Research On Trajectory Tracking Technology And Control System Of Camera Robot

This project is entrusted by relevant enterprises and institutions and is responsible for the development of photography robot equipment for virtual studios.The main research direction is the design and implementation of the track-based photography robot trajectory tracking system,and the hardware and software design of the whole motion control system.The project requirements are basically completed,and the prototype works well in the virtual studio.(1)Firstly,the overall scheme design of the photography robot trajectory tracking system is carried out.Seven parameters that need to be tracked are determined: X,Y,Z,Pan,Tilt,Zoom,Fcous,and the tracking accuracy and performance are designed.The design of the transmission scheme of each motion direction is completed,including track walking,column lifting,pan-tilt rotating and lens servo module;Based on selecting the appropriate electromechanical tracking mode,the code acquisition unit provides a data detection scheme for camera tracking and meets the tracking accuracy requirements.(2)Based on the transmission scheme and coded data acquisition,the D-H matrix transformation is used to describe the pose information of the optical center of the end camera,and the real-time trajectory tracking of the camera is realized.Aiming at the different track arrangement of the actual site,a general chassis center positioning algorithm suitable for curved track is proposed,which provides the parameter information of X-Y plane for the abovementioned D-H method to realize trajectory tracking.The algorithm satisfies the error requirement through experiments.(3)A series of motion control algorithms for photographic robots are studied.The Lagrangian method is used to analyze the dynamics algorithm,and the control theory is provided.For the vibration and error of the walking direction of the photographic robot,the Sshaped velocity curve and the compensation speed regulation algorithm are designed,which can effectively solve these problems through the experimental verification.The Viola-jones face detection algorithm adds new features for automatic tracking to the robot.(4)The hardware construction of the photographic robot control system was completed,and the main hardware devices such as GUC motion controller and pan/tilt motion controller were analyzed.The console module and synchronization signal separation module were designed in detail.These designs provide the hardware foundation for the software implementation.(5)The communication and software design of the control system were completed.The communication module includes data or command communication between the control host and the virtual workstation,the control host and the host computer,the host computer and the console.The programming of the GUC motion controller and the pan/tilt module controller is completed in the control host,so that the robot can run under various control modes.The graphical interface design and function realization of the operating software of the host computer terminal were completed,and the feedback of the customer usage is good.Finally,the actual test was conducted under the virtual studio,and the test results were pretty good.