100 is rapidly lifted or dropped, the vertical stability increasing mechanism 20 can provide vertical stability increase for the load 30.

In other embodiments, the inclination angle of the vertical stabilizing mechanism 20 with respect to the initial posture position when the load 30 is in the upper preset posture or the lower preset posture and the vertical stabilizing mechanism 20 is in the upper preset posture or the lower preset posture may not be limited to the above-discussed embodiments, but may be changed according to the performance of the driving device 21, the size of the connecting device 22, and the like, and is not particularly limited herein.

In the description herein, reference to the description of the terms "certain embodiments," "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples" or the like means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

Any process or method descriptions in flow charts or otherwise described herein may be understood as representing modules, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps in the process, and the scope of the preferred embodiments of the present application includes additional implementations in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the present application.

The logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.

It should be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be performed by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for performing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.

It will be understood by those skilled in the art that all or part of the steps carried out in the method of implementing the above embodiments may be implemented by hardware associated with instructions of a program, which may be stored in a computer-readable storage medium, and which, when executed, includes one or a combination of the steps of the method embodiments.

In addition, each functional unit in the embodiments of the present application may be integrated into one processing module, or each unit may exist alone physically, or two or more units are integrated into one module. The integrated module can be executed in the form of hardware or in the form of a software functional module. The integrated module, if executed in the form of a software functional module and sold or used as a stand-alone product, may also be stored in a computer readable storage medium.

The storage medium mentioned above may be a read-only memory, a magnetic or optical disk, etc.

Although embodiments of the present application have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present application, and that variations, modifications, substitutions and alterations may be made to the above embodiments by those of ordinary skill in the art within the scope of the present application.