A special motion controller for four-cable traction camera robot

Abstract

The invention relates to a special motion controller for a four-cable-driven camera robot. The special motion controller mainly comprises a system on programmable chip of a Virtex-II based field programmable gate array and a peripheral circuit. FPGA on-chip SOPC function modules, which are customized according to the requirement on motion control of a four-cable-driven camera robot, mainly comprise a hard-core microprocessor PowerPC405, a processor local bus PLB, an on-chip peripheral bus OPB, a PLB-to-OPB bridge, an SDRA controller, an Ethernet medium access controller, a UART, a GPIO and a system-level advanced configuration environment. All the on-chip function modules are in logical connection. The peripheral circuit mainly comprises a power source, a clock, an SDRAM memory, an ACE controller and a CF card, a key, an LED, an Ethernet physical layer transceiver LXT972A and an RS232 level shifter MAX3232. The peripheral circuit is electrically connected with the FPGA. The SOPC technology is adopted to realize the motion controller, optimize the system hardware structure and also improve the system flexibility.

Description

technical field [0001] The invention relates to the technical field of the control system of a cable-tracted camera robot, in particular to a special motion for a four-cable-tracted camera robot with low cost, high system reliability, high control precision, good motion coordination, and compact hardware structure. controller. Background technique [0002] With the improvement of living standards, people's leisure life has become more and more abundant, so more attention has been paid to entertainment activities such as various sports games or concerts. However, due to venue restrictions and safety reasons, not everyone can watch the scene in person. In order to present better live videos to the audience, a device that can flexibly and quickly shoot sports games or concerts in the air is needed. . [0003] Before the appearance of cable-tracted camera robots, traditional camera technology often needed equipment such as rocker cameras, crank-arm elevators, and helicopters w...

AI Technical Summary

Problems solved by technology

[0003] Before the appearance of cable-tracted camera robots, traditional camera technology often needed equipment such as rocker cameras, crank-arm elevators, and helicopters when performing aerial shooting of live sports games or concerts, but these equipments had certain limitations. Disadvantages: The working area and shooting angle of the rocker camera and the crank lift camera system are very limited, the movement speed is slow and it is easy to interfere with the audience's sight; and the use of helicopters for aerial photography has problems such as complex target tracking and position positioning, and Vibration and noise interfere greatly, affecting the viewing of live audiences, and the cost is high

At present, the motion controllers that can be used for parallel robots at home and abroad all have the following disadvantages: expensive; weak openness, poor precision, and the control algorithm cannot be modified by the user, so it is difficult to control and poor in coordination

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