CN111656299A - A PTZ control method, device, removable platform and storage medium - Google Patents
A PTZ control method, device, removable platform and storage medium Download PDFInfo
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Abstract
Description
技术领域technical field
本发明涉及控制技术领域，尤其涉及一种云台控制方法、设备、可移动平台及存储介质。The present invention relates to the technical field of control, and in particular, to a PTZ control method, device, movable platform and storage medium.
背景技术Background technique
随着当前无人驾驶技术的兴起和发展，为了保证无人驾驶技术在可移动平台，如在无人车中的安全应用，需要根据采集到的多方位环境图像，并基于该多方位环境图像对无人车进行有效控制，从而保证无人车的安全行驶。With the rise and development of current unmanned technology, in order to ensure the safe application of unmanned technology in mobile platforms, such as unmanned vehicles, it is necessary to collect multi-directional environmental images based on the multi-directional environmental images. Effective control of unmanned vehicles to ensure the safe driving of unmanned vehicles.
为了采集到多方位的环境图像，就需要控制安置有摄像头的云台进行转动，而当前控制云台转动的方法，需要参考无人车的运行状态，并在无人车的不同运行状态下采用对云台的不同控制策略，可见，当前控制云台转动的处理流程较为繁琐。In order to collect multi-directional environmental images, it is necessary to control the rotation of the gimbal with the camera installed, and the current method of controlling the rotation of the gimbal needs to refer to the operating state of the unmanned vehicle, and use it in different operating states of the unmanned vehicle. Regarding the different control strategies of the gimbal, it can be seen that the current processing flow for controlling the rotation of the gimbal is cumbersome.
发明内容SUMMARY OF THE INVENTION
本发明实施例提供一种云台控制方法、设备、可移动平台及存储介质，可简化控制云台转动的处理流程。Embodiments of the present invention provide a pan-tilt control method, device, movable platform and storage medium, which can simplify the processing flow of controlling the pan-tilt rotation.
本发明实施例第一方面提供了一种云台控制方法，应用于可移动平台，所述可移动平台包括基座和云台，所述云台可转动地设置于所述基座上，其中，该方法包括：A first aspect of the embodiments of the present invention provides a pan-tilt control method, which is applied to a movable platform, the movable platform includes a base and a pan-tilt, and the pan-tilt is rotatably arranged on the base, wherein , the method includes:
基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度，其中，所述指定角度是所述用户输入的所述云台相对于所述基座的角度；Determine the target angle of the pan/tilt rotation based on the specified angle input by the user, the current angle of the pan/tilt, and the current angle of the base, wherein the specified angle is the relative angle of the pan/tilt entered by the user. at the angle of the base;
获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻相对所述基座的转速；Obtain the relative angle of the gimbal relative to the base at the last moment, and determine the rotational speed of the gimbal relative to the base at the last moment according to the relative angle;
根据所述云台在上一时刻相对所述基座的转速，确定所述云台当前角度与所述指定角度之间的角度差，并根据所述角度差实时调整所述云台在当前时刻相对所述基座的转速；Determine the angle difference between the current angle of the gimbal and the specified angle according to the rotation speed of the gimbal relative to the base at the previous moment, and adjust the gimbal at the current moment in real time according to the angle difference the rotational speed relative to the base;
根据所述云台在当前时刻相对所述基座的转速，控制所述云台转动到所述目标角度，以使所述云台到达相对所述基座的所述指定角度。According to the rotation speed of the pan/tilt relative to the base at the current moment, the pan/tilt is controlled to rotate to the target angle, so that the pan/tilt reaches the specified angle relative to the base.
本发明实施例第二方面提供了一种云台控制装置，该装置包括：A second aspect of the embodiments of the present invention provides a pan-tilt control device, the device comprising:
确定单元，用于基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度，其中，所述指定角度是所述用户输入的所述云台相对于所述基座的角度；A determination unit, configured to determine the target angle of rotation of the pan/tilt based on the specified angle input by the user, the current angle of the pan/tilt and the current angle of the base, wherein the specified angle is input by the user the angle of the head relative to the base;
获取单元，用于获取所述云台在上一时刻相对基座的相对角度；an acquisition unit, configured to acquire the relative angle of the pan/tilt with respect to the base at the last moment;
所述确定单元，还用于根据所述相对角度确定所述云台在上一时刻相对所述基座的转速；The determining unit is further configured to determine the rotational speed of the head relative to the base at the last moment according to the relative angle;
所述确定单元，还用于根据所述云台在上一时刻相对所述基座的转速，确定所述云台当前角度与所述指定角度之间的角度差；The determining unit is further configured to determine the angle difference between the current angle of the gimbal and the specified angle according to the rotational speed of the gimbal relative to the base at the last moment;
调整单元，用于根据所述角度差实时调整所述云台在当前时刻相对所述基座的转速；an adjustment unit, configured to adjust the rotation speed of the head relative to the base at the current moment in real time according to the angle difference;
控制单元，用于根据所述云台在当前时刻相对所述基座的转速，控制所述云台转动到所述目标角度，以使所述云台到达相对所述基座的所述指定角度。a control unit, configured to control the rotation of the PTZ to the target angle according to the rotation speed of the PTZ relative to the base at the current moment, so that the PTZ reaches the specified angle relative to the base .
本发明实施例第三方面提供了一种云台控制设备，所述云台控制设备内置于可移动平台中，所述可移动平台包括基座和云台，所述云台可转动地设置于所述基座上，其特征在于，所述云台控制设备包括处理器；A third aspect of the embodiments of the present invention provides a pan-tilt control device, the pan-tilt control device is built in a movable platform, the movable platform includes a base and a pan-tilt, and the pan-tilt is rotatably arranged on the On the base, wherein the PTZ control device includes a processor;
所述处理器用于执行车需代码，当程序代码被执行时，用于执行以下操作：The processor is used to execute the vehicle code, and when the program code is executed, it is used to execute the following operations:
基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度，其中，所述指定角度是所述用户输入的所述云台相对于所述基座的角度；Determine the target angle of the pan/tilt rotation based on the specified angle input by the user, the current angle of the pan/tilt, and the current angle of the base, wherein the specified angle is the relative angle of the pan/tilt entered by the user. at the angle of the base;
获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻相对所述基座的转速；Obtain the relative angle of the gimbal relative to the base at the last moment, and determine the rotational speed of the gimbal relative to the base at the last moment according to the relative angle;
根据所述云台在上一时刻相对所述基座的转速，确定所述云台当前角度与所述指定角度之间的角度差，并根据所述角度差实时调整所述云台在当前时刻相对所述基座的转速；Determine the angle difference between the current angle of the gimbal and the specified angle according to the rotation speed of the gimbal relative to the base at the previous moment, and adjust the gimbal at the current moment in real time according to the angle difference the rotational speed relative to the base;
根据所述云台在当前时刻相对所述基座的转速，控制所述云台转动到所述目标角度，以使所述云台到达相对所述基座的所述指定角度。According to the rotation speed of the pan/tilt relative to the base at the current moment, the pan/tilt is controlled to rotate to the target angle, so that the pan/tilt reaches the specified angle relative to the base.
本发明实施例第四方面提供了一种可移动平台，包括：A fourth aspect of the embodiments of the present invention provides a movable platform, including:
基座；pedestal;
与所述基座可转动连接的云台；a pan-tilt rotatably connected to the base;
动力系统，用于为所述可移动平台提供动力；a power system for powering the movable platform;
感测元件，用于获取所述云台和基座的转动角度；a sensing element for acquiring the rotation angle of the head and the base;
以及如第三方面中所述的云台控制设备，所述云台控制设备用于控制所述云台可所述基座的相对转动。And the pan-tilt control device according to the third aspect, the pan-tilt control device is used to control the relative rotation of the pan-tilt and the base.
在本发明实施例中，可移动平台可基于用户输入的指定角度、所述云台的当前角度以及所述基座的当前角度，确定控制所述云台进行转动的目标角度，所述目标角度用于指示期望所述云台转动到的角度位置，使得可移动平台可在不参考该可移动平台的运行状态的前提下，确定控制云台转动的角度，简化了对云台的控制步骤。进一步地，所述可移动平台可获取所述云台在上一时刻相对基座的相对角度，并基于所述相对角度确定所述云台在上一时刻相对所述基座的转速；根据所述云台在上一时刻相对所述基座的转速，确定所述云台的当前角度与所述指定角度之间的角度差；基于所述当前角度与所述指定角度之间的角度差，对所述云台基于所述基座的转速进行实时调整，使所述云台达到所述指定角度，从而，实现了在不参考可移动平台的运动状态的情形下，对云台转动的控制，优化了控制云台转动时的计算规则，可有效提高处理器的计算效率。In this embodiment of the present invention, the movable platform may determine a target angle for controlling the pan/tilt to rotate based on the specified angle input by the user, the current angle of the pan/tilt, and the current angle of the base, and the target angle It is used to indicate the angular position to which the pan/tilt is expected to be rotated, so that the movable platform can determine the rotation angle of the controlled pan/tilt without referring to the running state of the movable platform, which simplifies the control steps of the pan/tilt. Further, the movable platform can obtain the relative angle of the gimbal relative to the base at the last moment, and determine the rotational speed of the gimbal relative to the base at the last moment based on the relative angle; The rotation speed of the head relative to the base at the last moment determines the angle difference between the current angle of the head and the designated angle; based on the angle difference between the current angle and the designated angle, Real-time adjustment of the PTZ based on the rotational speed of the base, so that the PTZ reaches the specified angle, thereby realizing the control of the rotation of the PTZ without referring to the motion state of the movable platform , the calculation rules for controlling the rotation of the PTZ are optimized, which can effectively improve the computing efficiency of the processor.
附图说明Description of drawings
为了更清楚地说明本发明实施例或现有技术中的技术方案，下面将对实施例中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the accompanying drawings required in the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some of the present invention. In the embodiments, for those of ordinary skill in the art, other drawings can also be obtained according to these drawings without any creative effort.
图1是本发明实施例提供的一种可移动平台的结构示意图；1 is a schematic structural diagram of a movable platform provided by an embodiment of the present invention;
图2为本发明实施例提供的一种云台控制方法的流程图；2 is a flowchart of a pan-tilt control method provided by an embodiment of the present invention;
图3为本发明另一实施例提供的一种云台控制方法的流程图；3 is a flowchart of a pan-tilt control method provided by another embodiment of the present invention;
图4a为本发明实施例提供的一种关节角的位置示意图；4a is a schematic diagram of the position of a joint angle according to an embodiment of the present invention;
图4b为本发明另一实施例提供的一种关节角的位置示意图；4b is a schematic diagram of the position of a joint angle according to another embodiment of the present invention;
图4c为本发明又一实施例提供的一种关节角的位置示意图；4c is a schematic diagram of the position of a joint angle according to another embodiment of the present invention;
图5为本发明实施例提供的一种云台控制装置的结构示意图；5 is a schematic structural diagram of a pan-tilt control device according to an embodiment of the present invention;
图6为本发明实施例提供的一种云台控制设备的结构示意图。FIG. 6 is a schematic structural diagram of a pan-tilt control device according to an embodiment of the present invention.
具体实施方式Detailed ways
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有付出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.
本发明实施例提出的一种云台控制方法，可应用于如图1所示的可移动平台，所述可移动平台包括基座10和云台11，所述云台11可转动地设置在基座10上，所述云台11和所述基座10的连接处可转动。基于本申请提出的云台控制方法，可在不考虑可移动平台运行状态(包括静止状态和运动状态)的情况下，实现对云台转动的控制，并保证所述云台转动到用户输入的指定角度。A pan-tilt control method proposed in an embodiment of the present invention can be applied to a movable platform as shown in FIG. 1 . The movable platform includes a
在本发明实施例中，提出的云台控制方法适用于处于不同运行状态下的可移动平台，也就是说，可移动平台在不同的运行状态下，均可采用本发明实施例提及的统一的云台控制方法控制云台的转动，也就是说，采用本发明实施例提出的云台控制方法可在看控制云台转动时，不参考可移动平台的运行状态，实现了对所述可移动平台控制云台转动时计算规则的简化，可提升处理器的处理能力，并可提高对所述云台的控制效率。In the embodiments of the present invention, the proposed pan-tilt control method is applicable to movable platforms in different operating states, that is, the movable platforms can use the unified platform mentioned in the embodiments of the present invention in different operating states. The pan-tilt control method according to the present invention controls the rotation of the pan-tilt, that is to say, the pan-tilt control method proposed in the embodiment of the present invention can control the rotation of the pan-tilt without referring to the running state of the movable platform, and realize the control of the movable platform. The simplification of the calculation rules when the mobile platform controls the rotation of the pan-tilt can improve the processing capability of the processor and improve the control efficiency of the pan-tilt.
请参见图2，是本发明实施例提出的一种云台控制方法的示意流程图，如图2所示，该方法包括：Please refer to FIG. 2 , which is a schematic flowchart of a pan-tilt control method proposed by an embodiment of the present invention. As shown in FIG. 2 , the method includes:
S201，基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度。S201 , based on a specified angle input by a user, a current angle of the pan/tilt, and a current angle of the base, determine a target angle of rotation of the pan/tilt.
在一个实施例中，所述指定角度是所述用户期望所述云台转动到的相对于基座的角度，所述云台的当前角度是所述云台开机时当前测量的角度，所述基座的当前角度是所述基座当前测量的角度，其中，所述云台当前测量的角度和所述基座当前测量的角度，均是在同一坐标系下进行测量得到的角度。In one embodiment, the specified angle is an angle relative to the base to which the user expects the gimbal to rotate, the current angle of the gimbal is the angle currently measured when the gimbal is powered on, and the The current angle of the base is the angle currently measured by the base, wherein the angle currently measured by the gimbal and the angle currently measured by the base are both angles obtained by measuring in the same coordinate system.
在一个实施例中，当可移动平台的运动状态发生变化时，所述可移动平台的速度对应发生变化，为了保证云台在可移动平台处于移动状态或者处于静止状态时，均能转动到所述指定角度，可假设所述可移动平台的速度是持续多变的，从而周期性地计算所述云台相对所述基座的速度，以实现对所述云台转速的调整，从而使云台转动所述目标角度，并达到所述用户输入的指定角度。In one embodiment, when the motion state of the movable platform changes, the speed of the movable platform changes correspondingly. For the specified angle, it can be assumed that the speed of the movable platform is constantly changing, so that the speed of the gimbal relative to the base is calculated periodically to realize the adjustment of the rotation speed of the gimbal, so that the cloud The stage rotates the target angle and reaches the specified angle entered by the user.
S202，获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻相对所述基座的转速。S202: Obtain the relative angle of the gimbal at the last moment with respect to the base, and determine the rotational speed of the gimbal relative to the base at the last moment according to the relative angle.
在一个实施例中，所述上一时刻是指所述云台当前时刻的前一个时刻，也就是在获取所述云台的当前角度的前一时刻，在控制云台转动时，还需要确定控制所述云台转动的实际转速，其中，可通过确定所述云台相对基座的转速确定所述云台云台的实际转速，进一步地，在确定所述云台相对所述基座的转速时，可基于所述云台在上一时刻相对所述基座的转速进行确定。也就是说，可移动平台可基于云台在上一时刻相对基座的转速确定控制云台相对基座的转速，从而进一步确定出控制所述云台的实际转速。In one embodiment, the last moment refers to the moment before the current moment of the gimbal, that is, the moment before the current angle of the gimbal is acquired, when controlling the rotation of the gimbal, it is also necessary to determine Control the actual rotational speed of the pan/tilt rotation, wherein the actual rotational speed of the pan/tilt may be determined by determining the rotational speed of the pan/tilt relative to the base, and further, after determining the rotational speed of the pan/tilt relative to the base. The rotation speed can be determined based on the rotation speed of the gimbal relative to the base at the last moment. That is, the movable platform may determine the rotational speed of the control pan/tilt relative to the base based on the rotational speed of the pan/tilt relative to the base at the previous moment, so as to further determine the actual rotational speed of the control pan/tilt.
在一个实施例中，可移动平台在基于所述云台在上一时刻相对所述基座的转速时，可基于所述云台在上一时刻相对基座的相对角度确定。具体地，所述可移动平台可根据所述云台相对所述基座的上一时刻的相对角度，确定所述云台在上一时刻转到所述相对角度时的实际转速，并可确定出所述云台相对所述基座的跟随速度，从而可基于所述云台的实际转速和所述跟随速度，确定所述云台在上一时刻相对所述基座的相对转速。具体地，所述云台相对所述基座的相对转速＝云台的实际转速-跟随速度。In one embodiment, when the movable platform is based on the rotational speed of the pan-tilt head relative to the base at the previous moment, the movable platform may be determined based on the relative angle of the pan-tilt head with respect to the base at the previous moment. Specifically, the movable platform can determine the actual rotational speed of the gimbal when the gimbal is turned to the relative angle at the last moment according to the relative angle of the gimbal relative to the base at the last moment, and can determine The following speed of the gimbal relative to the base is obtained, so that the relative rotation speed of the gimbal relative to the base at the last moment can be determined based on the actual rotation speed of the gimbal and the following speed. Specifically, the relative rotational speed of the pan/tilt to the base = the actual rotational speed of the pan/tilt-following speed.
在确定所述云台在上一时刻相对所述基座的相对转速后，可执行步骤S203，以确定出所述云台在当前时刻相对所述基座的转速。After determining the relative rotational speed of the pan/tilt relative to the base at the previous moment, step S203 may be executed to determine the rotational speed of the pan/tilt relative to the base at the current moment.
S203，根据所述云台在上一时刻相对所述基座的转速，确定所述云台当前角度与所述指定角度之间的角度差，并根据所述角度差实时调整所述云台在当前时刻相对所述基座的转速。S203: Determine the angle difference between the current angle of the gimbal and the specified angle according to the rotation speed of the gimbal relative to the base at the last moment, and adjust the position of the gimbal in real time according to the angle difference The rotation speed of the current moment relative to the base.
在一个实施例中，可移动平台在确定所述云台在上一时刻相对所述基座的转速后，可基于确定所述云台在上一时刻转过的角度，从而可确定出所述云台当前角度与指定角度之间的角度差。In one embodiment, after determining the rotational speed of the pan/tilt relative to the base at the last moment, the movable platform may determine the rotation angle of the pan/tilt at the last moment based on determining the rotation angle of the pan/tilt. The angle difference between the current angle of the gimbal and the specified angle.
在一个实施例中，可移动平台可根据所述云台当前角度和所述指定角度之间的角度差，不断计算所述云台到达所述目标角度的剩余角度，如果按照所述云台相对所述基座上一时刻的相对转速进行转动，可能在未来一定的时间内转动到超过所述目标角度的角度位置，或者也可能在未来一定的时间内不能转动到所述目标角度所指示的角度位置，因此，可移动平台需要根据所述云台当前的角度差对所述云台相对所述基座的当前时刻的转速进行实时调整，以保证所述云台运动到所述指定角度。In one embodiment, the movable platform can continuously calculate the remaining angle of the gimbal to the target angle according to the angle difference between the current angle of the gimbal and the specified angle. The base rotates at the relative rotational speed of the last moment, and may rotate to an angular position exceeding the target angle within a certain period of time in the future, or may not rotate to the angular position indicated by the target angle within a certain period of time in the future. Therefore, the movable platform needs to adjust the rotation speed of the head relative to the base at the current moment in real time according to the current angle difference of the head, so as to ensure that the head moves to the specified angle.
在一个实施例中，可移动平台可根据所述云台在上一时刻相对所述基座的相对转速，确定所述云台在上一时刻相对所述基座的已转过的角度，进一步地，可基于所述云台已转过的角度，更新所述云台的当前角度，并基于所述云台更新后的当前角度确定所述云台的待转动角度，也就是所述云台在当前时刻的当前角度与所述指定角度之间的角度差，从而基于所述待转的角度确定所述云台相对所述基座的当前时刻的转速，转而执行步骤S204。In one embodiment, the movable platform may determine the angle that the pan/tilt has rotated relative to the base at the previous moment according to the relative rotational speed of the pan/tilt relative to the base at the previous moment, and further The current angle of the PTZ can be updated based on the angle that the PTZ has turned, and the angle to be rotated of the PTZ can be determined based on the updated current angle of the PTZ, that is, the PTZ Based on the angle difference between the current angle at the current moment and the specified angle, the rotation speed of the pan/tilt head relative to the base at the current moment is determined based on the angle to be rotated, and then step S204 is executed.
S204，根据所述云台在当前时刻相对所述基座的转速，控制所述云台转动所述目标角度，以使所述云台到达相对所述基座的所述指定角度。S204, according to the rotation speed of the pan/tilt relative to the base at the current moment, control the pan/tilt to rotate the target angle, so that the pan/tilt reaches the specified angle relative to the base.
在一个实施例中，可移动平台在根据所述当前时刻的相对转速控制所述云台转动所述目标角度时，可移动平台可基于所述云台相对所述基座的当前时刻的转速，确定所述云台在当前时刻的实际转速，从而以所述实际转速控制所述云台进行转动，以到达(或达到)所述指定角度。In one embodiment, when the movable platform controls the pan/tilt to rotate the target angle according to the relative rotational speed at the current moment, the movable platform may be based on the rotational speed of the pan/tilt relative to the base at the current moment, The actual rotation speed of the gimbal at the current moment is determined, so as to control the rotation of the gimbal at the actual rotation speed to reach (or reach) the specified angle.
在一个实施例中，可基于所述基座的当前角度变化表示可移动平台的速度的变化，因此，可移动平台在控制云台转动时，可参考所述基座的当前角度，确定需要控制云台转动的角度，而不再参考所述可移动平台的运动状态，所以，无论所述可移动平台处于运动状态或静止状态，均可确定出所述可移动平台控制云台进行转动的角度，进一步地，可移动平台可根据在上一时刻相对基座的转速，确定所述云台在当前时刻相对所述基座的转速，从而可基于所述云台在当前时刻相对所述基座的转速，控制云台进行转动，以达到指定所述云台到达的指定角度，完成对云台转动的控制。In one embodiment, the change of the speed of the movable platform can be represented based on the current angle change of the base. Therefore, when the movable platform controls the rotation of the pan-tilt head, the movable platform can refer to the current angle of the base to determine the need to control The rotation angle of the gimbal is no longer referenced to the motion state of the movable platform. Therefore, regardless of whether the movable platform is in a moving state or a static state, the angle at which the movable platform controls the gimbal to rotate can be determined. , and further, the movable platform can determine the rotational speed of the pan-tilt relative to the base at the current moment according to the rotational speed relative to the base at the previous moment, so as to determine the relative rotational speed of the pan-tilt relative to the base at the current moment The rotation speed of the PTZ is controlled to rotate to achieve the specified angle that the PTZ reaches, and the control of the rotation of the PTZ is completed.
在本发明实施例中，可移动平台可基于用户输入的指定角度、所述云台的当前角度以及所述基座的当前角度，确定控制所述云台进行转动的目标角度，所述目标角度用于指示期望所述云台转动到的角度位置，使得可移动平台可在不参考该可移动平台的运行状态的前提下，确定控制云台转动的角度，简化了对云台的控制步骤。进一步地，所述可移动平台可获取所述云台在上一时刻相对基座的相对角度，并基于所述相对角度确定所述云台在上一时刻相对所述基座的转速，从而可根据所述云台在上一时刻相对所述基座的转速，确定所述云台的当前角度与所述指定角度之间的角度差，基于所述当前角度与所述指定角度之间的角度差，可对所述云台基于所述基座的转速进行实时调整，使所述云台达到所述指定角度，实现了在不参考可移动平台的运动状态的情形下，对云台转动的控制，优化了控制云台转动时的计算规则，可有效提高处理器的计算效率。In this embodiment of the present invention, the movable platform may determine a target angle for controlling the pan/tilt to rotate based on the specified angle input by the user, the current angle of the pan/tilt, and the current angle of the base, and the target angle It is used to indicate the angular position to which the pan/tilt is expected to be rotated, so that the movable platform can determine the rotation angle of the controlled pan/tilt without referring to the running state of the movable platform, which simplifies the control steps of the pan/tilt. Further, the movable platform can obtain the relative angle of the gimbal relative to the base at the last moment, and determine the rotational speed of the gimbal relative to the base at the last moment based on the relative angle, so as to Determine the angle difference between the current angle of the gimbal and the designated angle according to the rotation speed of the gimbal relative to the base at the last moment, and based on the angle between the current angle and the designated angle If the PTZ is poor, the rotation speed of the base can be adjusted in real time to make the PTZ reach the specified angle, so that the rotation speed of the PTZ can be adjusted without reference to the motion state of the movable platform. It optimizes the calculation rules when controlling the rotation of the PTZ, which can effectively improve the calculation efficiency of the processor.
请参见图3，是本申请提出的一种云台控制方法的示意流程图，如图3所示，该方法可包括：Please refer to FIG. 3 , which is a schematic flowchart of a pan-tilt control method proposed by the present application. As shown in FIG. 3 , the method may include:
S301，基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度。S301: Determine a target angle of rotation of the pan/tilt based on a specified angle input by a user, a current angle of the pan/tilt, and a current angle of the base.
在一个实施例中，在可移动平台确定所述云台相对于所述基座的目标角度时，可先计算所述云台的当前角度和所述基座的当前角度之间的角度差，进一步地，可确定所述云台的当前关节角，所述当前关节角为所述云台已转过的角度，在确定所述云台的当前角度和所述基座的当前角度之间的角度差，以及所述云台的当前关节角后，可基于所述当前关节角所属的角度范围、所述角度差和用户输入的指定角度，确定所述云台相对于所述基座的目标角度。In one embodiment, when the movable platform determines the target angle of the gimbal relative to the base, the angle difference between the current angle of the gimbal and the current angle of the base can be calculated first, Further, the current joint angle of the head can be determined, the current joint angle is the angle that the head has turned, and the difference between the current angle of the head and the current angle of the base is determined. After the angle difference and the current joint angle of the gimbal, the target of the gimbal relative to the base can be determined based on the angle range to which the current joint angle belongs, the angle difference and the specified angle input by the user angle.
在一个实施例中，若所述用户输入的期望云台转动到的角度为set_A，所述set_A是相对所述基座的角度，其取值例如可以是-45度，或者30度，其中，set_A的取值中携带的符号用于表示所述云台相对所述基座的偏移，在一个实施例中，可在携带的符号为“-”时，表示相对所述基座向左偏移，也就是说，当set_A＝-45度时，表示所述云台相对所述基座向左偏移45度；或者在没有携带符号以及携带的符号为“+”时，表示相对所述基座向右偏移，也就是说，当set_A＝30度时，表示所述云台相对所述基座向友偏移30度。其中，也可在没有携带符号或者携带的符号为“+”时，表示相对所述基座向左偏移，在携带的符号为“-”时，表示相对所述基座向右偏移。In one embodiment, if the desired angle to which the gimbal is rotated by the user is set_A, the set_A is an angle relative to the base, and the value may be, for example, -45 degrees or 30 degrees, wherein, The symbol carried in the value of set_A is used to indicate the offset of the gimbal relative to the base. In one embodiment, when the carried symbol is "-", it indicates that the gimbal is offset to the left relative to the base That is to say, when set_A=-45 degrees, it means that the gimbal is shifted to the left by 45 degrees relative to the base; or when there is no carrying symbol and the carried symbol is "+", it means that it is relative to the base. The base is offset to the right, that is, when set_A=30 degrees, it means that the gimbal is offset by 30 degrees relative to the base. Wherein, when there is no carried symbol or the carried symbol is "+", it means that the base is shifted to the left, and when the carried symbol is "-", it means that it is shifted to the right relative to the base.
进一步地，如果所述云台的当前角度为target_yaw_pi，所述基座的当前角度为euler_handle_rad_yaw，则计算所述云台的当前角度和所述基座的当前角度之间的角度差为：delta_yaw_handle_target＝euler_handle_rad_yaw-target_yaw_pi。举例来说，如果云台的当前角度t arget_yaw_pi＝0度，基座的当前角度euler_handle_rad_yaw＝-45度，则所述云台的当前角度和所述基座的当前角度之间的角度差delta_yaw_handle_target＝0-(-45)＝45度。Further, if the current angle of the gimbal is target_yaw_pi and the current angle of the base is euler_handle_rad_yaw, then the angle difference between the current angle of the gimbal and the current angle of the base is calculated as: delta_yaw_handle_target= euler_handle_rad_yaw-target_yaw_pi. For example, if the current angle of the gimbal target_yaw_pi=0 degrees and the current angle of the base euler_handle_rad_yaw=-45 degrees, then the angle difference between the current angle of the gimbal and the current angle of the base delta_yaw_handle_target= 0-(-45)=45 degrees.
进一步地，可移动平台还需要确定所述云台的当前关节角yaw，所述当前关节角为所述云台已转过的角度，从而可基于所述当前关节角yaw所属的角度范围，确定所述云台转动的目标角度real_run_yaw。在一个实施例中，若所述当前关节角所属的角度范围属于第一预设角度范围，则根据用户输入的指定角度和所述角度差按照第一运算规则，计算所述云台转动的目标角度。其中，所述第一预设角度范围为所述当前关节角大于第一预设角度的范围；对应的，所述第一运算规则是将用户输入的指定角度、所述角度差以及所述第一预设角度进行运算的规则。Further, the movable platform also needs to determine the current joint angle yaw of the gimbal, and the current joint angle is the angle that the gimbal has turned, so that the current joint angle yaw can be determined based on the angle range to which the current joint angle yaw belongs. The target angle real_run_yaw of the gimbal rotation. In one embodiment, if the angle range to which the current joint angle belongs belongs to the first preset angle range, the target of the pan-tilt rotation is calculated according to the specified angle input by the user and the angle difference according to the first operation rule angle. Wherein, the first preset angle range is the range in which the current joint angle is greater than the first preset angle; correspondingly, the first operation rule is to compare the specified angle input by the user, the angle difference and the first A rule for calculating a preset angle.
在一个实施例中，当所述第一预设角度为pi(180度)时，所述第一预设角度范围例如可以是yaw>pi，对应的，所述第一运算规则是real_run_yaw＝set_A+delta_yaw_handle_target-2*pi。在所述当前关节角yaw>180度时，如图4a的A点所示，如果继续转动，则可能导致所述云台转动到限位(270度)，而导致云台撞线，因此，需要对确定的所述云台的当前角度和所述基座的当前角度之间的角度差delta_yaw_handle_target进行限制，以免引起撞线。在一个实施例中，可将云台的当前角度和所述基座的当前角度之间的角度差delta_yaw_handle_target限制在-180～180度的范围内。在一个实施例中，可调用代码“dgs_math_angle_limit_pi(&delta_yaw_handle_target)”将所述当前角度和所述基座的当前角度之间的角度差delta_yaw_handle_target限制在-180～180度的范围内。In one embodiment, when the first preset angle is pi (180 degrees), the first preset angle range may be, for example, yaw>pi. Correspondingly, the first operation rule is real_run_yaw=set_A +delta_yaw_handle_target-2*pi. When the current joint angle yaw>180 degrees, as shown in point A of Figure 4a, if the rotation continues, it may cause the gimbal to rotate to the limit (270 degrees) and cause the gimbal to hit the line. Therefore, The determined angle difference delta_yaw_handle_target between the current angle of the gimbal and the current angle of the base needs to be limited to avoid line collision. In one embodiment, the angle difference delta_yaw_handle_target between the current angle of the gimbal and the current angle of the base may be limited within a range of -180 to 180 degrees. In one embodiment, the code "dgs_math_angle_limit_pi(&delta_yaw_handle_target)" may be called to limit the angle difference delta_yaw_handle_target between the current angle and the current angle of the base within the range of -180-180 degrees.
具体地，在所述当前关节角yaw>180度时，可根据用户输入的指定角度set_A和所述角度差delta_yaw_handle_target按照第一运算规则set_A+delta_yaw_handle_target-2*pi，计算所述云台需要转动的目标角度real_run_yaw。Specifically, when the current joint angle yaw>180 degrees, according to the specified angle set_A input by the user and the angle difference delta_yaw_handle_target according to the first arithmetic rule set_A+delta_yaw_handle_target-2*pi, calculate the rotation of the gimbal. Target angle real_run_yaw.
在一个实施例中，第二预设角度范围为所述当前关节角小于第二预设角度的范围；对应的，所述第二运算规则是将用户输入的指定角度、所述角度差以及所述第二预设角度进行运算的规则，所述第二预设角度例如可以是-pi(-180度)。如果所述当前关节角yaw如图4b中的B点所示，其所属的角度范围属于第二预设角度范围，所述第二预设角度范围为yaw<-pi(即-180度)，如果所述当前关节角继续转动，也会导致所述云台转动到限位(-270度)，而引起撞线，所以在所述云台的当前角度和所述基座的当前角度之间的角度差在第二预设角度范围时，可基于第二运算规则：set_A+delta_yaw_handle_target+2*pi确定所述云台需要转动的目标角度real_run_yaw。In one embodiment, the second preset angle range is a range in which the current joint angle is smaller than the second preset angle; correspondingly, the second operation rule is to compare the specified angle input by the user, the angle difference and the The second preset angle is calculated according to the rules. For example, the second preset angle may be -pi (-180 degrees). If the current joint angle yaw is shown as point B in FIG. 4b, the angle range to which it belongs belongs to the second preset angle range, and the second preset angle range is yaw<-pi (ie -180 degrees), If the current joint angle continues to rotate, it will also cause the gimbal to rotate to the limit (-270 degrees), causing line collision, so between the current angle of the gimbal and the current angle of the base When the angle difference is within the second preset angle range, the target angle real_run_yaw that the gimbal needs to rotate may be determined based on the second operation rule: set_A+delta_yaw_handle_target+2*pi.
在一个实施例中，第三预设角度范围为所述当前关节角大于或等于第二预设角度的范围，且小于或等于第一预设角度的范围；所述第三运算规则是将用户输入的指定角度以及所述角度差进行运算的规则，如果所述当前关节角yaw如图4c中的C点所示，其所属的角度范围属于第三预设角度范围，所述第三预设角度范围为-pi≤yaw≤pi，所以，可按照第三运算规则计算，基于所述当前角度和所述基座的当前角度之间的角度差delta_yaw_handle_target和所述指定角度set_A计算云台转动的目标角度，其中，第三运算规则为set_A+delta_yaw_handle_target。In one embodiment, the third preset angle range is a range in which the current joint angle is greater than or equal to the second preset angle and less than or equal to the first preset angle; the third operation rule is to convert the user The input specified angle and the rule for calculating the angle difference, if the current joint angle yaw is shown in point C in Figure 4c, the angle range to which it belongs belongs to the third preset angle range, the third preset angle The angle range is -pi≤yaw≤pi, so it can be calculated according to the third operation rule, based on the angle difference delta_yaw_handle_target between the current angle and the current angle of the base and the specified angle set_A to calculate the rotation of the gimbal. The target angle, where the third operation rule is set_A+delta_yaw_handle_target.
举例来说，如果set_A＝30度，云台的当前角度为target_yaw_pi＝0度，基座的当前角度为euler_handle_rad_yaw＝-45度，则所述云台的当前角度和所述基座的当前角度之间的角度差delta_yaw_handle_target＝0-(-45)＝45度，假设确定的所述云台的当前关节角为250度，由于所述云台的当前关节角250度>180度，则在确定所述云台转动的目标角度时，可按照第二运算规则计算所述云台需要转动的目标角度，即所述云台需要转动的目标角度为real_run_yaw＝set_A+delta_yaw_handle_target+2*pi＝30度+45度-360度＝-285度，也就是说，在后续确定控制云台转动的速度后，控制所述云台向基于当前角度的-285度的角度进行转动。For example, if set_A=30 degrees, the current angle of the gimbal is target_yaw_pi=0 degrees, and the current angle of the base is euler_handle_rad_yaw=-45 degrees, then the difference between the current angle of the gimbal and the current angle of the base The angle difference between delta_yaw_handle_target=0-(-45)=45 degrees, assuming that the current joint angle of the gimbal is 250 degrees, since the current joint angle of the gimbal is 250 degrees > 180 degrees, then after determining the When describing the target angle of the gimbal rotation, the target angle that the gimbal needs to rotate can be calculated according to the second arithmetic rule, that is, the target angle that the gimbal needs to rotate is real_run_yaw=set_A+delta_yaw_handle_target+2*pi=30 degrees+ 45 degrees-360 degrees=-285 degrees, that is to say, after the subsequent determination of the rotation speed of the control gimbal, the gimbal is controlled to rotate to an angle of -285 degrees based on the current angle.
S302，获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻相对所述基座的转速。S302: Obtain the relative angle of the pan/tilt with respect to the base at the last moment, and determine the rotational speed of the pan/tilt with respect to the base at the previous moment according to the relative angle.
在一个实施例中，可移动平台可先获取所述云台在上一时刻相对基座的相对角度，其中，所述可移动平台在获取所述云台在上一时刻相对基座的相对角度时，可先将所述云台在上一时刻的当前角度作为第一角度，并将所述云台在上一时刻的前一时刻的当前角度作为第二角度，进一步地，所述可移动平台在确定所述第一角度和所述第二角度后，可计算所述第一角度和所述第二角度之间的角度差，并将所述第一角度和所述第二角度之间的角度差作为所述云台在上一时刻相对基座的相对角度。In one embodiment, the movable platform may first obtain the relative angle of the gimbal relative to the base at the last moment, wherein the movable platform obtains the relative angle of the gimbal relative to the base at the last moment When , the current angle of the gimbal at the last moment can be taken as the first angle, and the current angle of the gimbal at the previous moment of the last moment can be taken as the second angle. Further, the movable After determining the first angle and the second angle, the platform may calculate the angle difference between the first angle and the second angle, and calculate the difference between the first angle and the second angle. The angle difference is taken as the relative angle of the head relative to the base at the last moment.
在确定所述云台在上一时刻相对所述基座的相对角度后，可根据所述相对角度确定所述云台在上一时刻相对所述基座的实际转速，从而可根据所述云台在上一时刻的实际转速，确定所述云台在上一时刻相对所述基座的转速。After determining the relative angle of the gimbal relative to the base at the last moment, the actual rotational speed of the gimbal relative to the base at the last moment can be determined according to the relative angle, so that the The actual rotation speed of the stage at the last moment determines the rotation speed of the gimbal relative to the base at the last moment.
在一个实施例中，所述可移动平台在根据所述云台在上一时刻的实际转速，确定所述云台在上一时刻相对所述基座的转速时，可先根据所述云台的当前角度和所述基座的当前角度，确定所述云台相对所述基座的跟随速度；基于所述云台在上一时刻的实际转速，以及所述云台相对所述基座的跟随速度，确定所述云台在上一时刻相对所述基座的相对转速。In one embodiment, when determining the rotational speed of the pan/tilt relative to the base at the previous moment according to the actual rotational speed of the pan/tilt at the previous moment, the movable platform may first determine the rotational speed of the pan/tilt based on the actual rotational speed of the pan/tilt the current angle of the base and the current angle of the base, determine the following speed of the head relative to the base; Following the speed, the relative rotational speed of the gimbal relative to the base at the last moment is determined.
在一个实施例中，可移动平台可执行用于确定所述云台当前的命令姿态cmd_rad_earth，以确定所述云台的当前角度target_yaw_pi，同时，可执行用于确定基座的测量姿态命令euler_handle_rad_yaw，以确定所述基座的当前角度euler_handle_rad_yaw，可计算得到所述云台的当前角度和所述基座的当前角度之间的角度差delta_yaw_handle_target＝euler_handle_rad_yaw-target_yaw_pi，从而可基于所述当前角度和所述基座的当前角度之间的角度差delta_yaw_handle_target计算得到所述云台相对所述基座的跟随速度follow_spd_rps_yaw＝k*delta_yaw_handle_target。In one embodiment, the movable platform can execute the command cmd_rad_earth for determining the current command attitude of the gimbal to determine the current angle target_yaw_pi of the gimbal, and at the same time, it can execute the measurement attitude command euler_handle_rad_yaw for determining the base, In order to determine the current angle euler_handle_rad_yaw of the base, the angle difference between the current angle of the gimbal and the current angle of the base can be calculated delta_yaw_handle_target=euler_handle_rad_yaw-target_yaw_pi, so that based on the current angle and the The angle difference delta_yaw_handle_target between the current angles of the bases is calculated to obtain the follow_spd_rps_yaw=k*delta_yaw_handle_target of the gimbal relative to the base.
在计算所述云台在上一时刻的实际转速时，可调用计算代码：When calculating the actual rotation speed of the gimbal at the last moment, the calculation code can be called:
“spd＝target_atti->tar_atti_cmd.cmd_rad_earth[EULER_Y]–"spd=target_atti->tar_atti_cmd.cmd_rad_earth[EULER_Y]–
custom_ctrl->custom_cmd_offset_angle_rad_earth[EULER_Y]”进行运算，得到所述云台在上一时刻的实际转速，从而可基于得到的实际转速计算得到所述云台相对所述基座的转速：spd_no_follow＝spd-follow_spd_rps_yaw。custom_ctrl->custom_cmd_offset_angle_rad_earth[EULER_Y]" to calculate the actual rotation speed of the gimbal at the last moment, so that the rotation speed of the gimbal relative to the base can be calculated based on the obtained actual rotation speed: spd_no_follow=spd-follow_spd_rps_yaw .
S303，根据所述云台在上一时刻相对基座的转速，确定所述云台在上一时刻相对所述基座运行的角度。S303 , according to the rotational speed of the pan/tilt relative to the base at the previous moment, determine the angle at which the pan/tilt moves relative to the base at the previous moment.
S304，根据所述指定角度和所述云台在上一时刻相对基座运行的角度，确定所述云台当前角度与所述指定角度之间的角度差。S304: Determine the angle difference between the current angle of the pan/tilt and the specified angle according to the specified angle and the angle at which the pan/tilt moves relative to the base at the previous moment.
S305，根据所述角度差实时调整所述云台在当前时刻相对所述基座的转速。S305 , adjusting the rotation speed of the gimbal relative to the base at the current moment in real time according to the angle difference.
在步骤S303-步骤S305中，是对上述步骤S203的具体细化，具体地，可移动平台可在确定所述云台在上一时刻相对所述基座的转速后，基于所述云台在上一时刻相对基座的转速，确定所述云台在上一时刻相对所述基座运行的角度。在一个实施例中，可移动平台可对所述云台在上一时刻相对所述基座运行的角度进行积分：delta_yaw+＝spd_no_follow，以得到所述云台在上一时刻相对所述基座运行的角度。Steps S303 to S305 are specific refinements of the above-mentioned step S203. Specifically, the movable platform may determine the rotational speed of the pan/tilt relative to the base at the previous moment, based on the rotational speed of the pan/tilt. The rotation speed relative to the base at the last moment determines the angle at which the head moves relative to the base at the last moment. In one embodiment, the movable platform can integrate the angle of the movement of the gimbal relative to the base at the last moment: delta_yaw+=spd_no_follow, so as to obtain the movement of the gimbal relative to the base at the last moment Angle.
在确定所述云台在上一时刻相对所述基座运行的角度后，可进一步得基于所述用户输入的指定角度set_A，确定所述云台当前角度与所述指定角度之间的角度差：angle_err_rad_yaw＝real_run_yaw-delta_yaw，也就是说，计算得到的角度差是所述云台转动到所述用户输入的指定角度处，还差的角度大小，从而可移动平台可根据所述角度差对所述云台在当前时刻的转速进行实时调整：speed_rad_per_sec_earth＝angle_err_rad_yaw*k1，并转而执行步骤S306。After determining the angle at which the pan/tilt moves relative to the base at the last moment, the angle difference between the current angle of the pan/tilt and the specified angle may be further determined based on the specified angle set_A input by the user : angle_err_rad_yaw=real_run_yaw-delta_yaw, that is to say, the calculated angle difference is the size of the difference when the gimbal rotates to the specified angle input by the user, so that the movable platform can adjust the The rotation speed of the gimbal at the current moment is adjusted in real time: speed_rad_per_sec_earth=angle_err_rad_yaw*k1, and then step S306 is executed.
S306，根据所述云台在当前时刻相对所述基座的转速，控制所述云台转动到所述目标角度，以使所述云台到达相对所述基座的所述指定角度。S306 , according to the rotation speed of the gimbal relative to the base at the current moment, control the gimbal to rotate to the target angle, so that the gimbal reaches the specified angle relative to the base.
在一个实施例中，可移动平台在根据当前时刻相对所述基座的转速，控制所述云台转动到所述目标角度时，可先基于所述当前时刻相对所述基座的转速以及跟随速度，确定所述云台的实际转动速度，并根据所述实际转动速度控制所述云台进行转动，以达到所述指定角度。In one embodiment, when the movable platform controls the gimbal to rotate to the target angle according to the rotation speed relative to the base at the current moment, the movable platform can firstly follow the rotation speed relative to the base at the current moment and follow speed, determine the actual rotation speed of the PTZ, and control the PTZ to rotate according to the actual rotation speed to achieve the specified angle.
可移动平台在对控制云台转动时，由于所述可移动平台的基座对应的当前角度是一直变化的，所以，所述可移动平台可重复执行步骤S302-步骤S306，以使得所述云台最终达到用户输入的指定角度，完成在不参考可移动平台运行状态的情形下，对云台转动的控制。When the movable platform rotates the control pan-tilt, since the current angle corresponding to the base of the movable platform is always changing, the movable platform can repeat steps S302-S306 to make the cloud The stage finally reaches the designated angle input by the user, and completes the control of the rotation of the PTZ without referring to the running state of the movable platform.
在本发明实施例中，可移动平台可基于用户输入的指定角度，所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度，并可获取所述云台在上一时刻相对基座的相对角度，从而可根据所述相对角度确定所述云台在上一时刻相对所述基座的转速，进一步地，可移动平台可根据所述云台在上一时刻相对所述基座的转速，确定所述云台在上一时刻相对所述基座运行的角度，从而在一并参考指定角度后，确定所述云台当前角度与所述指定角度之间的角度差，并可基于所述角度差实时调整所述云台在当前时刻相对所述基座的转速，从而可根据所述云台在当前时刻相对所述基座的转速，控制所述云台转动到所述目标角度，以使所述云台达到相对所述基座的指定角度，实现了在不参考可移动平台的运动状态的情形下，对云台转动的控制，优化了控制云台转动时的计算规则，可有效提高处理器的计算效率。In the embodiment of the present invention, the movable platform can determine the target angle of the rotation of the pan-tilt based on the specified angle input by the user, the current angle of the pan-tilt and the current angle of the base, and can obtain the cloud-tilt The relative angle of the stage relative to the base at the last moment, so that the rotation speed of the gimbal relative to the base at the last moment can be determined according to the relative angle. Relative to the rotation speed of the base at one moment, determine the angle at which the gimbal moves relative to the base at the previous moment, so as to determine the difference between the current angle of the gimbal and the designated angle after referring to the specified angle together. and the rotation speed of the gimbal relative to the base at the current moment can be adjusted in real time based on the angle difference, so that the rotation speed of the gimbal relative to the base at the current moment can be controlled to control the The gimbal rotates to the target angle, so that the gimbal reaches the specified angle relative to the base, realizes the control of the gimbal rotation without referring to the motion state of the movable platform, and optimizes the control The calculation rules when the gimbal rotates can effectively improve the computing efficiency of the processor.
本发明实施例提供了一种云台控制装置，所述云台控制装置用于执行前述任一项所述的方法的单元，具体地，参见图5，是本发明实施例提供的一种云台控制装置的示意框图，本实施例的云台控制装置可设置在例如自动驾驶汽车等类型的可移动平台中，所述云台控制装置包括：确定单元501，获取单元502，调整单元503和控制单元504。An embodiment of the present invention provides a pan-tilt control device, and the pan-tilt control device is used to execute the unit of any of the foregoing methods. Specifically, referring to FIG. 5 , it is a cloud-tilt control device provided by an embodiment of the present invention. A schematic block diagram of a platform control device, the pan-tilt control device of this embodiment can be set in a movable platform such as an autonomous vehicle, etc., the pan-tilt control device includes: a
确定单元501，用于基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度，其中，所述指定角度是所述用户输入的所述云台相对于所述基座的角度；A
获取单元502，用于获取所述云台在上一时刻相对基座的相对角度；an obtaining
所述确定单元501，还用于根据所述相对角度确定所述云台在上一时刻相对所述基座的转速；The determining
所述确定单元501，还用于根据所述云台在上一时刻相对所述基座的转速，确定所述云台当前角度与所述指定角度之间的角度差；The determining
调整单元503，用于根据所述角度差实时调整所述云台在当前时刻相对所述基座的转速；An
控制单元504，用于根据所述云台在当前时刻相对所述基座的转速，控制所述云台转动到所述目标角度，以使所述云台到达相对所述基座的所述指定角度。The
在一个实施例中，所述确定单元501在基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度时，具体用于：In one embodiment, when the determining
计算所述云台的当前角度和所述基座的当前角度之间的角度差；Calculate the angle difference between the current angle of the head and the current angle of the base;
确定所述云台的当前关节角，所述当前关节角为所述云台已转过的角度；Determine the current joint angle of the gimbal, and the current joint angle is the angle that the gimbal has turned;
基于所述当前关节角所属的角度范围、所述角度差和用户输入的指定角度，确定所述云台转动的目标角度。Based on the angle range to which the current joint angle belongs, the angle difference and the specified angle input by the user, the target angle of the rotation of the pan/tilt head is determined.
在一个实施例中，所述确定单元501在基于所述当前关节角所属的角度范围、所述角度差和用户输入的指定角度，确定所述云台转动的目标角度时，具体用于：In one embodiment, when the determining
若所述当前关节角所属的角度范围属于第一预设角度范围，则根据用户输入的指定角度和所述角度差按照第一运算规则，计算所述云台转动的目标角度；If the angle range to which the current joint angle belongs belongs to the first preset angle range, then according to the specified angle input by the user and the angle difference, according to the first operation rule, calculate the target angle of the pan-tilt rotation;
若所述当前关节角所属的角度范围属于第二预设角度范围，则根据用户输入的指定角度和所述角度差按照第二运算规则，计算所述云台转动的目标角度；If the angle range to which the current joint angle belongs belongs to the second preset angle range, then according to the specified angle input by the user and the angle difference, according to the second operation rule, calculate the target angle of the rotation of the pan-tilt head;
若所述当前关节角所属的角度范围属于第三预设角度范围，则根据用户输入的指定角度和所述角度差按照第三运算规则，计算所述云台转动的目标角度。If the angle range to which the current joint angle belongs belongs to the third preset angle range, then according to the specified angle input by the user and the angle difference, the target angle of the pan/tilt rotation is calculated according to the third operation rule.
在一个实施例中，所述第一预设角度范围为所述当前关节角大于第一预设角度的范围；所述第一运算规则是基于用户输入的指定角度、所述角度差以及所述第一预设角度进行运算的规则。In one embodiment, the first preset angle range is a range in which the current joint angle is greater than the first preset angle; the first operation rule is based on a specified angle input by a user, the angle difference and the Rules for calculating the first preset angle.
在一个实施例中，所述第二预设角度范围为所述当前关节角小于第二预设角度的范围；所述第二运算规则是基于用户输入的指定角度、所述角度差以及所述第二预设角度进行运算的规则。In one embodiment, the second preset angle range is a range in which the current joint angle is smaller than the second preset angle; the second operation rule is based on a specified angle input by a user, the angle difference and the The rule for calculating the second preset angle.
在一个实施例中，所述第三预设角度范围为所述当前关节角大于或等于第二预设角度的范围，且小于或等于第一预设角度的范围；所述第三运算规则是基于用户输入的指定角度以及所述角度差进行运算的规则。In one embodiment, the third preset angle range is a range in which the current joint angle is greater than or equal to the second preset angle and less than or equal to the first preset angle; the third operation rule is A rule that operates based on the specified angle entered by the user and the angle difference.
在一个实施例中，所述确定单元501在获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻相对所述基座的转速时，具体用于：In one embodiment, the determining
获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻的实际转速；Obtain the relative angle of the gimbal at the last moment relative to the base, and determine the actual rotational speed of the gimbal at the last moment according to the relative angle;
根据所述云台在上一时刻的实际转速，确定所述云台在上一时刻相对所述基座的转速。According to the actual rotational speed of the pan/tilt at the last moment, the rotational speed of the pan/tilt relative to the base at the previous moment is determined.
在一个实施例中，所述获取单元502在获取所述云台在上一时刻相对基座的相对角度时，具体用于：In one embodiment, when the acquiring
将所述云台在上一时刻的当前角度作为第一角度，并将所述云台在上一时刻的前一时刻的当前角度作为第二角度；Taking the current angle of the gimbal at the last moment as the first angle, and taking the current angle of the gimbal at the moment before the last moment as the second angle;
将所述第一角度与所述第二角度之间的角度差，作为所述云台在上一时刻相对基座的相对角度。The angle difference between the first angle and the second angle is taken as the relative angle of the head relative to the base at the last moment.
在一个实施例中，所述确定单元501在根据所述云台在上一时刻的实际转速，确定所述云台在上一时刻相对所述基座的转速时，具体用于：In one embodiment, the determining
根据所述云台的当前角度和所述基座的当前角度，确定所述云台相对所述基座的跟随速度；According to the current angle of the gimbal and the current angle of the base, determine the following speed of the gimbal relative to the base;
基于所述云台在上一时刻的实际转速，以及所述云台相对所述基座的跟随速度，确定所述云台在上一时刻相对所述基座的相对转速。Based on the actual rotational speed of the pan/tilt at the last moment and the following speed of the pan/tilt relative to the base, the relative rotational speed of the pan/tilt relative to the base at the previous moment is determined.
在一个实施例中，所述确定单元501在根据所述云台在上一时刻相对所述基座的转速，确定所述云台当前角度与所述指定角度之间的角度差时，具体用于：In one embodiment, when the determining
根据所述云台在上一时刻相对基座的转速，确定所述云台在上一时刻相对所述基座运行的角度；According to the rotation speed of the head relative to the base at the last moment, determine the angle at which the head moves relative to the base at the last moment;
根据所述指定角度和所述云台在上一时刻相对基座运行的角度，确定所述云台当前角度与所述指定角度之间的角度差。The angle difference between the current angle of the PTZ and the specified angle is determined according to the specified angle and the angle at which the PTZ moves relative to the base at the last moment.
在一个实施例中，所述云台的当前角度为所述云台在当前时刻测量的角度；所述基座的当前角度为所述基座在当前时刻的测量角度。In one embodiment, the current angle of the gimbal is the angle measured by the gimbal at the current moment; the current angle of the base is the measured angle of the base at the current moment.
在一个实施例中，本实施例提供的云台控制装置能执行前述实施例提供的如图2和图3所示的云台控制方法，且执行方式和有益效果类似，在这里不再赘述。In one embodiment, the pan-tilt control apparatus provided in this embodiment can execute the pan-tilt control method as shown in FIG. 2 and FIG. 3 provided in the foregoing embodiment, and the execution manner and beneficial effects are similar, which will not be repeated here.
本发明实施例提供了一种云台控制设备，所述云台控制设备可应用于上述实施例提及的可移动平台中，其中，图6是本发明实施例提供的一种云台控制设备的结构图，如图6所示，所述云台控制设备600包括处理器601。An embodiment of the present invention provides a pan-tilt control device, and the pan-tilt control device can be applied to the movable platform mentioned in the above-mentioned embodiment, wherein FIG. 6 is a pan-tilt control device provided by an embodiment of the present invention. As shown in FIG. 6 , the
其中，所述处理器601可以是中央处理器(central processing unit，CPU)。所述处理器601可以是硬件芯片。所述硬件芯片可以是专用集成电路(application-specificintegrated circuit，ASIC)，可编程逻辑器件(programmable logic device，PLD)或其组合。所述PLD可以是复杂可编程逻辑器件(complex programmable logic device，CPLD)，现场可编程逻辑门阵列(field-programmable gate array，FPGA)，通用阵列逻辑(genericarray logic，GAL)或其任意组合。The
在一个实施例中，所述云台控制设备600还可包括存储器602和视觉传感器603，所述存储器602用于存储程序代码，以便于所述处理器601从所述存储器602中获取所述程序代码；所述视觉传感器603包括感测元件，所述感测元件可用于获取云台可基座的转动角度。In one embodiment, the
处理器601调用存储器602中的程序代码，当程序代码被执行时，处理器601执行如下操作：The
基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度，其中，所述指定角度是所述用户输入的所述云台相对于所述基座的角度；Determine the target angle of the pan/tilt rotation based on the specified angle input by the user, the current angle of the pan/tilt, and the current angle of the base, wherein the specified angle is the relative angle of the pan/tilt entered by the user. at the angle of the base;
获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻相对所述基座的转速；Obtain the relative angle of the gimbal relative to the base at the last moment, and determine the rotational speed of the gimbal relative to the base at the last moment according to the relative angle;
根据所述云台在上一时刻相对所述基座的转速，确定所述云台当前角度与所述指定角度之间的角度差，并根据所述角度差实时调整所述云台在当前时刻相对所述基座的转速；Determine the angle difference between the current angle of the gimbal and the specified angle according to the rotation speed of the gimbal relative to the base at the previous moment, and adjust the gimbal at the current moment in real time according to the angle difference the rotational speed relative to the base;
根据所述云台在当前时刻相对所述基座的转速，控制所述云台转动到所述目标角度，以使所述云台到达相对所述基座的所述指定角度。According to the rotation speed of the pan/tilt relative to the base at the current moment, the pan/tilt is controlled to rotate to the target angle, so that the pan/tilt reaches the specified angle relative to the base.
在一个实施例中，所述处理器601在基于用户输入的指定角度、所述云台的当前角度和所述基座的当前角度，确定所述云台转动的目标角度时，用于：In one embodiment, when the
计算所述云台的当前角度和所述基座的当前角度之间的角度差；Calculate the angle difference between the current angle of the head and the current angle of the base;
确定所述云台的当前关节角，所述当前关节角为所述云台已转过的角度；Determine the current joint angle of the gimbal, and the current joint angle is the angle that the gimbal has turned;
基于所述当前关节角所属的角度范围、所述角度差和用户输入的指定角度，确定所述云台转动的目标角度。Based on the angle range to which the current joint angle belongs, the angle difference and the specified angle input by the user, the target angle of the rotation of the pan/tilt head is determined.
在一个实施例中，所述处理器601在基于所述当前关节角所属的角度范围、所述角度差和用户输入的指定角度，确定所述云台转动的目标角度时，用于：In one embodiment, when the
若所述当前关节角所属的角度范围属于第一预设角度范围，则根据用户输入的指定角度和所述角度差按照第一运算规则，计算所述云台转动的目标角度；If the angle range to which the current joint angle belongs belongs to the first preset angle range, then according to the specified angle input by the user and the angle difference, according to the first operation rule, calculate the target angle of the pan-tilt rotation;
若所述当前关节角所属的角度范围属于第二预设角度范围，则根据用户输入的指定角度和所述角度差按照第二运算规则，计算所述云台转动的目标角度；If the angle range to which the current joint angle belongs belongs to the second preset angle range, then according to the specified angle input by the user and the angle difference, according to the second operation rule, calculate the target angle of the rotation of the pan-tilt head;
若所述当前关节角所属的角度范围属于第三预设角度范围，则根据用户输入的指定角度和所述角度差按照第三运算规则，计算所述云台转动的目标角度。If the angle range to which the current joint angle belongs belongs to the third preset angle range, then according to the specified angle input by the user and the angle difference, the target angle of the pan/tilt rotation is calculated according to the third operation rule.
在一个实施例中，所述第一预设角度范围为所述当前关节角大于第一预设角度的范围；所述第一运算规则是基于用户输入的指定角度、所述角度差以及所述第一预设角度进行运算的规则。In one embodiment, the first preset angle range is a range in which the current joint angle is greater than the first preset angle; the first operation rule is based on a specified angle input by a user, the angle difference and the The rule for calculating the first preset angle.
在一个实施例中，所述第二预设角度范围为所述当前关节角小于第二预设角度的范围；所述第二运算规则是基于用户输入的指定角度、所述角度差以及所述第二预设角度进行运算的规则。In one embodiment, the second preset angle range is a range in which the current joint angle is smaller than the second preset angle; the second operation rule is based on a specified angle input by a user, the angle difference and the The rule for calculating the second preset angle.
在一个实施例中，所述第三预设角度范围为所述当前关节角大于或等于第二预设角度的范围，且小于或等于第一预设角度的范围；所述第三运算规则是基于用户输入的指定角度以及所述角度差进行运算的规则。In one embodiment, the third preset angle range is a range in which the current joint angle is greater than or equal to the second preset angle and less than or equal to the first preset angle; the third operation rule is A rule that operates based on the specified angle entered by the user and the angle difference.
在一个实施例中，所述处理器601在获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻相对所述基座的转速时，用于：In one embodiment, the
获取所述云台在上一时刻相对基座的相对角度，并根据所述相对角度确定所述云台在上一时刻的实际转速；Obtain the relative angle of the gimbal at the last moment relative to the base, and determine the actual rotational speed of the gimbal at the last moment according to the relative angle;
根据所述云台在上一时刻的实际转速，确定所述云台在上一时刻相对所述基座的转速。According to the actual rotational speed of the pan/tilt at the last moment, the rotational speed of the pan/tilt relative to the base at the previous moment is determined.
在一个实施例中，所述处理器601在获取所述云台在上一时刻相对基座的相对角度时，用于：In one embodiment, when the
将所述云台在上一时刻的当前角度作为第一角度，并将所述云台在上一时刻的前一时刻的当前角度作为第二角度；Taking the current angle of the gimbal at the last moment as the first angle, and taking the current angle of the gimbal at the moment before the last moment as the second angle;
将所述第一角度与所述第二角度之间的角度差，作为所述云台在上一时刻相对基座的相对角度。The angle difference between the first angle and the second angle is taken as the relative angle of the head relative to the base at the last moment.
在一个实施例中，所述处理器601在根据所述云台在上一时刻的实际转速，确定所述云台在上一时刻相对所述基座的转速时，用于：In one embodiment, when determining the rotational speed of the pan/tilt relative to the base at the previous moment according to the actual rotational speed of the pan/tilt at the previous moment, the
根据所述云台的当前角度和所述基座的当前角度，确定所述云台相对所述基座的跟随速度；According to the current angle of the gimbal and the current angle of the base, determine the following speed of the gimbal relative to the base;
基于所述云台在上一时刻的实际转速，以及所述云台相对所述基座的跟随速度，确定所述云台在上一时刻相对所述基座的相对转速。Based on the actual rotational speed of the pan/tilt at the last moment and the following speed of the pan/tilt relative to the base, the relative rotational speed of the pan/tilt relative to the base at the previous moment is determined.
在一个实施例中，所述处理器601在根据所述云台在上一时刻相对所述基座的转速，确定所述云台当前角度与所述指定角度之间的角度差时，用于：In one embodiment, when the
根据所述云台在上一时刻相对基座的转速，确定所述云台在上一时刻相对所述基座运行的角度；According to the rotation speed of the head relative to the base at the last moment, determine the angle at which the head moves relative to the base at the last moment;
根据所述指定角度和所述云台在上一时刻相对基座运行的角度，确定所述云台当前角度与所述指定角度之间的角度差。The angle difference between the current angle of the PTZ and the specified angle is determined according to the specified angle and the angle at which the PTZ moves relative to the base at the last moment.
在一个实施例中，所述云台的当前角度为所述云台在当前时刻测量的角度；所述基座的当前角度为所述基座在当前时刻的测量角度。In one embodiment, the current angle of the gimbal is the angle measured by the gimbal at the current moment; the current angle of the base is the measured angle of the base at the current moment.
本实施例提供的云台控制设备能执行前述实施例提供的如图2和图3所示的云台控制方法，且执行方式和有益效果类似，在这里不再赘述。The pan-tilt control device provided in this embodiment can execute the pan-tilt control methods as shown in FIG. 2 and FIG. 3 provided in the foregoing embodiments, and the execution manner and beneficial effects are similar, which will not be repeated here.
本发明实施例还提供一种包含指令的计算机程序产品，当其在计算机上运行时，使得计算机执行上述方法实施例所述的云台控制方法的相关步骤。Embodiments of the present invention also provide a computer program product containing instructions, which, when running on a computer, cause the computer to execute the relevant steps of the pan-tilt control method described in the above method embodiments.
本领域普通技术人员可以理解实现上述实施例方法中的全部或部分流程，是可以通过计算机程序来指令相关的硬件来完成，所述的程序可存储于一计算机可读取存储介质中，该程序在执行时，可包括如上述各方法的实施例的流程。其中，所述的存储介质可为磁碟、光盘、只读存储记忆体(Read-Only Memory，ROM)或随机存储记忆体(Random AccessMemory，RAM)等。Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. During execution, the processes of the embodiments of the above-mentioned methods may be included. The storage medium may be a magnetic disk, an optical disk, a read-only memory (Read-Only Memory, ROM), or a random access memory (Random Access Memory, RAM) or the like.
以上所揭露的仅为本发明部分实施例而已，当然不能以此来限定本发明之权利范围，因此依本发明权利要求所作的等同变化，仍属本发明所涵盖的范围。The above disclosure is only a part of the embodiments of the present invention, and of course, it cannot limit the scope of the rights of the present invention, so the equivalent changes made according to the claims of the present invention are still within the scope of the present invention.
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