CN110268357A - A kind of limit angle calibration method and terminal device - Google Patents
A kind of limit angle calibration method and terminal device Download PDFInfo
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- CN110268357A CN110268357A CN201880010922.7A CN201880010922A CN110268357A CN 110268357 A CN110268357 A CN 110268357A CN 201880010922 A CN201880010922 A CN 201880010922A CN 110268357 A CN110268357 A CN 110268357A
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- angle
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- joint angle
- position limitation
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/08—Control of attitude, i.e. control of roll, pitch, or yaw
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D3/00—Control of position or direction
Abstract
A kind of limit angle calibration method and terminal device (22), wherein method includes: and controls the joint (42,43) of holder (23,41) to be rotated (301) to first direction；During the joint (42,43) of control holder (23,41) is rotated to first direction, the first joint angle set (302) in the joint (42,43) in preset time period is obtained；If the difference in the first joint angle set between maximum joint angle and minimum joint angle determines the mechanical position limitation angle (303) of holder (23,41) in a first direction according to the joint angle in the first joint angle set less than the first preset threshold.The embodiment of the present invention can be when the difference between the maximum joint angle and minimum joint angle in the first joint angle set be less than the first preset threshold, judge holder (23,41) limit has been bumped against, and according to the joint angle in the first joint angle set, determine holder (23,41) mechanical position limitation angle in a first direction, it can the actual machine of calibrating tripod head (23,41) limits angle.
Description
This application involves collimation technique fields, and in particular to a kind of limit angle calibration method and terminal device.
Requirement with people to photography experience is continuously improved, and holder is also rapidly developed as the support equipment of installation, fixed video camera.Due to reasons in structure, holder is inevitably present mechanical position limitation.
Generally, there is mechanical position limitation on pitch axis, yaw axis and roll axis in holder.Wherein, the pitching of pitch axis control holder, yaw axis control the yaw of holder, and roll axis controls the roll of holder.For example, holder has upper limit and lower limit on pitch axis.Limit indicates holder since the position parallel relative to the carrier (such as unmanned plane) for carrying holder, the maximum rotation range rotated to some direction.For the schematic diagram of the lower limit of the holder shown in Fig. 1, when holder 1 is equipped on unmanned plane 2, and holder 1, when the lower limit angle of pitch axis (i.e. pitch angle) is 110 degree, holder is rotated down since the position 3 parallel relative to unmanned plane, at most turns to position 4.
During volume production, due to the problems such as manufacturing, there are errors between the actual machine limit angle and design mechanical position limitation angle of the holder for causing actual production to come out.In holder use process, holder can be caused to knock mechanical position limitation because of the presence of this error, carry the unstable of picture captured by camera so as to cause holder, influence practical effect.And existing settling mode is to measure its actual mechanical position limitation angle by recycling the holder for existing and knocking mechanical position limitation and the angle is applied to a batch of all holders.However, this settling mode not only implements complexity, but also the problem of holder knocks mechanical position limitation can not be fully solved.Therefore, how the actual machine limit angle of calibrating tripod head becomes urgent problem to be solved.
Summary of the invention
The embodiment of the present invention provides a kind of limit angle calibration method and terminal device, can limit angle with the actual machine of calibrating tripod head.
In a first aspect, the embodiment of the invention provides a kind of limit angle calibration method, the terminal device of the limit angle applied to calibrating tripod head, this method comprises:
One joint of control holder is rotated to first direction；
During the joint of control holder is rotated to first direction, the first joint angle set in the joint in preset time period is obtained；
If the difference in the first joint angle set between maximum joint angle and minimum joint angle determines the mechanical position limitation angle of holder in a first direction according to the joint angle in the first joint angle set less than the first preset threshold.
Second aspect, the embodiment of the invention provides a kind of terminal device, which is connect by wired or wireless way with holder, which includes: memory and processor, wherein
Memory, for storing program instruction；
Processor, caller are instructed to be used for:
One joint of control holder is rotated to first direction；
During the joint of control holder is rotated to first direction, the first joint angle set in the joint in preset time period is obtained；
If the difference in the first joint angle set between maximum joint angle and minimum joint angle determines the mechanical position limitation angle of holder in a first direction according to the joint angle in the first joint angle set less than the first preset threshold.
The embodiment of the present invention is rotated by controlling a joint of holder to first direction；During the joint of control holder is rotated to first direction, the first joint angle set in the joint in preset time period is obtained；If the difference in the first joint angle set between maximum joint angle and minimum joint angle determines the mechanical position limitation angle of holder in a first direction according to the joint angle in the first joint angle set less than the first preset threshold.It can be when detecting that holder has bumped against limit, according to the joint angle in the first joint angle set, determine the mechanical position limitation angle (i.e. the actual machine limit angle of first direction) of holder in a first direction, it can the actual machine of calibrating tripod head limits angle.
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, the drawings to be used in the embodiments are briefly described below, apparently, drawings in the following description are only some embodiments of the invention, for those of ordinary skill in the art, without creative efforts, it is also possible to obtain other drawings based on these drawings.
Fig. 1 is a kind of schematic diagram of the lower limit of holder provided in an embodiment of the present invention；
Fig. 2 is a kind of schematic diagram of system architecture provided in an embodiment of the present invention；
Fig. 3 is a kind of flow diagram for limiting angle calibration method provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of holder provided in an embodiment of the present invention；
Fig. 5 is the flow diagram of another limit angle calibration method provided in an embodiment of the present invention；
Fig. 6 is the flow diagram of another limit angle calibration method provided in an embodiment of the present invention；
Fig. 7 is a kind of structural schematic diagram of terminal device provided in an embodiment of the present invention.
Following will be combined with the drawings in the embodiments of the present invention, and technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, every other embodiment obtained by those of ordinary skill in the art without making creative efforts, shall fall within the protection scope of the present invention.
In order to which the scheme of the embodiment of the present invention is explicitly described, the business scenario of 2 pairs of possible applications of the embodiment of the present invention and system architecture are illustrated with reference to the accompanying drawing.
Fig. 2 shows a kind of system architectures provided in an embodiment of the present invention.The communication system of the present embodiment includes unmanned plane 21 and controlling terminal 22.
Wherein, unmanned plane 21 includes Flight main body, holder 23 and photographic device.In the present embodiment, Flight main body may include multiple rotors and the rotor motor for driving rotor rotational, thus provides unmanned plane 21 and flies required power.Photographic device is equipped on Flight main body by holder 23.Photographic device is used to carry out image or video capture in the flight course of unmanned plane 21, it may include but be not limited to multi-spectral imager, hyperspectral imager, Visible Light Camera and infrared camera etc..Holder 23 can be multi-axis turning and stability augmentation system, it may include multiple rotation axis and horizontal stage electric machine.Horizontal stage electric machine can compensate the shooting angle of photographic device by adjusting the rotational angle of rotation axis, and can prevent or reduce the shake of photographic device by the way that buffer gear appropriate is arranged.Certainly, photographic device can be equipped on Flight main body directly or by other modes, and it is not limited in the embodiment of the present invention.Wherein, the controlling terminal 22 is for controlling holder 23.It is rotated for example, controlling terminal 22 can control holder 23 to some direction.The controlling terminal 22 can be one of mobile phone, tablet computer, remote controler or other wearable devices (such as wrist-watch or bracelet) or a variety of.
It can be understood that, the system architecture and business scenario of description of the embodiment of the present invention are the technical solutions in order to more clearly illustrate the embodiment of the present invention, the restriction for technical solution provided in an embodiment of the present invention is not constituted, known to those of ordinary skill in the art, with the differentiation of system architecture and the appearance of new business scene, technical solution provided in an embodiment of the present invention is equally applicable for similar technical problem.
The detailed process of limit angle calibration method provided in an embodiment of the present invention is further illustrated below.
Referring to Fig. 3, Fig. 3 is a kind of flow diagram for limiting angle calibration method provided in an embodiment of the present invention.As shown in figure 3, the limit angle calibration method may include 301~303 parts.Wherein,
301, a joint of terminal device control holder is rotated to first direction.
Wherein, terminal device can be unmanned plane or controlling terminal.When terminal device is unmanned plane, which can be connect by attachment device or other modes with holder, and the embodiment of the present invention is not construed as limiting the connection type between unmanned plane and holder.When terminal device is controlling terminal, which can be connect by wirelessly or non-wirelessly connection type with holder.
Holder may include multiple joints.By taking the structural schematic diagram of holder shown in Fig. 4 as an example.Holder 41 has 3 joints, wherein the first joint 42 can control holder 41 and rotate upwardly and downwardly, and the angle (i.e. joint angle) of the first joint 42 rotation is known as pitch angle.Second joint 43 can control 41 left-right rotation of holder, and the angle (i.e. joint angle) that second joint 43 rotates is known as yaw angle.Third joint (not shown) can control the rolling of holder 41 or so, and the angle (i.e. joint angle) of third articulation is known as roll angle.After some articulation to predetermined angle of terminal device by control holder 41, the image that the video camera 44 on holder 41 shoots the corresponding visual angle of the predetermined angle can control.
It should be noted that terminal device can control multiple joints of holder while rotate, the embodiment of the present invention carries out rotation with a joint of terminal device control holder and is only used for illustrating, and does not constitute a limitation of the invention.
First direction can be the upper limit direction of pitch axis, the lower limit direction of pitch axis, the yaw left limit direction of yaw axis, the yaw right limit direction of yaw axis, the roll left limit direction of roll axis, the roll right limit direction of roll axis, the embodiment of the present invention are not construed as limiting first direction.The i.e. same rotation axis (such as pitch axis, yaw axis, roll axis) may exist mechanical position limitation in opposite both direction.
In one implementation, terminal device can control holder and enter joint angle mode, and in the case where holder is in joint angle mode, the joint (joint i.e. to be calibrated) for controlling holder is rotated to first direction.Wherein, holder is under joint angle mode, can fix other joints in addition to joint to be calibrated, so that other joints will not be rotated together because of the reasons such as steady mode are increased with joint to be calibrated when rotating joint to be calibrated.When can be rotated together to avoid other joints and joint to be calibrated, the calibration result of the mechanical position limitation angle in joint to be calibrated is impacted, is conducive to the accuracy for improving calibration result.
In one implementation, the joint that terminal device can control holder is rotated according to predetermined angle to first direction, and predetermined angle is greater than the default mechanical position limitation angle of holder in a first direction.
In embodiments of the present invention, the default mechanical position limitation angle of holder in a first direction is the mechanical position limitation angle preplaning, needing to produce when producing holder.The default mechanical position limitation angle indicates holder to the maximum magnitude being able to rotate when first direction rotation, preplaned.Optionally, when holder dispatches from the factory, the default mechanical position limitation angle can be stored in holder.But in a practical situation, generally there are certain errors between the actual machine limit angle and default mechanical position limitation angle of the holder produced.I.e. actual machine limit angle is possible to be greater than default mechanical position limitation angle, alternatively, actual machine limits angle likely to be less than default mechanical position limitation angle.So, in order to detect the practical maximum rotation range (i.e. actual machine limit angle) of holder in a first direction, terminal device can preset one and be greater than the predetermined angle of default mechanical position limitation angle, and controls holder and rotated according to predetermined angle to first direction.In this way, it can be to avoid when actual machine limit angle be greater than default mechanical position limitation angle, the predetermined angle of setting is less than or equal to default mechanical position limitation angle, so that the maximum rotation range of holder is the corresponding slewing area of predetermined angle, the case where causing the mechanical position limitation angle detected to be less than actual mechanical position limitation angle, is conducive to the accuracy for improving calibration result.
Such as, factory planning produces the upper limit angle of a batch pitch axis as the holder of 30 degree (i.e. default mechanical position limitation angle), after the completion of holder manufacture, error caused by the problems such as manufacturing, the mechanical position limitation angle (i.e. actual machine limit angle) of the holder actually produced are 35 degree.In a calibration process, if predetermined angle is set 30 degree by terminal device, i.e. when the pitch axis of holder is at most rotated up to 30 degree of corresponding positions, that is, think that holder reaches limit, and 30 degree are determined as the upper limit angle of the holder detected, it will lead to calibration result inaccuracy.
In one implementation, predetermined angle can be according to default mechanical position limitation angle and worst error angle (i.e. the caused worst error during manufacturing) determine.For example, when worst error angle is+3 degree when default mechanical position limitation angle is 30 degree, predetermined angle can be set to 33 degree or bigger angle.Wherein, worst error angle can be the empirical value obtained by statistical data.It should be noted that predetermined angle can be terminal device default setting, it is also possible to terminal device according to the setting that user inputs and operates determination.
302, during the joint of terminal device control holder is rotated to first direction, the first joint angle set in the joint in preset time period is obtained.
Specifically, during the joint of terminal device control holder is rotated to first direction, the current joint angle in the available joint, and record the joint angle.After preset time, all joint angles (i.e. the first joint angle set) stored in terminal device can indicate the rotation situation (such as normal rotation or reaching limit) that the joint changes over time in the preset time.In one implementation, terminal device can record the joint angle in the joint using prefixed time interval as the period.In another implementation, terminal device can be not construed as limiting this with the joint angle in the recorded at random joint, the embodiment of the present invention.
For example, when preset time period is 1s, when initial time is 00:00 (dividing/second), the first joint for controlling holder is rotated terminal device to first direction, and the joint angle in the first joint is 2 degree at this time when prefixed time interval is 0.2s.Every 0.2s, terminal device obtains the joint angle in first joint, if the first joint uniform rotation, in the preset time period of the 1s of 00:00~00:01, the first joint angle collection that terminal device obtains is combined into { 2 °, 4 °, 6 °, 8 °, 10 ° }.By the joint angle in the first joint angle set, terminal device may determine that the first joint is in normal rotation state, i.e. the first joint does not reach limit.Because when the first joint, which reaches, to be limited (the first joint knocks limiting section) slight shake can be generated, i.e. the joint angle in the first joint can have lesser float up and down whithin a period of time.I.e. terminal device can judge whether the first joint reaches limit by the situation of change of the joint angle in the first joint angle set.Such as, with previous example under the same conditions, in the preset time period of the 1s of 00:01~00:02, the first joint angle collection that terminal device obtains is combined into { 10 °, 10.5 °, 10.8 °, 10.3 °, 10.2 ° } when, i.e., for joint angle in the range of a very little when (10.8 ° of 10 °~maximum value of minimum value) variation, terminal device can determine that the joint arrived limit.And the range of very little defines at this time, can be completed by the first preset threshold.Such as, when the first preset threshold is greater than 0.8 °, the angle change (0.8 °) of joint angle within a preset period of time is less than the first preset threshold at this time, it can be considered that the variation of joint angle within a preset period of time at this time is the variation of a very little, it is thus regarded that the joint has reached limit.
It should be noted that preset time period can be terminal device default setting, it is determining to be also possible to operation that terminal device is inputted according to user.Above-mentioned preset time period is that 1s is only used for illustrating, and does not constitute a limitation of the invention.In other feasible embodiments, preset time period can also be 0.5s, 2s or other numerical value.
If 303, for the difference in the first joint angle set between maximum joint angle and minimum joint angle less than the first preset threshold, terminal device determines the mechanical position limitation angle of holder in a first direction according to the joint angle in the first joint angle set.
Specifically, terminal device obtains the maximum joint angle and minimum joint angle that after the first joint angle set in the joint, can also be obtained in the first joint angle set in preset time period.If the difference between maximum joint angle and minimum joint angle is less than the first preset threshold, show value of feedback variation in the range (i.e. the first preset threshold) of a very little of the joint angle of the joint within a preset period of time, then terminal device may determine that the joint reaches limit.Further, terminal device can determine the mechanical position limitation angle of holder in a first direction according to the joint angle in the first joint angle set.
Such as, when the first preset threshold is 2 degree, if the first joint angle collection that terminal device obtains is combined into { 109 °, 110 °, 109 °, 109.5 °, 110 ° }, i.e., the difference (1 °) between maximum joint angle (110 °) and minimum joint angle (109 °) is less than the first preset threshold (2 °).Terminal device can determine that the joint arrived limit.
It should be noted that the first preset threshold can be terminal device default setting, it is also possible to that operation that terminal device is inputted according to user is determining, and the embodiment of the present invention is not construed as limiting this.It should also be noted that, first preset threshold in the different joints of holder may be the same or different, the embodiment of the present invention is not construed as limiting this.
In one implementation, after terminal device judges that holder reaches limit, the minimum joint angle in the first joint angle set can be determined as to the mechanical position limitation angle of holder in a first direction.In another implementation, the arithmetic average of all joint angles in the first joint angle set can be determined as the mechanical position limitation angle of holder in a first direction by terminal device.In another implementation, the arithmetic average of maximum joint angle and minimum joint angle in the first joint angle set can be determined as the mechanical position limitation angle of holder in a first direction by terminal device.In another implementation, terminal device can also be determined as the mechanical position limitation angle of holder in a first direction by carrying out the obtained angle of least square to institute's acquisition angles data.The embodiment of the present invention is not construed as limiting this.
In one implementation, if the difference between the maximum joint angle in the first joint angle set and minimum joint angle is greater than or equal to the first preset threshold, terminal device may determine that the joint does not reach limit.Terminal device can continue to execute step 301~303.
It can be seen that, by limiting angle calibration method described in implementing Fig. 3, it can be when detecting that holder bumps against limit, according to the joint angle in the first joint angle set, determine the mechanical position limitation angle (i.e. the actual machine limit angle of first direction) of holder in a first direction, it can the actual machine of calibrating tripod head limits angle.
In one implementation, after terminal device determines the mechanical position limitation angle of holder in a first direction, the mechanical position limitation angle of holder in a first direction can also be stored.Optionally, terminal device may include storage medium, and after terminal device determines the mechanical position limitation angle of holder in a first direction, the mechanical position limitation angle of holder in a first direction can be stored into the storage medium.Wherein, storage medium may include nonvolatile memory, such as flash memory (Flash Memory), solid state hard disk etc..Optionally, storage medium also may include volatile memory, such as random access memory.Optionally, storage medium can also include the combination of the memory of mentioned kind.The embodiment of the present invention is not construed as limiting the concrete type of the storage medium.
In one implementation, terminal device can determine that evading limit algorithm evades angle according to the mechanical position limitation angle of holder in a first direction.In practical situations, the bigger holder that will lead to for evading angle setting bumps against limit, so that a wide range of shake of picture is caused, so that the picture quality of shooting reduces.
In the embodiment of the present invention, evade in limit algorithm and evades angle for when the joint of holder rotates to this to first direction and evades angle, so that the joint stops the case where continuing to rotate to first direction, bumping against limit to avoid holder, and then improve the picture quality of shooting.For example, when the mechanical position limitation of the upper limit of pitch axis is 30 degree, and terminal device, by the upper limit of pitch axis when evading angle and being set as 29 degree, holder can be automatically stopped when being rotated upwardly to 29 degree and continue up rotation, bump against limit to avoid holder.
In embodiments of the present invention, it is calibrated by the mechanical position limitation angle to every holder, actual machine limit angle after being calibrated according to every holder go to determine to evade limit algorithm the problems such as evading angle, can preferably solve because manufacturing caused by with the actual machine of a batch of holder limit angle different problems.It solves to be set as identical (i.e. for certain holders with the angle of evading of a batch of holder in the prior art, evade angle and be possible to too large or too small), lesser holder of mechanical position limitation angle itself is likely to cause due to evading the excessive of angle setting, and hits and limits caused float problem.Alternatively, biggish holder of mechanical position limitation angle itself due to evade angle setting it is too small, and prematurely trigger evade limit algorithm and caused by visual angle change, be not able to satisfy the problem of shooting demand.
In one implementation, whether terminal device may determine that the mechanical position limitation angle of holder in a first direction within the scope of predetermined angle；If so, executing the mechanical position limitation angle according to holder in a first direction, determines and evade the step of evading angle of algorithm of limit.
In embodiments of the present invention, terminal device is when holder powers on every time, the mechanical position limitation angle that previous calibration obtains can be obtained, and to the mechanical position limitation angle carry out reasonability judgement (judge the mechanical position limitation angle whether within the scope of predetermined angle, or judge angular error whether less than the second preset threshold).And in the reasonable situation of mechanical position limitation angle, just determine that evading limit algorithm evades angle according to the mechanical position limitation angle.
In this way, it can be to avoid unused holder for a long time, the case where holder may generate the mechanical position limitation angulation change caused by hitting within the time due to transport or improper use etc., and the mechanical position limitation angle that holder is calibrated before shock is accidentally determined as the mechanical position limitation angle after hitting by terminal device.For example, the mechanical position limitation angle that holder is calibrated before shock is 110 degree, after shock, the mechanical position limitation angle of holder becomes 105 degree.If the mechanical position limitation angle (110 degree) that terminal device is calibrated before, will evade angle and be set as 109 degree, it will lead to holder and knock mechanical position limitation when rotating to 105 degree.Therefore, when holder powers on every time, reasonability judgement is carried out to its mechanical position limitation angle, the reliability of holder can be improved.
In one implementation, before a joint of terminal device control holder is rotated to first direction, the limit angle calibration operation of user can also be received, control holder enters limit angle calibration mode；In the step of holder is under limit angle calibration mode, and the joint that execution controls holder is rotated to first direction.
In embodiments of the present invention, terminal device can be open to user by the function of the mechanical position limitation angle of calibrating tripod head.Specifically, a calibration knob can be set on terminal device, when terminal device detects that user presses calibration knob (i.e. the limit angle calibration operation), it can control holder and enter limit angle calibration mode.Wherein limit angle calibration mode can be joint angle mode.
In this way, so that user can also the mechanical position limitation angle to holder calibrate.And calibration process is simple and convenient, can the mechanical position limitation angle often to holder calibrate so that the mechanical position limitation angle stored in terminal device and actual machine limit angle between error it is smaller.Further, when terminal device evades angle according to the setting of the mechanical position limitation angle of storage, a possibility that holder being made to knock mechanical position limitation reduction is conducive to the reliability for improving holder.
In one implementation, user can also calibrate the mechanical position limitation angle of the rotation axis of holder by way of the rotation axis of manual toggle holder.
Referring to Fig. 5, Fig. 5 is the flow diagram of another limit angle calibration method provided in an embodiment of the present invention.As shown in figure 5, the limit angle calibration method may include 501~506 parts.Wherein,
501, a joint of terminal device control holder is rotated to first direction.
502, during the joint of terminal device control holder is rotated to first direction, the first joint angle set of preset time period intrinsic articulation is obtained.
In embodiments of the present invention, step 501 and 502 implementation procedure can be respectively referring to steps 301 in Fig. 3 and the specific descriptions in 302, and this will not be repeated here.
If 503, for the difference in the first joint angle set between maximum joint angle and minimum joint angle less than the first preset threshold, terminal device determines target joint angle according to the joint angle in the first joint angle set.
In embodiments of the present invention, terminal device first determines target joint angle before determining the mechanical position limitation angle of holder in a first direction.Into once, whether the target joint angle judged reasonable, to decide whether to update the mechanical position limitation angle of holder in a first direction.In this way, the accuracy of calibration result can further be improved.
In one implementation, after terminal device judges that holder reaches limit, the minimum joint angle in the first joint angle set can be determined as the target joint angle of holder in a first direction.In another implementation, the arithmetic average of all joint angles in the first joint angle set can be determined as the target joint angle of holder in a first direction by terminal device.In another implementation, the arithmetic average of maximum joint angle and minimum joint angle in the first joint angle set can be determined as the target joint angle of holder in a first direction by terminal device.In another implementation, terminal device can also be determined as the target joint angle of holder in a first direction by carrying out the obtained angle of least square to institute's acquisition angles data.The embodiment of the present invention is not construed as limiting this.
504, whether terminal device judges target joint angle within the scope of predetermined angle.
Specifically, terminal device judges target joint angle whether within the scope of predetermined angle, whether the target joint angle for judging to obtain is reasonable.Generally, due to which the difference between the target joint angle that error caused by the problems such as manufacturing will not arrive greatly very much and default mechanical position limitation angle should be in a certain range.For example, when largest production error is 3 degree, reasonable target joint angle can be within [107 °, 113 °] (i.e. predetermined angle range) when default mechanical position limitation angle is 110 degree.If obtained target joint angle, within the scope of predetermined angle, the target joint angle illustrated is reasonable.If obtained target joint angle, not within the scope of predetermined angle, the target joint angle illustrated is unreasonable.Its unreasonable producing cause may be during rotation joint be seized, alternatively, there is the problems such as hand shelves during rotation, the embodiment of the present invention is not construed as limiting this.
If 505, target joint angle is within the scope of predetermined angle, target joint angle is determined as the mechanical position limitation angle of holder in a first direction by terminal device.
In embodiments of the present invention, if target joint angle is within the scope of predetermined angle, that is, the target joint angle illustrated is reasonably that target joint angle can be determined as the mechanical position limitation angle of holder in a first direction by terminal device.It is target joint angle by the mechanical position limitation angle calibration system of holder in a first direction.In such a way that reasonability judges, the accuracy of calibration result can be improved.
If 506, target joint angle is not within the scope of predetermined angle, terminal device keeps the mechanical position limitation angle for the first direction being arranged constant.
In embodiments of the present invention, if target joint angle is not within the scope of predetermined angle, that is, the target joint angle illustrated be it is unreasonable, terminal device can keep the mechanical position limitation angle for the first direction being arranged constant.In one implementation, when holder dispatches from the factory, terminal device can set preset initial value for the mechanical position limitation angle of first direction.Preset initial value can be default mechanical position limitation angle, null value or other numerical value, the embodiment of the present invention and be not construed as limiting to this.
In such a way that reasonability judges, can be to avoid unreasonable target joint angle is determined as the mechanical position limitation angle of holder in a first direction the case where, the accuracy of calibration result can be improved.
In one implementation, terminal device is determined according to the joint angle in the first joint angle set after target joint angle, following steps replacement step 504 and 505 can be used: terminal device obtains angular error, and angular error is the absolute value of the difference between the default mechanical position limitation angle of target joint angle and holder in a first direction；If angular error, less than the second preset threshold, target joint angle can be determined as the mechanical position limitation angle of holder in a first direction by terminal device.
Wherein, the second preset threshold is the absolute value for the worst error that holder generates during the manufacturing.Angular error is the absolute value of the difference between the default mechanical position limitation angle of target joint angle and holder in a first direction, i.e. angular error is that the actual production of the holder detected misses absolute value of the difference.If a possibility that target joint angle that angular error less than the second preset threshold, that is, shows is in reasonable error range, i.e., generation is wrong in a calibration process is very low, the confidence level of calibration result is very high.Therefore, target joint angle can be determined as the mechanical position limitation angle of holder in a first direction by terminal device.
For example, when the default mechanical position limitation angle of holder in a first direction be 110 degree, and the second preset threshold be 3 degree when.If obtained target joint angle is 109 degree, i.e., when angular error (1 degree) is less than the second preset threshold (3 degree), the mechanical position limitation angle of holder in a first direction can be determined as 109 degree.
In one implementation, after terminal device obtains angular error, can use following steps replacement step 506: if angular error is greater than or equal to the second preset threshold, terminal device can keep the mechanical position limitation angle for the first direction being arranged constant.Angular error be greater than or equal to the second preset threshold when, the target joint angle shown not in reasonable error range, i.e., in a calibration process occur mistake a possibility that it is very high, the confidence level of calibration result is very low.Therefore, the target joint angle that terminal device can be ignored, and keep the mechanical position limitation angle for the first direction being arranged constant.The case where to avoid unreasonable target joint angle is determined as the mechanical position limitation angle of holder in a first direction, is conducive to the accuracy for improving calibration result.
It can be seen that, by limiting angle calibration method described in implementing Fig. 3, it can be when detecting that holder bumps against limit, according to the joint angle in the first joint angle set, it determines target joint angle, and reasonability judgement is carried out to target joint angle, in the reasonable situation in target joint angle, target joint angle is just determined as the mechanical position limitation angle of holder in a first direction, can the actual machine of more accurately calibrating tripod head limit angle.
Referring to Fig. 6, Fig. 6 is the flow diagram of another limit angle calibration method provided in an embodiment of the present invention.As shown in fig. 6, the limit angle calibration method may include 601~606 parts.Wherein,
601, a joint of terminal device control holder is rotated to first direction.
602, during the joint of terminal device control holder is rotated to first direction, the first joint angle set in the joint in preset time period is obtained.
If 603, for the difference in the first joint angle set between maximum joint angle and minimum joint angle less than the first preset threshold, terminal device determines the mechanical position limitation angle of holder in a first direction according to the joint angle in the first joint angle set.
In embodiments of the present invention, the implementation procedure of step 601,602 and 603 can be respectively referring to the specific descriptions in Fig. 3 in step 301,302 and 303, and this will not be repeated here.
604, the joint of terminal device control holder is rotated to second direction, and second direction is the opposite direction of first direction.
In embodiments of the present invention, the joint that terminal device controls holder first is rotated to first direction, when holder reaches mechanical position limitation in a first direction, when i.e. the calibration of the mechanical position limitation angle of holder in a first direction is completed, terminal device can store the mechanical position limitation angle for the direction that calibration obtains.And control holder and rotated from the opposite direction (i.e. second direction) of trend first direction, i.e., the mechanical position limitation angle to holder in second direction is calibrated.
In this way, can to avoid holder when the mechanical position limitation angle of two different directions in a rotation axis is calibrated, is needed on a wherein direction calibration complete when, again control holder the mechanical position limitation angle in another direction is calibrated.Can two different directions of automatic, the disposable calibrating tripod head in a rotation axis mechanical position limitation angle, be conducive to improve calibration efficiency and user experience.
605, during the joint of terminal device control holder is rotated to second direction, the second joint angle set in the joint in preset time period is obtained.
In embodiments of the present invention, the joint angle for including in the set of second joint angle is the joint angle obtained during the joint of holder is rotated to second direction.
If 606, the difference in the set of second joint angle between maximum joint angle and minimum joint angle determines holder in the mechanical position limitation angle of second direction less than the first preset threshold, terminal device according to the joint angle in the set of second joint angle.
In embodiments of the present invention, other than rotation direction changes, the implementation procedure of step 604,605 and 606 can be respectively referring to the specific descriptions in Fig. 3 in step 301,302 and 303, and this will not be repeated here.
It should be noted that in embodiments of the present invention, step 601~603 can be first carried out, then execute step 604~606.Step 604~606 can also be first carried out, then execute step 601~603.The embodiment of the present invention is not construed as limiting this.
As it can be seen that can detect whether holder bumps against mechanical position limitation automatically, and when holder bumps against mechanical position limitation by implementing the described limit angle calibration method of Fig. 6, automatically controls holder and rotated round about, and then detect the mechanical position limitation angle of opposite direction.Can disposable different directions of the calibrating tripod head in a rotation axis mechanical position limitation angle, be conducive to improve calibration efficiency and user experience.
Referring to Fig. 7, Fig. 7 is a kind of structural schematic diagram of terminal device provided in an embodiment of the present invention.As shown in fig. 7, the terminal device includes memory 701 and processor 702, memory 701 can be connected with processor 702 by bus 703, which can connect (not shown) with holder by wired or wireless way.
Memory 701 may include volatile memory (volatile memory), such as random access memory (random-access memory, RAM)；Memory 701 also may include nonvolatile memory (non-volatile memory), such as flash memory (flash memory), solid state hard disk (solid-state drive, SSD) etc.；Memory 701 can also include the combination of the memory of mentioned kind.
Processor 702 may include central processing unit (central processing unit, CPU).Processor 702 can further include hardware chip.Above-mentioned hardware chip can be specific integrated circuit (application-specific integrated circuit, ASIC), programmable logic device (programmable logic device, PLD) etc..Above-mentioned PLD can be field programmable gate array (field-programmable gate array, FPGA), Universal Array Logic (generic array logic, GAL) etc..Wherein:
Memory 701, for storing program instruction；
Processor 702, caller are instructed to be used for:
One joint of control holder is rotated to first direction；
During the joint of control holder is rotated to first direction, the first joint angle set in the joint in preset time period is obtained；
If the difference in the first joint angle set between maximum joint angle and minimum joint angle determines the mechanical position limitation angle of holder in a first direction according to the joint angle in the first joint angle set less than the first preset threshold.
In one implementation, when the joint that processor 702 is used to control holder is rotated to first direction, it is specifically used for:
One joint of control holder is rotated according to predetermined angle to first direction, and predetermined angle is greater than the default mechanical position limitation angle of holder in a first direction.
In one implementation, processor 702 according to the joint angle in the first joint angle set when determining the mechanical position limitation angle of holder in a first direction for being specifically used for:
Target joint angle is determined according to the joint angle in the first joint angle set；
Target joint angle is determined as the mechanical position limitation angle of holder in a first direction.
In one implementation, target joint angle is minimum joint angle in the first joint angle set or target joint angle is the average joints angle in the first joint angle set.
In one implementation, it after processor 702 determines target joint angle according to the joint angle in the first joint angle set, is also used to:
Judge target joint angle whether within the scope of predetermined angle；
If so, target joint angle is determined as the mechanical position limitation angle of holder in a first direction.
In one implementation, it after whether processor 702 judges target joint angle within the scope of predetermined angle, is also used to:
If target joint angle not within the scope of predetermined angle, keeps the mechanical position limitation angle for the first direction being arranged constant.
In one implementation, it after processor 702 determines target joint angle according to the joint angle in the first joint angle set, is also used to:
Angular error is obtained, angular error is the absolute value of the difference between the default mechanical position limitation angle of target joint angle and holder in a first direction；
If angular error is determined as the mechanical position limitation angle of holder in a first direction less than the second preset threshold, by target joint angle.
In one implementation, it after processor 702 obtains angular error, is also used to:
If angular error is greater than or equal to the second preset threshold, keep the mechanical position limitation angle for the first direction being arranged constant.
In one implementation, which can also include that storage medium 704 is also used to after processor 702 determines the mechanical position limitation angle of holder in a first direction:
The mechanical position limitation angle of holder in a first direction is stored into the storage medium 704.
Storage medium 704 may include volatile memory, such as random access memory；Storage medium 704 also may include nonvolatile memory, such as flash memory, solid state hard disk etc.；Storage medium 704 can also include the combination of the memory of mentioned kind.
In another implementation, it after processor 702 determines the mechanical position limitation angle of holder in a first direction, is also used to:
The mechanical position limitation angle of holder in a first direction is stored into memory 701.
In one implementation, processor 702 is also used to:
According to the mechanical position limitation angle of holder in a first direction, determine that evades limit algorithm evades angle.
In one implementation, processor 702 is also used to:
Judge the mechanical position limitation angle of holder in a first direction whether within the scope of predetermined angle；
If so, executing the mechanical position limitation angle according to holder in a first direction, determines and evade the step of evading angle of algorithm of limit.
In one implementation, it before the joint that processor 702 controls holder is rotated to first direction, is also used to:
The limit angle calibration operation of user is received, control holder enters limit angle calibration mode；
In the step of holder is under limit angle calibration mode, and the joint that execution controls holder is rotated to first direction.
In one implementation, processor 702 is also used to:
The joint of control holder is rotated to second direction, and second direction is the opposite direction of first direction；
During the joint of control holder is rotated to second direction, the second joint angle set in the joint in preset time period is obtained；
If the difference in the set of second joint angle between maximum joint angle and minimum joint angle determines holder in the mechanical position limitation angle of second direction less than the first preset threshold according to the joint angle in the set of second joint angle.
In the specific implementation, implementation described in the limit angle calibration method of Fig. 3, Fig. 5 and Fig. 6 of the embodiment of the present invention offer can be performed in processor 702 described in the embodiment of the present invention, this will not be repeated here.
More than, some embodiments only of the invention, but scope of protection of the present invention is not limited thereto, and the various equivalent modifications or substitutions expected on the basis of the above embodiments should be covered by the protection scope of the present invention.
Claims (26)
- A kind of limit angle calibration method, the terminal device of the limit angle applied to calibrating tripod head characterized by comprisingA joint for controlling the holder is rotated to first direction；The joint of the holder is controlled to during first direction rotation, obtains the first joint angle set in the joint in preset time period；If the difference in the first joint angle set between maximum joint angle and minimum joint angle determines the holder in the mechanical position limitation angle of the first direction less than the first preset threshold according to the joint angle in the first joint angle set.
- The method according to claim 1, wherein a joint of the control holder is rotated to first direction, comprising:A joint for controlling the holder is rotated according to predetermined angle to first direction, and the predetermined angle is greater than the holder in the default mechanical position limitation angle of the first direction.
- Method according to claim 1 or 2, which is characterized in that the joint angle according in the first joint angle set determines the holder in the mechanical position limitation angle of the first direction, comprising:Target joint angle is determined according to the joint angle in the first joint angle set；The target joint angle is determined as the holder in the mechanical position limitation angle of the first direction.
- According to the method described in claim 3, it is characterized in that, the target joint angle is minimum joint angle in the first joint angle set or the target joint angle is the average joints angle in the first joint angle set.
- The method according to claim 3 or 4, which is characterized in that after the joint angle according in the first joint angle set determines target joint angle, the method also includes:Judge the target joint angle whether within the scope of predetermined angle；If so, the target joint angle is determined as the holder in the mechanical position limitation angle of the first direction.
- According to the method described in claim 5, it is characterized in that, it is described judge the target joint angle whether within the scope of predetermined angle after, the method also includes:If the target joint angle not within the scope of the predetermined angle, keeps the mechanical position limitation angle for the first direction being arranged constant.
- The method according to claim 3 or 4, which is characterized in that after the joint angle according in the first joint angle set determines target joint angle, the method also includes:Angular error is obtained, the angular error is the absolute value of the difference of the target joint angle and the holder between the default mechanical position limitation angle of the first direction；If the angular error is determined as the holder in the mechanical position limitation angle of the first direction less than the second preset threshold, by the target joint angle.
- The method according to the description of claim 7 is characterized in that after the acquisition angular error, the method also includes:If the angular error is greater than or equal to second preset threshold, keep the mechanical position limitation angle for the first direction being arranged constant.
- Method described in any one according to claim 1~8, which is characterized in that determine the holder after the mechanical position limitation angle of the first direction, the method also includes:The holder is stored in the mechanical position limitation angle of the first direction.
- Method described in any one according to claim 1~9, which is characterized in that the method also includes:According to the holder in the mechanical position limitation angle of the first direction, determine that evading limit algorithm evades angle.
- According to the method described in claim 10, it is characterized in that, the method also includes:Judge the holder in the mechanical position limitation angle of the first direction whether within the scope of predetermined angle；If so, execute it is described according to the holder the first direction mechanical position limitation angle, determine evade limit the step of evading angle of algorithm.
- The method according to claim 1, wherein before a joint of the control holder is rotated to first direction, the method also includes:The limit angle calibration operation for receiving user controls the holder and enters limit angle calibration mode；In the case where the holder is in the limit angle calibration mode, a step of joint for controlling the holder is rotated to first direction is executed.
- Method described in any one according to claim 1~12, which is characterized in that the method also includes:The joint for controlling the holder is rotated to second direction, and the second direction is the opposite direction of the first direction；The joint of the holder is controlled to during second direction rotation, obtains the second joint angle set in the joint in the preset time period；If the difference in the second joint angle set between maximum joint angle and minimum joint angle is less than first preset threshold, according to the joint angle in the set of the second joint angle, determine the holder in the mechanical position limitation angle of the second direction.
- A kind of terminal device, which is characterized in that the terminal device is connect by wired or wireless way with holder, and the terminal device includes: memory and processor, whereinThe memory, for storing program instruction；The processor calls described program instruction to be used for:A joint for controlling the holder is rotated to first direction；The joint of the holder is controlled to during first direction rotation, obtains the first joint angle set in the joint in preset time period；If the difference in the first joint angle set between maximum joint angle and minimum joint angle determines the holder in the mechanical position limitation angle of the first direction less than the first preset threshold according to the joint angle in the first joint angle set.
- Terminal device according to claim 14, which is characterized in that when the joint that the processor is used to control the holder is rotated to first direction, be specifically used for:A joint for controlling the holder is rotated according to predetermined angle to first direction, and the predetermined angle is greater than the holder in the default mechanical position limitation angle of the first direction.
- Terminal device according to claim 14 or 15, which is characterized in that the processor is used to determine that the holder in the mechanical position limitation angle of the first direction, is specifically used for according to the joint angle in the first joint angle set:Target joint angle is determined according to the joint angle in the first joint angle set；The target joint angle is determined as the holder in the mechanical position limitation angle of the first direction.
- Terminal device according to claim 16, which is characterized in that the target joint angle is minimum joint angle in the first joint angle set or the target joint angle is the average joints angle in the first joint angle set.
- Terminal device according to claim 16 or 17, which is characterized in that after the processor determines target joint angle according to the joint angle in the first joint angle set, be also used to:Judge the target joint angle whether within the scope of predetermined angle；If so, the target joint angle is determined as the holder in the mechanical position limitation angle of the first direction.
- Terminal device according to claim 18, which is characterized in that after whether the processor judges the target joint angle within the scope of predetermined angle, be also used to:If the target joint angle not within the scope of the predetermined angle, keeps the mechanical position limitation angle for the first direction being arranged constant.
- Terminal device according to claim 16 or 17, which is characterized in that after the processor determines target joint angle according to the joint angle in the first joint angle set, be also used to:Angular error is obtained, the angular error is the absolute value of the difference of the target joint angle and the holder between the default mechanical position limitation angle of the first direction；If the angular error is determined as the holder in the mechanical position limitation angle of the first direction less than the second preset threshold, by the target joint angle.
- Terminal device according to claim 20, which is characterized in that after the processor obtains angular error, be also used to:If the angular error is greater than or equal to second preset threshold, keep the mechanical position limitation angle for the first direction being arranged constant.
- Terminal device described in 4~21 any one according to claim 1, which is characterized in that the terminal device further includes storage medium, and the processor determines that the holder after the mechanical position limitation angle of the first direction, is also used to:The holder is stored into the storage medium in the mechanical position limitation angle of the first direction.
- Terminal device described in 4~22 any one according to claim 1, which is characterized in that the processor is also used to:According to the holder in the mechanical position limitation angle of the first direction, determine that evading limit algorithm evades angle.
- Terminal device according to claim 23, which is characterized in that the processor is also used to:Judge the holder in the mechanical position limitation angle of the first direction whether within the scope of predetermined angle；If so, execute it is described according to the holder the first direction mechanical position limitation angle, determine evade limit the step of evading angle of algorithm.
- Terminal device according to claim 14, which is characterized in that before the joint that the processor controls the holder is rotated to first direction, be also used to:The limit angle calibration operation for receiving user controls the holder and enters limit angle calibration mode；In the case where the holder is in the limit angle calibration mode, a step of joint for controlling the holder is rotated to first direction is executed.
- Terminal device described in 4~25 any one according to claim 1, which is characterized in that the processor is also used to:The joint for controlling the holder is rotated to second direction, and the second direction is the opposite direction of the first direction；The joint of the holder is controlled to during second direction rotation, obtains the second joint angle set in the joint in the preset time period；If the difference in the second joint angle set between maximum joint angle and minimum joint angle is less than first preset threshold, according to the joint angle in the set of the second joint angle, determine the holder in the mechanical position limitation angle of the second direction.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/CN2018/073499 WO2019140655A1 (en) | 2018-01-19 | 2018-01-19 | Position-limit angle calibration method and terminal device |
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| CN110268357A true CN110268357A (en) | 2019-09-20 |
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| CN112923894A (en) * | 2021-01-21 | 2021-06-08 | 西安因诺航空科技有限公司 | Mechanical angle automatic calibration method applied to holder |
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| CN111604901B (en) * | 2020-05-18 | 2022-06-24 | 哈尔滨工业大学 | Target rotation detection method suitable for manual operation of manipulator |
| WO2022256977A1 (en) * | 2021-06-07 | 2022-12-15 | 深圳市大疆创新科技有限公司 | Information update method and apparatus, gimbal control method and apparatus, gimbal and storage medium |
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| WO2019140655A1 (en) | 2019-07-25 |
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