CN108513652B

CN108513652B - Control method and device of holder

Info

Publication number: CN108513652B
Application number: CN201780004531.XA
Authority: CN
Inventors: 苏铁; 潘立忠
Original assignee: SZ DJI Osmo Technology Co Ltd
Current assignee: SZ DJI Osmo Technology Co Ltd
Priority date: 2017-04-21
Filing date: 2017-04-21
Publication date: 2021-08-31
Anticipated expiration: 2037-04-21
Also published as: WO2018191969A1; CN108513652A

Abstract

A control method and a device of a cloud deck are provided, wherein the method comprises the following steps: acquiring a posture sequence which comprises cradle head posture information corresponding to at least three postures and a switching condition corresponding to each posture, wherein the switching condition is used for indicating that the cradle head is switched from a current posture corresponding to the switching condition to a next posture corresponding to the current posture in the posture sequence (S101). receiving a starting instruction (S102). after receiving the starting instruction, controlling the posture switching of the cradle head according to the posture sequence (S103). By setting the attitude sequence, the handheld cloud platform can switch the attitude according to the attitude sequence, the attitude switching of the cloud platform is more intelligent, possible misoperation caused by manual operation of a user on the cloud platform can be reduced, useless pictures can be shot, the efficiency of shooting the multi-scene switching lens by the user is high, and the repeatability of shooting the pictures is high.

Description

Control method and device of holder

Technical Field

The invention relates to the field of control, in particular to a control method and device of a cloud deck.

Background

Along with the development of shooting technology, handheld cloud platform also receives more and more user's liking. At present, in the process of shooting by a handheld tripod head, a user needs to manually operate the motion of the tripod head in real time, so that a camera carried on the tripod head is aligned to a target to be shot. However, if the user makes a mistake, the camera mounted on the pan/tilt head may capture an unnecessary screen. In addition, there are some situations that repeated shooting is required, for example, a group of scenes-changing shots are repeatedly shot, repeatability of switching scenes by the pan-tilt cannot be achieved by manually operating the pan-tilt by a user, and actual requirements of the user cannot be met.

Disclosure of Invention

The invention provides a control method and device of a cloud deck.

According to a first aspect of the present invention, there is provided a method of controlling a pan/tilt head, the method comprising:

receiving a starting instruction;

acquiring an attitude sequence, wherein the attitude sequence comprises cradle head attitude information corresponding to at least three attitudes and a switching condition corresponding to each attitude, and the switching condition is used for indicating that the cradle head is switched from a current attitude corresponding to the switching condition to a next attitude corresponding to the current attitude in the attitude sequence;

and after the starting instruction is received, controlling the attitude switching of the holder according to the attitude sequence.

According to a second aspect of the present invention, there is provided a control apparatus of a pan/tilt head, the apparatus comprising a first processor, wherein the first processor is configured to:

receiving a starting instruction;

According to a third aspect of the present invention, there is provided a control method of a pan/tilt head, the method comprising:

receiving a starting command input by a user;

and after receiving the starting command, sending a starting command to the cradle head, wherein the starting command is used for instructing the cradle head to acquire an attitude sequence and switching the attitude according to the attitude sequence, the attitude sequence comprises cradle head attitude information corresponding to at least three attitudes and a switching condition corresponding to each attitude, and the switching condition is used for instructing the cradle head to switch from the current attitude corresponding to the switching condition to the next attitude corresponding to the current attitude in the attitude sequence.

According to a fourth aspect of the present invention, there is provided a control apparatus of a pan/tilt head, the apparatus comprising a second processor, wherein the second processor is configured to:

receiving a starting command input by a user;

According to the technical scheme provided by the embodiment of the invention, the posture sequence is set, so that the handheld cloud platform can switch the posture according to the posture sequence, the posture switching of the cloud platform is more intelligent, the possible operation errors caused by the manual operation of the cloud platform by a user can be reduced, useless pictures can be shot, the efficiency of shooting the multi-scene switching lens by the user is high, and the repeatability of the shot pictures is high.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.

Fig. 1 is a schematic view of an installation state of a pan/tilt head according to an embodiment of the present invention;

fig. 2 is a schematic flow chart of a control method of a pan/tilt head on the pan/tilt head side according to an embodiment of the present invention;

fig. 3 is a schematic flow chart of a control method of a pan-tilt head on the pan-tilt head side in another embodiment of the invention;

fig. 4 is a schematic flow chart of a control method of a cradle head on the cradle head side in a further embodiment of the invention;

FIG. 5 is a schematic view of pan/tilt head attitude correction according to an embodiment of the present invention;

fig. 6 is a schematic flow chart of a control method of a pan/tilt head in a user device according to an embodiment of the present invention;

FIG. 7 is a diagram illustrating a display interface of a user-side device in accordance with an embodiment of the present invention;

fig. 8 is a schematic structural diagram of a control device of the pan/tilt head according to an embodiment of the present invention;

fig. 9 is a schematic structural diagram of a control device of another pan/tilt head according to an embodiment of the present invention;

fig. 10 is a functional block diagram of a control device of the pan/tilt head according to an embodiment of the present invention;

fig. 11 is a functional block diagram of a control device of another pan/tilt head according to an embodiment of the present invention;

fig. 12 is a schematic structural diagram of a pan-tilt control system according to an embodiment of the present invention;

fig. 13 is a schematic structural diagram of a pan/tilt head control system according to another embodiment of the present invention.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

The following describes the control method and device of the pan/tilt head in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

The pan-tilt is used for carrying a camera, in the embodiment of the present invention, the pan-tilt may be a two-axis pan-tilt or a three-axis pan-tilt, and in the embodiment of the present invention, the three-axis pan-tilt 200 is used for schematic illustration.

Referring to fig. 1, a camera 9 is fixedly installed on a camera fixing mechanism 6 on a pan/tilt head 200, wherein the fixing mechanism 6 may be fixedly or movably connected with a shaft arm 7 of a pitch shaft of the pan/tilt head, wherein an attitude sensor may be installed on the fixing mechanism 6 of the camera, a component fixedly connected with the fixing mechanism 6, or any other component fixedly connected with the shaft arm 7 of the pitch shaft, during a shooting process, the pan/tilt head stabilizes the camera, during a shooting process of the camera, the attitude sensor may measure an attitude of the camera 9, that is, first attitude information of the pan/tilt head, wherein the attitude sensor may include an inertial measurement unit or a gyroscope, and for convenience of description, the inertial measurement unit or the gyroscope will be schematically described as an attitude sensor hereinafter. The attitude has a plurality of expression forms, quaternion is an expression method of attitude information, and common expression forms of common attitude also include Euler angles, matrixes and the like.

With reference to fig. 2 to 4 and fig. 6, an embodiment of the present invention provides a pan/tilt control method.

The first embodiment and the second embodiment describe the control method of the pan/tilt head from the user side device for controlling the pan/tilt head and the cloud platform side device respectively. The user-side device may be a dedicated remote controller (i.e., a control device for controlling the motion of the pan/tilt head) or an intelligent device installed with an APP (e.g., a mobile device such as a mobile phone or a PAD).

Example one

Referring to fig. 2, at the pan-tilt side, the method may comprise the steps of:

s101: acquiring an attitude sequence, wherein the attitude sequence comprises cradle head attitude information corresponding to at least three attitudes and a switching condition corresponding to each attitude, and the switching condition is used for indicating that the cradle head is switched from a current attitude corresponding to the switching condition to a next attitude corresponding to the current attitude in the attitude sequence;

specifically, the gesture sequence may be a gesture sequence locally stored in advance by the cradle head or a gesture sequence stored by the user-side device. Optionally, the attitude sequence is pre-stored in the cradle head, and the cradle head directly calls the locally stored attitude sequence after receiving the start instruction. Optionally, the gesture sequence is a gesture sequence stored by the user side device, and after receiving the start instruction, the cradle head sends a request for acquiring the gesture sequence to the user side device, so as to acquire the gesture sequence from the user side device; or the user side equipment directly sends the attitude sequence to the holder before or after sending the starting instruction to the holder; or the user side equipment simultaneously sends the starting instruction and the attitude sequence to the holder. In some embodiments, after receiving the gesture sequence, the pan/tilt head needs to store the received gesture sequence in a local cache. In addition, the cradle head further comprises, after receiving and storing the sequence of poses: and receiving new attitude information and a corresponding switching condition thereof, and adding the new attitude information and the corresponding switching condition thereof into the attitude sequence, so that the attitude sequence can be dynamically set according to actual needs. In some embodiments, a display interface is further provided on the pan/tilt head, and the new gesture sequence is directly input by the user on the display interface of the pan/tilt head. In some embodiments, the new gesture sequence may be transmitted by the user-side device in real-time.

In some examples, the pan-tilt attitude information may include: angle information of the pan/tilt head. The angle information is at least one of a pitch angle, a yaw angle, and a roll angle. In some embodiments, the pan/tilt attitude information may further include a telescopic length of one or more axes of the pan/tilt, and the like.

The switching condition is set according to a photographing requirement.

In some examples, the handover condition includes: the cradle head is switched from the current posture to the time information of the next posture, so that the cradle head can automatically switch the postures according to the posture sequence, and the repeatability of cradle head posture switching is high.

Optionally, the time information of switching the pan/tilt head from the current posture to the next posture includes: the stay time of the holder at each posture is long. The stay time is used for indicating the stay time of the holder at the current posture after the holder is switched from the previous posture to the current posture, so that the shooting requirement is met. In some examples, the time information of switching the pan/tilt from the current posture to the next posture may also not include the stay time of the pan/tilt in each posture, and the stay time may be selected as the default stay time of the pan/tilt, so as to simplify the calculation process, reduce the reading of data, and accelerate the operation of the system.

Optionally, the time information of switching the pan/tilt head from the current posture to the next posture includes: and the cradle head is switched to the time interval of the next attitude from the current attitude. For example, the time interval for switching the pan/tilt head from the current attitude to the next attitude is set to 10s (unit: second). The time interval for switching between every two postures can be set according to actual needs, for example, the time interval for switching between every two postures can be set to be equal, or the time interval for switching between every two postures can be set to be different according to actual needs (for example, the time interval for switching between some postures is required to be longer so as to be beneficial for a camera of the pan/tilt head to monitor slowly-changing images). In some examples, the time information of switching the pan/tilt head from the current posture to the next posture may not include a time interval of switching the pan/tilt head from the current posture to the next posture, and the time interval may be selected as a default switching time of the pan/tilt head, so as to simplify the calculation process of the switching rate, reduce the reading of data, and speed up the operation of the system.

Optionally, the time information includes: and the switching time of the cradle head at each posture. For example, the gesture sequence includes at least three gestures, which are respectively a starting gesture (i.e. a first gesture), a second gesture, … …, an N-1 th gesture and an N-th gesture (i.e. a last gesture), where N is a natural number and N ≧ 3. A group of repeated sunset shots needs to be shot, and the switching conditions of the initial postures in the posture sequence are as follows: switching to a second posture by 6 points and 01 points, wherein the switching conditions of the second posture are as follows: switch to the third position at point 6, point 03, and so on.

In an embodiment where the time information of the pan/tilt head switching from the current posture to the next posture includes a time interval of the pan/tilt head switching from the current posture to the next posture or includes a switching time of the pan/tilt head at each posture, the switching condition may further include: and the change information of the switching speed of the cradle head from the current posture to the next posture. The change information is used to indicate a change in the rate at which the pan/tilt head moves from the current attitude to the next attitude. Because the time information of the tripod head switching from the current posture to the next posture is determined, the current posture and the next posture are also determined, and the speed of the tripod head at each moment between the current posture and the next posture can be determined according to the change information of the switching speed. Specifically, the cradle head calculates the switching displacement between the two postures according to the posture information corresponding to the current posture and the next posture information corresponding to the current posture, and the switching rate of the cradle head from the current posture to the next posture can be calculated according to the switching displacement, the time information of switching the current posture of the cradle head to the next posture and the change information of the switching rate. Optionally, the change information of the handover rate specifically indicates that the handover rate is a constant rate. Optionally, the change information of the switching rate may indicate that the switching rate is not a constant speed, and indicate a relationship between speeds at various time points in the process of switching the pan/tilt head from the current posture to the next posture. In some examples, the switching condition may not include change information of a switching rate at which the pan/tilt head is switched from the current posture to the next posture, and then the switching rate at which the pan/tilt head is switched from the current posture to the next posture may be selected as a default constant speed of the pan/tilt head, thereby simplifying a calculation process, reducing data reading, and accelerating operation of the system.

In addition, in this embodiment, the number of gestures included in the gesture sequence may also be set according to actual requirements.

S102: receiving a starting instruction;

in the embodiment of the present invention, the sequence of step S101 and step S102 may be executed sequentially, where the specific sequence is not specifically limited, and step S101 and step S102 may also be executed simultaneously.

Specifically, the start instruction is sent to the pan/tilt head by the user side.

Alternatively, the start instruction is directly input by the user on said head. In some examples, the cradle head is provided with an operation button for generating a start instruction, and a user presses the operation button to input the start instruction to the cradle head. In this embodiment, the operation button may be a physical button or a virtual button. In some other examples, the cradle head includes an operation interface, and the operation interface is provided with an input box for inputting a start instruction, and the user may directly input the start instruction into the input box.

Optionally, the start instruction is sent by the user side device. In an embodiment, the user-side device is a dedicated remote controller, the dedicated remote controller is provided with an operation button for starting an instruction, and the dedicated remote controller sends the start instruction to the cradle head after the user presses the operation button. In this embodiment, the operation button may be a physical button or a virtual button. In another embodiment, the user side device is an intelligent device equipped with an APP, and the interface of the APP is provided with an operation button for sending a start instruction to the cradle head or an input box for inputting the start instruction.

S104: after the starting instruction is received, controlling attitude switching of the cradle head according to the attitude sequence, wherein the attitude sequence comprises cradle head attitude information corresponding to at least three attitudes and a switching condition corresponding to each attitude, and the switching condition is used for indicating that the cradle head is switched from a current attitude corresponding to the switching condition to a next attitude corresponding to the current attitude in the attitude sequence.

Specifically, referring to fig. 3, the controlling of the attitude switching of the pan/tilt head according to the preset attitude sequence includes: and calculating the attitude difference of each rotating shaft of the holder according to the attitude information corresponding to the current attitude of the holder and the attitude information of the next attitude corresponding to the current attitude, and controlling the holder to be switched from the current attitude to the next attitude according to the attitude difference of each rotating shaft of the holder. For example, the attitude information is the tilt axis angle and the roll axis angle of the pan/tilt head, the attitude information corresponding to the current attitude of the pan/tilt head is (0 °, 10 °), and the attitude information corresponding to the next attitude of the pan/tilt head is (10 °, 20 °), then the attitude difference between the tilt axis and the roll axis of the pan/tilt head is calculated to be (10 ° ), and the pan/tilt head is switched from the current attitude to the next attitude according to the calculated attitude difference (10 ° ).

In the embodiment of the invention, the posture sequence is set, so that the handheld cloud platform can switch the posture according to the posture sequence, the posture switching of the cloud platform is more intelligent, the possible misoperation of a user in the manual operation of the cloud platform can be reduced, useless pictures can be shot, the efficiency of shooting the multi-scene switching lens by the user is high, and the repeatability of the shot pictures is high.

In this embodiment, after step S102, the holder further includes: and resetting the cradle head to the initial attitude of the attitude sequence, so that the cradle head is positioned at the same attitude after being started every time, and the shooting repeatability is improved. Optionally, the resetting of the pan/tilt to the starting posture of the posture sequence is performed after the current posture of the pan/tilt is determined to be the final posture in the posture sequence. Optionally, the cradle head resetting the cradle head to the starting attitude of the sequence of attitudes is performed between steps S102 and S103.

At present, a pan-tilt mainly uses an inertial measurement unit as a feedback element and a driving motor of each axis (yaw axis, pitch axis, roll axis) of the pan-tilt as an output element to control the attitude of the pan-tilt, wherein in the process of controlling the attitude of the pan-tilt, a controlled variable is the attitude of the pan-tilt, and a target attitude is given, and the current attitude of the pan-tilt is corrected to the target attitude through feedback control, so that the pan-tilt approaches from the current attitude to the target attitude.

An Inertial Measurement Unit (IMU) mainly includes a gyroscope and an accelerometer, the gyroscope can measure angular velocities of rotation of each axis of the pan/tilt head, and the current attitude (pitch, roll, yaw) of the pan/tilt head can be determined by integrating the angular velocities obtained by the measurement. At present, an accelerometer is mainly used for giving a cradle head attitude reference, the current attitude of the cradle head obtained by angular velocity integral measured by a gyroscope is corrected, and finally the cradle head obtains a stable attitude. However, the accelerometer itself has drift, and the current attitude is corrected by using the data of the acceleration, and the drift is also generated, and the attitude of the pan-tilt is not very stable for a long time, so that the shooting equipment erected on the pan-tilt cannot shoot the scene of the fixed machine position for a long time; in addition, when the current posture of the pan/tilt head is corrected by using the accelerometer, the current posture of the pan/tilt head can be corrected only for a pitch axis and a roll axis of the pan/tilt head, and cannot be corrected for a yaw axis of the pan/tilt head, so that the posture of the yaw axis integrated by the gyroscope may quickly drift, and finally, the yaw axis of the whole pan/tilt head continuously moves towards one direction when the scene of the fixed machine position is photographed by using the pan/tilt head, and thus, the scene of the fixed machine position cannot be photographed for a long time by using the photographing device erected on the pan/tilt head.

In this embodiment, referring to fig. 4, for a situation that the attitude of each axis of the pan/tilt head may drift, the pan/tilt head further includes, after switching the attitude of the pan/tilt head each time:

s1: determining first attitude information of a holder;

the first posture information may be a posture angle (euler angle) of the first posture, or may be a quaternion corresponding to the first posture, and is not particularly limited herein. The following sections of the present document refer to attitude information, which may be attitude angles corresponding to the attitude or quaternions corresponding to the attitude, and will not be explained further hereinafter.

S2: determining the rotation angle of a driving motor of one or more shafts of the holder;

specifically, as shown in fig. 1, the shaft arm 8 of the roll axis of the pan/tilt head 200 is used to support the shaft arm 7 of the pitch axis and the driving motor 1 of the pitch axis, the shaft arm 5 of the yaw axis of the pan/tilt head 200 is used to support the driving motor 3 of the yaw axis and the driving motor 2 of the roll axis, the shaft arm 7 of the pitch axis of the pan/tilt head is used to support the camera 9, and angle sensors may be installed in the driving motors (the driving motor 1 of the pitch axis, the driving motor 2 of the roll axis, and the driving motor 3 of the yaw axis) of each axis of the pan/tilt head 200, wherein a circuit board is disposed in the driving motors, the angle sensors may be electrically connected to the circuit board, and when the driving motor of the pan/tilt head rotates, the rotation angle of the driving motors may be measured by the angle sensors, and the angle sensors may be one or more of a potentiometer, a hall sensor, and an encoder. Wherein the head can be connected to a hand stick (not shown) or a movable platform via the base 4.

It should be noted that, in the embodiment of the present invention, the sequence of step S1 and step S2 may be executed sequentially, where the specific sequence is not specifically limited, and step S1 and step S2 may also be executed simultaneously.

S3: determining error attitude information of an attitude sensor according to the first attitude information and the rotation angle;

specifically, after the rotation angle of the driving motor of one or more axes of the pan/tilt head is measured, the error attitude information of the inertial measurement unit or gyroscope is determined according to the rotation angle and the first attitude information of the pan/tilt head determined by the inertial measurement unit or gyroscope, that is, the error attitude information may represent the drift of the inertial measurement unit or gyroscope.

S4: and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder.

Specifically, when the inertial measurement unit or the gyroscope performs data measurement, the measured attitude information is inaccurate due to drift of the inertial measurement unit or the gyroscope, so that after error attitude information representing drift of the inertial measurement unit or the gyroscope is determined, a closed-loop control strategy can be used to correct the first attitude information measured by the inertial measurement unit or the gyroscope according to the error attitude information to obtain the current attitude information of the pan/tilt head. Specifically, the first attitude information may be modified according to the error attitude information by using at least one of extended kalman filtering, complementary filtering, or smooth filtering, so as to obtain current attitude information of the pan/tilt head.

In the embodiment of the invention, the error attitude information of the inertial measurement unit or the gyroscope is determined through the rotating angle of the driving motor of one or more axes of the holder and the first attitude information measured by the inertial measurement unit or the gyroscope, the first attitude information is corrected according to the error attitude information, so that the drift problem existing in the prior art when an accelerometer is used for correcting the attitude information obtained by an inertial unit or a gyroscope can be effectively avoided, the attitude of the tripod head obtained after correction can be kept stable for a long time, therefore, the shooting equipment erected on the cradle head can shoot scenes of the fixed machine position for a long time without generating the problem of shooting angle drift of the shooting equipment, through the technical scheme, the cradle head can shoot scenes of the moving machine position and scenes of the fixed machine position for a long time, and the application range of the cradle head is expanded.

In some embodiments, reference attitude information of the pan/tilt head is determined based on the rotation angle, and error attitude information of the inertial measurement unit or the gyroscope is determined based on the reference attitude information and the first attitude information. Specifically, when a fixed scene is photographed by using the pan/tilt. The specific process of determining the reference attitude information by the rotation angle of the driving motor of one or more axes of the pan/tilt head will be explained in detail below.

In some embodiments, each of the rotation angles is converted into a corresponding quaternion, and reference attitude information of the holder is determined according to the quaternion of the rotation angle. After the rotation angles of the driving motors of the three axes (pitch axis, yaw axis, roll axis) of the pan-tilt are determined, the rotation angles of the driving motors of the three axes can be converted into corresponding quaternions respectively, and the reference attitude information is determined according to the three quaternions obtained after conversion.

In some embodiments, attitude information of a base of the pan/tilt head is set, and reference attitude information of the pan/tilt head is determined according to the attitude information of the base and the rotation angle. The attitude information of the base of the cradle head can be solidified in a processor or a memory of the cradle head, and can also be set through a control terminal connected with the cradle head and an interaction device configured on the cradle head. Specifically, the attitude information of the base of the pan/tilt head may be related to the installation condition of the base, and when the pan/tilt head is used to erect the shooting device to shoot a scene of a fixed station for a long time, the base of the pan/tilt head is generally considered to be approximately fixed, so that the attitude information of the base of the pan/tilt head may be set as fixed attitude information. The specific process of determining the reference attitude information based on the rotation angle and the attitude information of the base of the pan/tilt head will be described in detail below.

In some embodiments, a quaternion of the attitude of the base of the pan/tilt head is set, and the reference attitude information of the pan/tilt head is determined according to the quaternion of the attitude of the base and the quaternion obtained by converting each of the rotation angles. Specifically, the rotational angle of each driving motor may be determined by using an angle sensor mounted on a driving motor of each axis of the pan/tilt head, each angle is converted into a corresponding quaternion, for example, the pan/tilt head is a three-axis pan/tilt head, the rotational angles of the driving motors of the yaw axis, the pitch axis, and the roll axis of the pan/tilt head are measured according to the angle sensors mounted on the three driving motors, the quaternion corresponding to the rotational angles of the driving motors of the yaw axis, the pitch axis, and the roll axis can be obtained by conversion, and the quaternion of the base of the pan/tilt head is set, for example, the quaternion of the posture of the base can be set to (1,0,0, 0). Further, the quaternion of the attitude of the base and the quaternion obtained by converting each rotation angle are multiplied respectively, the reference attitude information is determined according to the quaternion obtained by multiplying, namely, the quaternion of the attitude of the base is multiplied by the quaternion corresponding to the rotation angle of the drive motor of the yaw axis, the pitch axis and the roll axis respectively, and the attitude information after the effective load rotates on the basis of the base by multiplying the quaternion, namely, the quaternion obtained by multiplying can be known, namely, the quaternion can represent the quaternion of the reference attitude of the holder, namely, the reference attitude information of the holder is determined according to the quaternion obtained by multiplying.

In some embodiments, the determining error attitude information of the inertial measurement unit or gyroscope from the reference attitude information and the first attitude information may be arranged to: and determining the error attitude information according to the quaternion of the reference attitude and the quaternion of the first attitude. Wherein the error attitude information is attitude difference information between the first attitude information and the reference attitude information, when the reference attitude information of the pan/tilt head is expressed in the form of a quaternion, and the first attitude is expressed in the form of a quaternion, then, after the error attitude information can be determined from the quaternion of the reference attitude and the quaternion of the first attitude, in particular, the quaternion of the reference attitude can be multiplied by the quaternion of the first attitude information, determining error attitude information according to the quaternion obtained by multiplication, wherein the quaternion obtained by multiplication can represent the error attitude between the reference attitude and the first attitude, the quaternion obtained by multiplication is the quaternion of the error attitude, the euler angle corresponding to the error attitude can be converted from the quaternion of the error attitude, and the first attitude information of the inertial measurement unit or the gyroscope can be corrected according to the quaternion or the euler angle of the determined error attitude information. In addition, when determining the quaternion of the reference attitude, the quaternion of the reference attitude may be converted into a corresponding euler angle, the euler angle corresponding to the first attitude information may be determined from the inertial observation unit or the gyroscope, an error attitude between the reference attitude and the first attitude may be obtained by comparing the quaternion of the reference attitude with the corresponding euler angle and the euler angle corresponding to the first attitude information, the error attitude may represent a drift of the inertial measurement unit or the gyroscope, and a difference between the euler angle of the reference attitude and the euler angle corresponding to the first attitude information may be converted into the quaternion corresponding to the error attitude information by conversion.

The quaternion is a mathematical expression of the posture, and in general, the quaternion may be expressed in the form of q ═ w + xi + yj + zk. Where q ═ w + xi + yj + zk can be divided into scalar w and vector xi + yj + zk, so for convenience of representation, q is represented as (S, V), where S represents scalar w and V represents vector xi + yj + zk, so quaternion multiplication can be represented again as: q1 q2 ═ (S1+ V1) (S2+ V2) ═ S1 ═ S2-V1 ═ V2+ V1XV2+ S1 ═ VV2+ S2 × V1. Euler angles are another representation of the attitude, in which quaternions and euler angles can be converted into each other by corresponding formulas. In addition, the specific formula for converting from Euler angles to quaternions is

In addition, the specific formula for converting the Euler angle into the corresponding quaternion is

One embodiment of correcting the first attitude information according to the error attitude information to obtain the current attitude information of the pan/tilt head will be described below, and those skilled in the art can also use technical means other than this embodiment to correct the first attitude information according to the error attitude information to obtain the current attitude information of the pan/tilt head. Specifically, as shown in fig. 5, in the time period from 0 to t1, since the output data drifts when the gyroscope is measuring, if the first attitude information measured by the inertial measurement unit or the gyroscope is not corrected, the first attitude information att1 determined by the inertial measurement unit or the gyroscope may be as shown in the time period from 0 to t1, wherein the curve of the first attitude information att1 is only for illustrative purposes. Therefore, it is necessary to correct the first attitude information measured by the inertial measurement unit or the gyroscope. When reference attitude information att1-mot1 is obtained through calculation by the method at the time of t1, first attitude information att1-gyr1 is obtained through measurement by an inertial measurement unit or a gyroscope, error attitude information att1-d1 between attitude information att1-mot1 and first attitude information att1-gyr is obtained through comparison, the first attitude information output by the inertial measurement unit and the gyroscope is corrected according to the error attitude information att1-d1 within the time from t1 to t2 to obtain corrected current attitude information att1-r1 of the tripod head, and if the first attitude information is not corrected within the time from t1 to t2, data output by the inertial measurement unit or the gyroscope continuously drift, and the obtained first attitude information is att 1-f. At time t2, reference attitude information att1-mot2, first attitude information att1-gyr2 obtained through measurement by an inertial measurement unit or a gyroscope, and error attitude information att1-d2 between att1-mot1 and first attitude information att1-gyr through comparison can be calculated by the method, the first attitude information can be corrected according to the error attitude information att1-d2 within time t2 to t3 (not shown), and therefore the correction process is repeated, and the corrected first attitude information att1-r2 can be obtained. In addition, the attitude information obtained after correction can be filtered, and the filtered attitude information is used as the current attitude information of the holder. Therefore, the current attitude information of the holder can be smoother, and errors possibly generated in the correction process are reduced.

In some embodiments, modifying the first attitude information according to the error attitude information to obtain the current attitude information of the pan/tilt head may be configured to: and determining an error attitude correction amount per unit time according to the error attitude information, and correcting the first attitude information according to the error attitude information correction amount. With reference to fig. 5, at time t1, the error posture information is att1-d1, the drift amount of the first posture information is att1-d1 relative to the reference posture information within a time period from 0 to t1, the error correction amount per unit time is att1-d1/t1 within a time period from 0 to t1, and after the error posture correction amount per unit time is determined, the first posture information determined by the inertial measurement unit or the gyroscope may be corrected within a time period from t1 to t2 according to the error posture correction amount per unit time.

In addition, it should be noted that, the pan/tilt head can select different shooting parameters, such as a focal length, whether to turn on a flash lamp, and the like, in different postures.

Example two

Referring to fig. 6, at a user side device controlling a pan/tilt head, the method may include the steps of:

s201: acquiring an attitude sequence input by a user, wherein the attitude sequence comprises cradle head attitude information corresponding to at least three attitudes and a switching condition corresponding to each attitude, and the switching condition is used for indicating that the cradle head is switched from a current attitude corresponding to the switching condition to a next attitude corresponding to the current attitude in the attitude sequence;

in this embodiment, the gesture sequence is directly input by the user on the user-side device. In some examples, the user-side device directly sends the gesture sequence to the pan/tilt head after receiving the gesture sequence input by the user.

In some examples, after receiving the gesture sequence input by the user, the user-side device needs to save the received gesture sequence in a local cache of the user-side device. In one embodiment, before or after the user side equipment sends a start instruction to the pan-tilt, the user side equipment directly sends an attitude sequence to the pan-tilt; or the user side equipment simultaneously sends the starting instruction and the attitude sequence to the holder. In an embodiment, after receiving the gesture sequence sending trigger instruction, the user-side device sends the locally stored gesture sequence to the pan/tilt head. Optionally, the gesture sequence sending trigger instruction is a gesture sequence obtaining request sent by the cradle head to the user side device. For example, after receiving the start instruction, the pan/tilt head sends a request for acquiring a gesture sequence to the user-side device, thereby acquiring the gesture sequence from the user-side device. Optionally, the gesture sending triggering instruction is directly input by the user on the user side device.

In some real-time examples, the sequence of poses may be updated in real-time. Optionally, the user directly inputs a new gesture on the display interface of the pan/tilt head and updates the new gesture into the gesture sequence. In some embodiments, after the user-side device sends the gesture sequence to the pan/tilt head, if a new gesture input by the user is received, the user-side device immediately sends the new gesture input by the user to the pan/tilt head after receiving the new gesture input by the user, and the pan/tilt head updates the new gesture to the gesture sequence locally stored in the pan/tilt head.

Specifically, the pan-tilt attitude information may include: angle information of the pan/tilt head. The angle information is at least one of a pitch angle, a yaw angle, and a roll angle. In some embodiments, the pan/tilt attitude information may further include a telescopic length of one or more axes of the pan/tilt, and the like.

The switching condition is set according to a photographing requirement. In some examples, the handover condition includes: the cradle head is switched from the current posture to the time information of the next posture, so that the cradle head can automatically switch the postures according to the posture sequence, and the repeatability of cradle head posture switching is high. Optionally, the time information includes: and the cradle head is switched to the time interval of the next attitude from the current attitude. For example, the time interval for switching the pan/tilt head from the current attitude to the next attitude is set to 10s (unit: second). The time interval for switching between every two postures can be set according to actual needs, for example, the time interval for switching between every two postures can be set to be equal, or the time interval for switching between every two postures can be set to be different according to actual needs (for example, between some postures). Optionally, the time information includes: and the switching time of the cradle head at each posture. For example, the gesture sequence includes at least three gestures, which are respectively a starting gesture (i.e. a first gesture), a second gesture, … …, an N-1 th gesture and an N-th gesture (i.e. a last gesture), where N is a natural number and N ≧ 3. A group of repeated sunset shots needs to be shot, and the switching conditions of the initial postures in the posture sequence are as follows: switching to a second posture by 6 points and 01 points, wherein the switching conditions of the second posture are as follows: switch to the third position at point 6, point 03, and so on.

In some examples, the handover condition may include: and the change information of the switching speed of the cradle head from the current posture to the next posture. The change information is used to indicate a change in the rate at which the pan/tilt head moves from the current attitude to the next attitude. Because the time information of the switching of the current posture of the tripod head to the next posture is determined, the current posture and the next posture are also determined, and the speed of the tripod head at each moment between the current posture and the next posture can be determined according to the change information of the switching speed. Specifically, the cradle head calculates the switching displacement between the two postures according to the posture information corresponding to the current posture and the next posture information corresponding to the current posture, and the switching rate of the cradle head from the current posture to the next posture can be calculated according to the switching displacement, the time information of switching the current posture of the cradle head to the next posture and the change information of the switching rate. In some embodiments, the change information of the handover rate specifically indicates that the handover rate is a uniform rate. In some embodiments, the change information for the handover rate may indicate that the handover rate is non-uniform.

In some examples, the handover condition includes: the stay time of the holder at each posture is long. The stay time is used for indicating the stay time of the holder at the current posture after the holder is switched from the previous posture to the current posture, so that the shooting requirement is met. Optionally, the stay time can be selected as the default time of the holder, so that the reading of data is reduced, and the running of the system is accelerated. Optionally, each attitude of the attitude sequence further includes a stay time of the cradle head in the attitude, so that the stay time of the cradle head in each attitude can be flexibly set at a user side, and different shooting requirements are met.

S202: and sending the attitude sequence and a starting instruction to the holder, wherein the starting instruction is used for indicating the holder to switch the attitude according to the attitude sequence.

In step S202, the attitude sequence and the start instruction may be sent to the pan/tilt head according to a sequence, the specific sequence is not specifically limited, and the attitude sequence and the start instruction may also be sent to the pan/tilt head at the same time.

In the embodiment of the invention, the gesture sequence can be flexibly set through the interaction between the user and the user side equipment, and the gesture of the handheld cloud platform is switched according to the gesture sequence by setting the handheld cloud platform, so that the gesture switching of the cloud platform is more intelligent, the useless pictures caused by possible misoperation when the user manually operates the cloud platform can be reduced, and the multi-scene switching lens shooting efficiency of the user is high, and the picture shooting repeatability is high.

In this embodiment, the user-side device further includes a display interface. Wherein, the display interface can also be a liquid crystal panel or other panels capable of being used for display and input.

In some embodiments, the sending a start instruction to the pan/tilt head further includes: and displaying the progress state of posture switching of the holder. The progress state of posture switching of the cradle head is displayed on the display interface, so that the current switching progress of the cradle head is visually displayed to a user. Optionally, the progress status is at least one of a progress value and a progress bar. The progress value is a ratio of a first displacement to a second displacement, the progress bar corresponds to the progress value, for example, the ratio is converted into a percentage, and a position of the percentage is displayed on the progress bar. Optionally, the first displacement is a displacement of the pan/tilt head switched from the initial attitude of the attitude sequence to the current attitude, and the second displacement is a displacement of the pan/tilt head switched from the initial attitude of the attitude sequence to the final attitude of the attitude sequence. Optionally, the cradle head is switched from a first posture to a second posture, the first displacement is a displacement of the cradle head from the first posture to the current posture, and the second displacement is a displacement of the cradle head from the first posture to the second posture.

In some embodiments, the obtaining a sequence of gestures of a user input comprises: displaying a graph for showing the gesture information in the gesture sequence; and receiving attitude change information generated by dragging the graph by a user, and updating the attitude in the graph corresponding to the added information to the attitude sequence as a new attitude after receiving the added information. Namely, each gesture in the gesture sequence can be added in real time in a graph dragging mode, so that the adding of the cloud deck gestures is more convenient and visual.

In some embodiments, the rotation angle of the tilt axis and the rotation angle of the roll axis of the pan head need to be adjusted, and the graph may be displayed in a two-dimensional coordinate system, where one coordinate axis of the two-dimensional coordinate system is used to represent the rotation angle of the tilt axis of the pan head, and the other coordinate axis of the two-dimensional coordinate system is used to represent the rotation angle of the roll axis of the pan head. And dragging the graph in the two-dimensional coordinate system by the user, namely adding the required cradle head posture to the user side equipment. It should be noted that the graph representing the attitude information in the attitude sequence is determined according to the number of attitude parameters of the pan/tilt head that need to be adjusted, and is not limited to the two-dimensional coordinate system, and for example, when the rotation angles of three axes of the tilt/tilt axis, the roll axis, and the yaw axis need to be adjusted, the graph representing the attitude information in the attitude sequence may be represented by the three-dimensional coordinate system.

In some embodiments, an add button for instructing the user-side device to generate an add instruction is provided on the display interface, and after the user presses the add button, the user-side device updates the gesture in the graph corresponding to the add instruction as a new gesture to the gesture sequence. In some embodiments, the user directly clicks the display interface to generate an add instruction, so that the gesture in the graph corresponding to the click operation is updated to the gesture sequence as a new gesture.

In some embodiments, the sending a start instruction to the pan/tilt head further includes: and displaying the set attitude information of the current attitude of the holder, so that the added current attitude information of the holder is visually presented to the user. Alternatively, the display interface may display the numerical value of the attitude information, for example, the pan/tilt attitude information includes a pitch axis angle and a roll axis angle, and the pitch axis angle and the roll axis angle of the current attitude of the pan/tilt are set to (10 °, 20 °), so that "the pitch axis angle is 10 ° and the roll axis angle is 20 °" may be directly displayed. Optionally, the set attitude information of each attitude of the pan/tilt head is displayed graphically on the display interface. In the process of setting the gesture sequence, the graph is dynamically changed, and a user can add a new gesture by clicking the gesture required to be added on the user interface or directly dragging the graph. After the gesture sequence is set, the graph is directly displayed in the display interface after the user-side equipment is started next time, and the graph is used for showing each gesture in the preset gesture sequence.

In certain embodiments, the method further comprises: and displaying the real-time switching time of the cradle head from the current posture to the next posture, and further visually presenting the information of cradle head posture switching to the user.

In some embodiments, the sending a start instruction to the pan/tilt head further includes: and controlling the cradle head to switch to the specified attitude, recording attitude information corresponding to the specified attitude, and recording according to the real-time attitude of the cradle head, so that the setting of the attitude sequence is more accurate. Optionally, the control console is switched to a specified posture through a dedicated remote controller, and posture information corresponding to the specified posture is recorded through the intelligent device with the APP. Optionally, the controlling of the pan/tilt head to switch to the designated posture and the recording of the posture information corresponding to the designated posture are both performed by a dedicated remote controller.

In some embodiments, the recording further includes, after the gesture information corresponding to the specified gesture: and sending the attitude information corresponding to the specified attitude and the switching condition corresponding to the specified attitude to the cloud deck, and updating a locally stored attitude sequence in real time after the cloud deck receives the attitude information corresponding to the specified attitude and the switching condition, so that the addition of the attitude is realized, and the diversified requirements of users are met. The switching condition is input on the user side equipment, and after the user inputs the switching condition of the corresponding gesture on the user side equipment, the user side equipment correspondingly stores the gesture and the gesture information and the switching condition corresponding to the gesture, so that subsequent data reading and identification are facilitated. Optionally, the recording of the attitude information corresponding to the specified attitude is performed after the cradle head is switched to the specified attitude and is kept for a preset time, so that the recording of the corresponding attitude information is performed only after the specified attitude of the cradle head is in a stable state, and the accuracy of the attitude information is ensured. Optionally, the method further comprises: and displaying the stay time of the cradle head after the cradle head is switched to the specified posture, so that the time that the cradle head is positioned at the specified posture is visually displayed to a user, and judging the time when the user side equipment records the specified posture according to the intuitively displayed stay time of the specified posture by the user.

In some embodiments, the recording of the posture information corresponding to the specified posture is performed after the adding instruction is received, so as to further ensure the accuracy of the recorded specified posture. Optionally, an add button for instructing the user-side device to generate an add instruction is arranged on the display interface, and after the user presses the add button, the user-side device adds the current posture of the pan-tilt to the posture sequence. For example, after the displayed stay time of the pan/tilt head switched to the current posture is a preset time value (for example, 10s), the user may press the add button, and the pan/tilt head records the current posture into the posture sequence.

In some embodiments, the sending a start instruction to the pan/tilt head further includes: and receiving a deleting instruction, and deleting the specified gesture corresponding to the deleting instruction in the gesture sequence, thereby flexibly setting the gesture sequence. Optionally, a delete button for instructing the user-side device to generate a delete instruction is arranged on the display interface, and after the user presses the delete button, the user-side device deletes the specified gesture corresponding to the delete instruction from the gesture sequence, so that flexible setting of the gesture sequence is realized.

In a possible embodiment, referring to fig. 7, a two-dimensional coordinate system XY, a start button 1021, a roll axis attitude information display field 1023, a pitch axis attitude information display field 1024, a progress status field 1025, an add button 1026, a delete button 1027, a pan/tilt/zoom time length field 1028, and a pan/tilt/zoom time length field 1029 are provided on the display interface. After the user presses the start button 1021 (two start buttons 1021 in this embodiment), the two-dimensional coordinate system XY displays a graph 1022 for presenting posture information (for example, the X axis represents the roll axis posture, and the pitch axis represents the pitch axis posture) of each posture in the posture sequence, where in the graph 1022, black points represent each posture in the posture sequence, and white points represent the posture information of the current posture of the pan-tilt head, and for convenience of description, the black points in the graph 1022 are named as point 1, point 2, point 3, and point 4 from left to right.

The user drags the graph 1022, so that a new posture can be added, for example, the position of the dragging point 4, the roll axis posture information display field 1023 and the pitch axis posture information display field 1024 display the roll axis posture information and the pitch axis posture information of the current posture of the cradle head to be set in real time, and after dragging is stopped, the user presses the adding button 1026, so that the addition of the new posture is completed. Accordingly, when a gesture in the gesture sequence needs to be deleted, the user clicks a point to be deleted on the graph 1022, and presses the delete button 1027 to complete the gesture deletion operation.

In the setting process of the gesture sequence, the moving duration column 1028 on the display interface may be used to set time information for switching between two gestures, the staying duration column 1029 may be used to set the staying duration of the cradle head at a certain gesture, and the user may input the time information for switching the cradle head from the current gesture to the next gesture and the staying duration for staying the cradle head at the current gesture in the moving duration column 1028 and the staying duration column 1029, respectively.

After the attitude sequence is set, in the process that the cradle head switches the attitude according to the set attitude sequence, a moving duration column 1028 on the display interface can be used for displaying the real-time duration for switching between the two attitudes, and a stay duration column 1029 can be used for displaying the real-time stay duration of the cradle head in a certain attitude by a user. In addition, the real-time pose position of the pan/tilt head (white dots in the graph 1022) is also displayed on the graph 1022. The progress status bar 1025 is used for displaying the switching progress percentage of the pan/tilt (the ratio of the displacement of the initial posture of the posture sequence switched to the current posture of the pan/tilt/mount posture sequence) so as to facilitate the user to know the current progress.

With reference to fig. 8 and 9, an embodiment of the present invention further provides a control apparatus for a pan/tilt head, and a third embodiment and a fourth embodiment illustrate specific structures of the pan/tilt head control apparatus from a pan/tilt head side device and a user side device, respectively.

EXAMPLE III

Referring to fig. 8, an embodiment of the present invention provides a control apparatus for a pan/tilt head, including a first processor 201, where the first processor is connected to a gyroscope 202 and an accelerometer 203 of the pan/tilt head, respectively. The first processor 201 is configured to execute the steps of the pan/tilt head control method according to the first embodiment.

Example four

Referring to fig. 9, an embodiment of the present invention provides a control apparatus for a pan/tilt head, including a second processor 101, where the second processor 101 is configured to execute the steps of the pan/tilt head control method according to the second embodiment.

With reference to fig. 10 and 11, an embodiment of the present invention further provides a control device for a pan/tilt head, and a fifth embodiment and a sixth embodiment explain specific structures of the control device for the pan/tilt head from a pan/tilt head side device and a user side device, respectively.

EXAMPLE five

Referring to fig. 10, an embodiment of the present invention provides a control apparatus for a pan/tilt head, including:

the system comprises an input module, a switching module and a processing module, wherein the input module is used for acquiring an attitude sequence, the attitude sequence comprises cradle head attitude information corresponding to at least three attitudes and a switching condition corresponding to each attitude, and the switching condition is used for indicating that the cradle head is switched from a current attitude corresponding to the switching condition to a next attitude corresponding to the current attitude in the attitude sequence;

the first receiving module is used for receiving a starting instruction;

and the first control module controls the attitude switching of the holder according to the attitude sequence after receiving the starting instruction.

Optionally, the handover condition includes: and the cradle head is switched to the time information of the next attitude from the current attitude.

Optionally, the time information includes: the time interval of switching the cradle head from the current posture to the next posture or the switching time of the cradle head at each posture.

Optionally, the handover condition further includes: and the switching rate change information of switching the holder from the current posture to the next posture.

Optionally, the handover condition includes: the stay time of the holder at each posture is long.

Optionally, the pan-tilt attitude information includes: angle information of the pan/tilt head, the angle information being at least one of a pitch angle, a yaw angle, and a roll angle.

Optionally, the first control module is further configured to: calculating attitude differences of all rotating shafts of the holder according to the attitude information corresponding to the current attitude of the holder and the attitude information of the next attitude corresponding to the current attitude; and controlling the cradle head to be switched from the current posture to the next posture according to the posture difference of each rotating shaft of the cradle head.

Optionally, the first receiving module is further configured to: and receiving and storing the attitude sequence.

Optionally, the first receiving module is further configured to:

after the receiving and saving of the gesture sequence, the method further comprises:

and receiving new attitude information and a corresponding switching condition thereof, and adding the new attitude information and the corresponding switching condition thereof to the attitude sequence.

Optionally, the gesture sequence is sent by a user-side device.

Optionally, the user-side device is a dedicated remote controller or an intelligent device equipped with an APP

Optionally, the apparatus further comprises: and the resetting module is used for resetting the cradle head to the initial attitude of the attitude sequence after the first receiving module receives the starting instruction.

Optionally, the apparatus further comprises: and the judging module is used for judging whether the current posture of the holder is the final posture in the posture sequence. The resetting module resets the cradle head to the initial attitude of the attitude sequence after the judging module judges that the current attitude of the cradle head is the final attitude in the attitude sequence.

Optionally, the first control module is further configured to:

still include after switching the gesture of cloud platform each time:

determining first attitude information of a holder;

determining the rotation angle of a driving motor of one or more shafts of the holder;

determining error attitude information of an attitude sensor according to the first attitude information and the rotation angle;

and correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder.

Optionally, the determining error posture information of the posture sensor according to the first posture information and the rotation angle includes: and determining reference attitude information of the holder according to the rotation angle, and determining error attitude information of an attitude sensor according to the reference attitude information and the first attitude information.

Optionally, the determining the reference attitude information of the pan/tilt head according to the rotation angle includes: and converting each rotation angle into a corresponding quaternion, and determining the reference attitude information of the holder according to the quaternion of the rotation angle.

Optionally, the determining the reference attitude information of the pan/tilt head according to the rotation angle includes: setting attitude information of a base of the holder; and determining reference attitude information of the holder according to the attitude information of the base and the rotation angle.

Optionally, the error posture information is posture difference information between the first posture information and the reference posture information.

Optionally, the modifying the first attitude information according to the error attitude information to obtain the current attitude information of the pan/tilt head includes: and determining an error attitude correction amount of unit time according to the error attitude information, and correcting the first attitude information according to the error attitude information correction amount to obtain the current attitude information of the holder.

For the unextended portions, please refer to the same or similar portions of the control method in the above embodiment one, which is not described herein again.

EXAMPLE six

Referring to fig. 11, an embodiment of the present invention provides a control apparatus for a pan/tilt head, including:

the system comprises an acquisition module, a display module and a control module, wherein the acquisition module is used for acquiring a gesture sequence input by a user, the gesture sequence comprises cradle head gesture information corresponding to at least three gestures and a switching condition corresponding to each gesture, and the switching condition is used for indicating that the cradle head is switched from a current gesture corresponding to the switching condition to a next gesture corresponding to the current gesture in the gesture sequence;

and the sending module is used for sending the attitude sequence and a starting instruction to the holder, wherein the starting instruction is used for indicating the holder to switch the attitude according to the attitude sequence.

Optionally, the apparatus further comprises: and the display module is used for displaying the progress state of posture switching of the cradle head after the sending module sends the starting instruction to the cradle head.

Optionally, the progress status is at least one of a progress value and a progress bar.

Optionally, the progress value is a ratio of a first displacement to a second displacement, the first displacement is a displacement of the pan/tilt head switched from the initial attitude of the attitude sequence to the current attitude, and the second displacement is a displacement of the pan/tilt head switched from the initial attitude of the attitude sequence to the final attitude of the attitude sequence; the progress bar corresponds to the progress value.

Optionally, the apparatus further includes an adding module, and the display module displays a graphic for showing the gesture information in the gesture sequence; the receiving module is used for receiving attitude change information generated by dragging the graph by a user, and the adding module is used for updating the attitude in the graph corresponding to the adding instruction to the attitude sequence as a new attitude after the receiving module receives the adding instruction.

Optionally, the graph is displayed in a two-dimensional coordinate system, where one coordinate axis of the two-dimensional coordinate system is used for displaying the rotation angle of the tilt axis of the pan/tilt head, and the other coordinate axis is used for displaying the rotation angle of the roll axis of the pan/tilt head.

Optionally, the display module is further configured to: and displaying the set attitude information of the current attitude of the holder after the starting command is sent to the holder.

Optionally, the display module is further configured to: and after the starting command is sent to the holder, displaying the set attitude information of each attitude of the holder by using the graph.

Optionally, the display module is further configured to: and displaying the real-time switching time of the cradle head from the current posture to the next posture.

Optionally, the apparatus further includes a second control module and a recording module, where the second control module is configured to control the pan-tilt to switch to the designated attitude after the sending module sends the start instruction to the pan-tilt; the recording module is used for recording the attitude information corresponding to the specified attitude.

Optionally, the sending module is further configured to: after the recording module records the attitude information corresponding to the specified attitude, the attitude information corresponding to the specified attitude and the switching condition corresponding to the specified attitude are sent to the holder.

Optionally, the recording module records the attitude information corresponding to the specified attitude, which is executed after the cradle head is switched to the specified attitude and kept for a preset time.

Optionally, the display module is further configured to: and displaying the stay time of the cradle head after the cradle head is switched to the specified posture.

Optionally, the apparatus further includes a second receiving module, and the recording module records that the posture information corresponding to the specified posture is executed after the second receiving module receives the add instruction.

Optionally, the device further includes a deleting module, after the sending module sends a start instruction to the pan-tilt, the second receiving module receives the deleting instruction, and the deleting module deletes the specified attitude corresponding to the deleting instruction in the attitude sequence.

For the unextended parts, please refer to the same or similar parts of the control method in the second embodiment, which will not be described again.

EXAMPLE seven

An embodiment of the present invention provides a computer storage medium having program instructions stored therein, the program executing the method for controlling a pan/tilt head of the first or second embodiment.

Example eight

Referring again to fig. 8, an embodiment of the present invention provides a pan/tilt head, and the pan/tilt head 200 may include a gyroscope 202, an accelerometer 203, and a control device of the pan/tilt head. Wherein, the control device of the pan/tilt head is the control device of the pan/tilt head described in the third embodiment. The gyroscope 202 and the accelerometer 203 are respectively connected with a first processor 201 in the control device of the holder. The holder can be a two-axis holder and also a three-axis holder.

Example nine

Referring to fig. 9 again, an embodiment of the present invention provides a user-side device, where the user-side device 100 includes the control apparatus of the pan/tilt head according to the fourth embodiment. Wherein, the user side device 100 includes at least one of a remote controller and an intelligent device installed with an APP.

Example ten

Referring to fig. 12, an embodiment of the present invention provides a control system of a pan/tilt head, including a user-side device 100 controlling a pan/tilt head 200. The holder is the holder described in the sixth embodiment. In particular, the head 200 comprises a gyroscope 202, an accelerometer 203 and control means of the head. The gyroscope 202 and the accelerometer 203 are respectively connected with a second processor 201 in the control device of the holder. The ue is the ue in the seventh embodiment.

In a possible embodiment, referring to fig. 13, the user-side device includes a remote controller and a smart device (e.g., a mobile phone) equipped with an APP at the same time, when adding the gesture sequence, firstly, the cradle head 200 is controlled by the remote controller to operate to the gesture to be added, then, after clicking the addition determination button on the APP interface, the APP records the gesture information of the gesture to be added, and meanwhile, the user may set the switching information of the gesture to be added to switch to the next gesture on the APP, for example, set the switching duration to 10s, and in addition, the user may set the duration of the cradle head staying at the gesture to be added on the APP, for example, 20s, thereby completing the input of the gesture sequence.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an illustrative embodiment," "an example," "a specific example," or "some examples" or the like mean 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 invention. In this specification, the schematic representations of the terms used above 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 of the process, and alternate implementations are included within the scope of the preferred embodiment of the present invention 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 invention.

The logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be considered to implement 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 invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in 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 well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing 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 to implement the above-described implementation method can be implemented by hardware related to instructions of a program, which can be stored in a computer-readable storage medium, and the program, when executed, includes one or a combination of the steps of the method embodiments.

In addition, functional units in the embodiments of the present invention 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 realized in a hardware mode, and can also be realized in a software functional module mode. The integrated module, if implemented 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 invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims

1. A method for controlling a pan/tilt head, the method comprising:

receiving a starting instruction;

after the starting instruction is received, controlling the attitude switching of the holder according to the attitude sequence;

after the attitude of the tripod head is switched, determining first attitude information of the tripod head, determining reference attitude information of the tripod head based on the attitude information of a base of the tripod head and the rotation angle of a driving motor of one or more shafts of the tripod head, and determining error attitude information of an attitude sensor according to the reference attitude information and the first attitude information; the attitude information of the base is fixed attitude information;

2. The method of claim 1, wherein the handover condition comprises: and the cradle head is switched to the time information of the next attitude from the current attitude.

3. The method of claim 2, wherein the time information comprises: the time interval of switching the cradle head from the current posture to the next posture or the switching time of the cradle head at each posture.

4. The method of claim 3, wherein the handover condition further comprises: and the switching rate change information of switching the holder from the current posture to the next posture.

5. The method of claim 1, wherein the handover condition comprises: the stay time of the holder at each posture is long.

6. The method of claim 1, wherein the pan-tilt attitude information comprises: angle information of the pan/tilt head, the angle information being at least one of a pitch angle, a yaw angle, and a roll angle.

7. The method of claim 1, wherein controlling the attitude switching of the pan/tilt head according to a preset sequence of attitudes comprises:

calculating attitude differences of all rotating shafts of the holder according to the attitude information corresponding to the current attitude of the holder and the attitude information of the next attitude corresponding to the current attitude;

and controlling the cradle head to be switched from the current posture to the next posture according to the posture difference of each rotating shaft of the cradle head.

8. The method of claim 1, further comprising:

and receiving and storing the attitude sequence.

9. The method of claim 8, wherein the receiving and saving the sequence of gestures further comprises:

10. The method of claim 8, wherein the sequence of gestures is transmitted by a user-side device.

11. The method according to claim 10, wherein the user-side device is a dedicated remote controller or an APP-installed smart device.

12. The method of claim 1, wherein receiving a start instruction further comprises:

and resetting the cradle head to the initial attitude of the attitude sequence.

13. The method of claim 1, wherein resetting the pan-tilt to the starting pose of the sequence of poses is performed after determining that the current pose of the pan-tilt is the final pose of the sequence of poses.

14. The method according to claim 1, wherein said determining reference attitude information of the pan/tilt head according to said rotation angle comprises:

and converting each rotation angle into a corresponding quaternion, and determining the reference attitude information of the holder according to the quaternion of the rotation angle.

15. The method according to claim 1 or 14,

the error attitude information is attitude difference information between the first attitude information and the reference attitude information.

16. The method of claim 1, wherein said modifying the first attitude information to obtain current attitude information of the pan/tilt head according to the error attitude information comprises:

and determining an error attitude correction amount of unit time according to the error attitude information, and correcting the first attitude information according to the error attitude information correction amount to obtain the current attitude information of the holder.

17. A control apparatus of a pan/tilt head, the apparatus comprising a first processor, wherein the first processor is configured to:

receiving a starting instruction;

18. The apparatus of claim 17, wherein the handover condition comprises: and the cradle head is switched to the time information of the next attitude from the current attitude.

19. The apparatus of claim 18, wherein the time information comprises: the time interval of switching the cradle head from the current posture to the next posture or the switching time of the cradle head at each posture.

20. The apparatus of claim 19, wherein the handover condition further comprises: and the switching rate change information of switching the holder from the current posture to the next posture.

21. The apparatus of claim 17, wherein the handover condition comprises: the stay time of the holder at each posture is long.

22. The apparatus of claim 17, wherein the pan-tilt attitude information comprises: angle information of the pan/tilt head, the angle information being at least one of a pitch angle, a yaw angle, and a roll angle.

23. The apparatus of claim 17, wherein the first processor is further configured to:

controlling the attitude switching of the holder according to a preset attitude sequence, comprising:

24. The apparatus of claim 17, wherein the first processor is further configured to:

and receiving and storing the attitude sequence.

25. The apparatus of claim 24, wherein the first processor is further configured to:

the receiving and saving of the gesture sequence further comprises:

26. The apparatus of claim 24, wherein the sequence of gestures is transmitted by a user-side device.

27. The apparatus of claim 26, wherein the user-side device is a dedicated remote controller or an APP-installed smart device.

28. The apparatus of claim 17, wherein the first processor is further configured to:

the receiving of the start instruction further comprises:

and resetting the cradle head to the initial attitude of the attitude sequence.

29. The apparatus of claim 17, wherein the first processor is further configured to:

resetting the cradle head to the initial attitude of the attitude sequence is executed after judging that the current attitude of the cradle head is the final attitude in the attitude sequence.

30. The apparatus of claim 17, wherein the first processor is further configured to:

the determining the reference attitude information of the holder according to the rotation angle comprises:

31. The apparatus of claim 17 or 30, wherein the first processor is further configured to:

32. The apparatus of claim 17, wherein the first processor is further configured to:

the correcting the first attitude information according to the error attitude information to obtain the current attitude information of the holder comprises:

33. A method for controlling a pan/tilt head, the method comprising:

acquiring an attitude sequence input by a user, wherein the attitude sequence comprises cradle head attitude information corresponding to at least three attitudes and a switching condition corresponding to each attitude, and the switching condition is used for indicating that the cradle head is switched from a current attitude corresponding to the switching condition to a next attitude corresponding to the current attitude in the attitude sequence;

sending the attitude sequence and a starting instruction to the holder, wherein the starting instruction is used for indicating the holder to switch the attitude according to the attitude sequence;

after the attitude of the tripod head is switched, the current attitude information of the tripod head is obtained by correcting the first attitude information of the tripod head based on the error attitude information of the attitude sensor, the error attitude information is determined based on the reference attitude information of the tripod head and the first attitude information, the reference attitude information is determined based on the attitude information of the base of the tripod head and the rotation angle of the driving motor of one or more shafts of the tripod head, and the attitude information of the base is fixed attitude information.

34. The method of claim 33, wherein the handover condition comprises: and the cradle head is switched to the time information of the next attitude from the current attitude.

35. The method of claim 34, wherein the time information comprises: the time interval of switching the cradle head from the current posture to the next posture or the switching time of the cradle head at each posture.

36. The method of claim 35, wherein the handover condition further comprises: and the switching rate change information of switching the holder from the current posture to the next posture.

37. The method of claim 33, wherein the handover condition comprises: the stay time of the holder at each posture is long.

38. The method of claim 33, wherein sending a start command to the pan/tilt head further comprises:

and displaying the progress state of posture switching of the holder.

39. The method of claim 38, wherein the progress status is at least one of a progress value and a progress bar.

40. The method of claim 39, wherein the progress value is a ratio of a first displacement to a second displacement, the first displacement being a displacement of the pan/tilt head switching from a starting attitude of the sequence of attitudes to the current attitude, the second displacement being a displacement of the pan/tilt head switching from a starting attitude of the sequence of attitudes to a final attitude of the sequence of attitudes;

the progress bar corresponds to the progress value.

41. The method of claim 33, wherein the obtaining the sequence of gestures of the user input comprises:

displaying a graph for showing the gesture information in the gesture sequence;

and receiving attitude change information generated by dragging the graph by a user, and updating the attitude in the graph corresponding to the adding instruction to the attitude sequence as a new attitude after receiving the adding instruction.

42. The method of claim 41, wherein the graphic is displayed in a two-dimensional coordinate system having one coordinate axis for representing the rotational angle of the pan tilt axis and another coordinate axis for representing the rotational angle of the pan roll axis.

43. The method of claim 33, wherein sending a start command to the pan/tilt head further comprises:

and displaying the set attitude information of the current attitude of the holder.

44. The method of claim 43, wherein sending a start command to the pan/tilt head further comprises:

and displaying the set attitude information of each attitude of the cradle head by using the graph.

45. The method of claim 33, further comprising:

and displaying the real-time switching time of the cradle head from the current posture to the next posture.

46. The method of claim 33, wherein the pan-tilt attitude information comprises: angle information of the pan/tilt head, the angle information being at least one of a pitch angle, a yaw angle, and a roll angle.

47. The method of claim 33, wherein sending a start command to the pan/tilt head further comprises:

controlling the holder to switch to a specified attitude;

and recording the posture information corresponding to the specified posture.

48. The method of claim 47, wherein the recording of pose information corresponding to the specified pose further comprises:

and sending the attitude information corresponding to the specified attitude and the switching condition corresponding to the specified attitude to the holder.

49. The method of claim 48, wherein the recording of the attitude information corresponding to the specified attitude is performed after the pan/tilt head is switched to the specified attitude and maintained for a preset time.

50. The method of claim 49, further comprising:

and displaying the stay time of the cradle head after the cradle head is switched to the specified posture.

51. The method of claim 47, wherein recording the pose information corresponding to the specified pose is performed after receiving an add instruction.

52. The method of claim 47, wherein sending a start command to the pan/tilt head further comprises:

and receiving a deleting instruction, and deleting the specified gesture corresponding to the deleting instruction in the gesture sequence.

53. A control device of a pan-tilt head, characterized in that said device comprises a second processor; wherein the second processor is configured to:

54. The apparatus of claim 53, wherein the handover condition comprises: and the cradle head is switched to the time information of the next attitude from the current attitude.

55. The apparatus of claim 54, wherein the time information comprises: the time interval of switching the cradle head from the current posture to the next posture or the switching time of the cradle head at each posture.

56. The apparatus of claim 55, wherein the handover condition further comprises: and the switching rate change information of switching the holder from the current posture to the next posture.

57. The apparatus of claim 53, wherein the handover condition comprises: the stay time of the holder at each posture is long.

58. The apparatus of claim 53, wherein the second processor is further configured to:

the sending of the start instruction to the pan-tilt further comprises:

and displaying the progress state of posture switching of the holder.

59. The apparatus of claim 58, wherein the progress status is at least one of a progress value and a progress bar.

60. The apparatus of claim 59, wherein the progress value is a ratio of a first displacement to a second displacement, the first displacement being a displacement of the pan/tilt head switching from a starting attitude of the sequence of attitudes to the current attitude, the second displacement being a displacement of the pan/tilt head switching from a starting attitude of the sequence of attitudes to a final attitude of the sequence of attitudes;

the progress bar corresponds to the progress value.

61. The apparatus of claim 53, wherein the second processor is further configured to:

the acquiring of the gesture sequence input by the user comprises:

displaying a graph for showing the gesture information in the gesture sequence;

62. The apparatus of claim 61, wherein the graphic is displayed in a two-dimensional coordinate system having one coordinate axis for representing the rotational angle of the pan tilt axis and another coordinate axis for representing the rotational angle of the pan roll axis.

63. The apparatus of claim 53, wherein the second processor is further configured to:

the sending of the start instruction to the pan-tilt further comprises:

64. The apparatus of claim 63, wherein the second processor is further configured to:

the sending of the start instruction to the pan-tilt further comprises:

65. The apparatus of claim 53, wherein the second processor is further configured to:

66. The apparatus of claim 53, wherein the pan-tilt attitude information comprises: angle information of the pan/tilt head, the angle information being at least one of a pitch angle, a yaw angle, and a roll angle.

67. The apparatus of claim 53, wherein the second processor is further configured to:

the sending of the start instruction to the pan-tilt further comprises:

controlling the holder to switch to a specified attitude;

and recording the posture information corresponding to the specified posture.

68. The apparatus of claim 67, wherein the second processor is further configured to:

the recording of the posture information corresponding to the specified posture further comprises:

69. The apparatus of claim 68, wherein the second processor is further configured to:

and recording the attitude information corresponding to the specified attitude is executed after the cradle head is switched to the specified attitude and is kept for a preset time.

70. The apparatus of claim 69, wherein the second processor is further configured to:

71. The apparatus of claim 67, wherein the second processor is further configured to:

and recording the attitude information corresponding to the specified attitude is executed after receiving the adding instruction.

72. The apparatus of claim 67, wherein the second processor is further configured to:

the sending of the start instruction to the pan-tilt further comprises: