CN112166396A - Cloud deck and control method and external control device thereof - Google Patents
Cloud deck and control method and external control device thereof Download PDFInfo
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- CN112166396A CN112166396A CN201980032146.5A CN201980032146A CN112166396A CN 112166396 A CN112166396 A CN 112166396A CN 201980032146 A CN201980032146 A CN 201980032146A CN 112166396 A CN112166396 A CN 112166396A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/01—Input arrangements or combined input and output arrangements for interaction between user and computer
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/66—Remote control of cameras or camera parts, e.g. by remote control devices
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/60—Control of cameras or camera modules
- H04N23/695—Control of camera direction for changing a field of view, e.g. pan, tilt or based on tracking of objects
Abstract
A cloud platform and its control method, including cloud platform and its external controlling device, the cloud platform communicates with external controlling device to connect, the said method includes: acquiring the angular speed of an external control device; carrying out integral processing on the angular velocity to determine the target posture of the holder; controlling the holder to rotate according to the target attitude; and the integral frequency of the integral processing is greater than the communication frequency between the holder and the external control device. The moving speed of the cradle head can correspond to the speed of controlling the external control device by a user, and the rotating speed is uniform.
Description
Technical Field
The invention relates to the field of holder control, in particular to a holder, a control method thereof and an external control device.
Background
At present, a user controls the posture of the cradle head by controlling the posture of the external control device, and the purpose of controlling the cradle head through body feeling is achieved. Generally, the external control device informs the cradle head of the real-time posture of the external control device, and the cradle head directly rotates according to the real-time posture of the external control device. However, in general, the sizes of the postures at different times may be different, and the direct rotation mode according to the real-time posture size can make the rotation speed difference of the pan/tilt head at different times more obvious, resulting in uneven and non-fine rotation speed of the pan/tilt head.
In order to solve the problems of uneven and non-fine cloud deck speed, if the cloud deck moves at the same speed at different moments, the problem that the cloud deck movement delay is serious because the external control device generates a new expected attitude before the cloud deck attitude does not reach the current expected attitude can exist.
In addition, the gesture of the external control device cannot intuitively reflect the speed of the user for controlling the external control device, so that when the cradle head moves according to the gesture of the external control device, the speed of the cradle head cannot be correspondingly controlled according to the speed of the user for controlling the external control device, the speed of the cradle head movement is inconsistent with the speed of the user for controlling the speed, the cradle head movement cannot embody real user control behaviors, and the user experience is poor.
Disclosure of Invention
The invention provides a holder, a control method thereof and an external control device.
Specifically, the invention is realized by the following technical scheme:
according to a first aspect of the present invention, there is provided a cradle head control method, wherein the cradle head is in communication connection with an external control device, the method comprising:
acquiring the angular speed of the external control device;
performing integral processing on the angular velocity to determine a target posture of the holder;
controlling the holder to rotate according to the target posture;
and the integral frequency of the integral processing is greater than the communication frequency between the holder and the external control device.
According to a second aspect of the present invention, there is provided a cradle head wirelessly connected to an external control device, the cradle head comprising:
storage means for storing program instructions;
one or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:
acquiring the angular speed of the external control device;
performing integral processing on the angular velocity to determine a target posture of the holder;
controlling the holder to rotate according to the target posture;
and the integral frequency of the integral processing is greater than the communication frequency between the holder and the external control device.
According to a third aspect of the present invention, there is provided a pan/tilt head control method applied to an external control device connected to a pan/tilt head in a communication manner, the method comprising:
acquiring the angular speed of the external control device;
and sending the angular velocity to the cloud deck, so that the cloud deck controls the posture of the cloud deck according to the angular velocity.
According to a fourth aspect of the present invention, there is provided an external control device connected to a cradle head in wireless communication, the external control device comprising:
an angular velocity detection sensor; and
a processor electrically coupled to the angular velocity detection sensor, the processor configured to:
acquiring the angular speed of the external control device through the angular speed detection sensor;
and sending the angular velocity to the cloud deck, so that the cloud deck controls the posture of the cloud deck according to the angular velocity.
According to the technical scheme provided by the embodiment of the invention, the integral processing is carried out on the angular velocity of the external control device by the cradle head, when the target attitude of the cradle head is determined, the integral frequency of the integral processing is set to be larger than the communication frequency between the cradle head and the external control device, the rotating speed of the cradle head changes smoothly, the speed difference of the cradle head at different moments is reduced, and the rotating speed of the cradle head is enabled to be uniform and fine; meanwhile, the cradle head moves based on the angular speed of the external control device, the speed of the cradle head movement can correspond to the speed of the user for controlling the external control device, and the cradle head movement can embody real user control behaviors, so that better user experience is brought.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive labor.
Fig. 1A is a structural diagram of a pan/tilt head control system in an embodiment of the present invention;
fig. 1B is an application scenario diagram of the pan/tilt control system according to an embodiment of the present invention;
fig. 2 is a flowchart of a method of controlling a pan/tilt head at the pan/tilt head side according to an embodiment of the present invention;
fig. 3 is a flow chart of a method of controlling a pan/tilt head in a pan/tilt head according to another embodiment of the present invention;
fig. 4 is a block diagram of a cradle head according to an embodiment of the present invention;
fig. 5 is a flowchart of a method of controlling a pan/tilt head on the external control device side according to an embodiment of the present invention;
fig. 6 is a block diagram of an external control device according to an embodiment of the present invention.
Reference numerals:
100: a holder; 110: a storage device; 120: a first processor;
200: an external control device; 210: an angular velocity detection sensor; 220: a second processor.
Detailed Description
At present, the external control device can send its real-time posture to the cradle head, and then the cradle head directly rotates according to the real-time posture of the external control device. Because the attitude sizes at different moments may be different, if the above-mentioned direct rotation mode according to the real-time attitude sizes is adopted, the rotation speed difference of the pan/tilt at different moments may be obvious, and the rotation speed of the pan/tilt may be uneven and not fine.
In addition, the gesture of the external control device cannot intuitively reflect the speed of the user for controlling the external control device, so that when the cradle head moves according to the gesture of the external control device, the speed of the cradle head cannot be correspondingly controlled according to the speed of the user for controlling the external control device, the speed of the cradle head movement is inconsistent with the speed of the user for controlling the speed, the cradle head movement cannot embody real user control behaviors, and the user experience is poor.
In view of the above problems, the pan/tilt control method according to the embodiment of the present invention implements the following operations on the external control device side: acquiring the angular speed of the external control device; and sending the angular velocity to the cloud deck, so that the cloud deck controls the posture of the cloud deck according to the angular velocity. The following operations are carried out on the tripod head side: acquiring the angular speed of the external control device; performing integral processing on the angular velocity to determine a target posture of the holder; controlling the holder to rotate according to the target posture; and the integral frequency of the integral processing is greater than the communication frequency between the holder and the external control device.
The cradle head carries out integral processing on the angular speed of the external control device, and when the target attitude of the cradle head is determined, the integral frequency of the integral processing is set to be larger than the communication frequency between the cradle head and the external control device, the speed change of the rotation of the cradle head is smooth, the speed difference of the cradle head at different moments is reduced, and the speed of the rotation of the cradle head is uniform and fine; meanwhile, the cradle head moves based on the angular speed of the external control device, the speed of the cradle head movement can correspond to the speed of the user for controlling the external control device, and the cradle head movement can embody real user control behaviors, so that better user experience is brought.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
It should be noted that, in the following examples and embodiments, features may be combined with each other without conflict.
Referring to fig. 1A, the cradle head 100 and the external control device 200 according to the embodiment of the present invention are in communication connection, and optionally, the cradle head 100 and the external control device 200 are in communication connection based on a wireless communication mode, where the wireless communication mode may be bluetooth, wifi, or other wireless communication modes; optionally, the cradle head 100 and the external control device 200 are in communication connection based on a wired communication mode.
The external control device 200 of the embodiment of the present invention may be a mobile phone, a tablet computer, or the like, and may also be a motion sensing control device of the cradle head 100.
In the embodiment shown in fig. 1B, the external control device 200 is a mobile phone, and the user controls the rotational motion of the cradle head 100 by controlling the posture of the mobile phone. Optionally, when the display surface of the mobile phone faces the user and the mobile phone is vertically placed (the mobile phone placing direction shown in fig. 1B), the user controls the mobile phone to rotate forward (towards the user, that is, along the length direction of the mobile phone) or rotate backward, and correspondingly controls the pitch angle of the cradle head 100; the user controls the mobile phone to rotate left or right (the orientation of the display surface of the mobile phone is basically unchanged), and correspondingly controls the yaw angle of the holder 100; the user controls the mobile phone to turn left or turn right, and correspondingly controls the roll angle of the holder 100. It is understood that the above operations and the corresponding control angles of the cradle head 100 can also be applicable when the display surface of the mobile phone faces the sky end or the ground end, and the mobile phone is horizontally placed, and of course, in practical applications, the above operations and the corresponding control angles of the cradle head 100 can have other manners, which are not specifically limited herein.
In the first and second embodiments, the detailed implementation process of the pan/tilt control method will be described from the side of the pan/tilt 100 and the side of the external control device 200, respectively.
Example one
Fig. 2 is a flowchart of a method of controlling a pan/tilt head at the side of the pan/tilt head 100 according to an embodiment of the present invention; as shown in fig. 2, the pan/tilt control method may include, but is not limited to, the following steps:
s201: acquiring the angular speed of the external control device 200;
in some embodiments, the cradle head 100 receives the angular velocity of the external control device 200 sent by the external control device 200, in this embodiment, the cradle head 100 passively receives the angular velocity of the external control device 200; optionally, when the cradle head 100 and the external control device 200 communicate based on bluetooth, the cradle head 100 may receive the angular velocity of the external control device 200 sent by the external control device 200 through bluetooth. Of course, when the cradle head 100 communicates with the external control device 200 based on other communication modes, the communication link of the angular velocity of the external control device 200, which is transmitted by the external control device 200 and received by the cradle head 100, changes accordingly.
In some embodiments, the pan/tilt head 100 reads the angular velocity of the external control device 200 from the external control device 200; optionally, the cradle head 100 accesses the data port of the external control device 200 according to a preset time interval, and the cradle head 100 actively reads the angular velocity of the external control device 200.
In some embodiments, the angular velocity is obtained as a first angular velocity of the external control apparatus 200 in the body coordinate system thereof by step S201; the external control device 200 includes an angular velocity detection sensor, and the angular velocity is obtained in step S201 as a first angular velocity of the external control device 200 in the body coordinate system detected by the angular velocity detection sensor. The angular velocity detection sensor may be a gyroscope or other angular velocity detection sensor. For example, when the external control device 200 is a mobile phone, the angular velocity detection sensor is a gyroscope built in the mobile phone. The body coordinate system of the external control device 200 is a coordinate system established with reference to the external control device 200 as a machine body.
In some embodiments, the angular velocity is obtained in step S201 as a second angular velocity of the external control device 200 in the absolute coordinate system, and the second angular velocity is determined according to the first angular velocity of the external control device 200 in the body coordinate system. The external control device 200 includes an angular velocity detection sensor, and the first angular velocity is detected by the angular velocity detection sensor. The absolute coordinate system of the present embodiment may be a world coordinate system, or may be another absolute coordinate system. It is understood that the second angular velocity may be in the same coordinate system as the coordinate system used for controlling the angular velocity of the head 100.
S202: performing integral processing on the angular velocity to determine a target attitude of the pan/tilt head 100, wherein the integral frequency of the integral processing is greater than the communication frequency between the pan/tilt head 100 and the external control device 200;
when the angular velocity is subjected to integral processing, the integral frequency of the integral processing is set to be greater than the communication frequency between the cradle head 100 and the external control device 200, the determined target posture of the cradle head 100 is in smooth transition, the velocity difference of the rotation of the cradle head 100 at different moments is reduced, and the rotation velocity of the cradle head 100 is relatively uniform and fine. In this embodiment, the integration time Δ t corresponding to the integration interval of the integration process is 1/integration frequency. The integration frequency of the integration process may be a default value or may be set by the user. Optionally, the integration frequency of the integration process is 1kHz (unit: kilohertz), and the communication frequency between the pan/tilt 100 and the external control device 200 is 20Hz (unit: hertz). Of course, the integration frequency of the integration process and the communication frequency between the cradle head 100 and the external control device 200 may be set to other values.
In some embodiments, the angular velocity obtained in step S201 is a first angular velocity omega _ body (x, y, z) of the external control device 200 in the body coordinate system thereof, the cradle head 100 needs to convert the first angular velocity into a second angular velocity omega _ ned (x, y, z) in the absolute coordinate system, and then perform integration processing on the second angular velocity to determine the target posture of the cradle head 100. Referring to fig. 3, when the pan/tilt head 100 performs an integration process on the angular velocity to determine the target attitude of the pan/tilt head 100, the method specifically includes the following steps,
s301: converting the first angular velocity into a second angular velocity under an absolute coordinate system;
s302: the second angular velocity is integrated to determine the target attitude of the pan/tilt head 100.
Next, the implementation process of converting the first angular velocity omega _ body (x, y, z) of the external control device 200 in the body coordinate system into the second angular velocity omega _ ned (x, y, z) in the absolute coordinate system will be described in detail.
Optionally, converting the first angular velocity into the second angular velocity in the absolute coordinate system may include, but is not limited to, steps (1) to (3):
(1) acquiring attitude information of the external control device 200;
the cradle head 100 can access an interface of the external control device 200 to read attitude information of the external control device 200. The interface may be a hardware data interface or a program interface. Of course, the attitude information of the external control device 200 may be transmitted to the cradle head 100 by the external control device 200.
The attitude information may include an attitude quaternion and may also include other attitude information of the external control device 200.
(2) Determining a conversion relation of coordinate conversion between the body coordinate system and the absolute coordinate system according to the attitude information;
the implementation process of determining the coordinate conversion relationship between the body coordinate system and the absolute coordinate system according to the posture information may include, but is not limited to, the steps (21) to (22):
(21) converting the attitude quaternion into an Euler angle;
in this embodiment, the attitude quaternion is Q _ real (Q)0,q1,q2,q3) Euler angles are euler (phi, theta, psi), where,
a is a rotation angle between two front and back times of the body coordinate system, x, y and z are vector representations in corresponding directions respectively, and phi, theta and psi are angle values corresponding to a roll direction, an angle corresponding to a pitch direction and an angle value corresponding to a yaw direction in Euler angles respectively.
In this embodiment, the formula for converting the attitude quaternion into the euler angle is:
θ＝-arcsin(2(q1q3-q0q2))
(22) and determining a conversion relation according to the Euler angle.
In some embodiments, determining the coordinate transformation relationship based on the euler angles may include: setting the angle value corresponding to the yaw direction in the Euler angles as 0; and determining a conversion relation according to the angle value corresponding to the roll direction, the angle value corresponding to the pitch direction and the angle value corresponding to the yaw direction in the Euler angles. When the external control device 200 is a mobile phone, psi is set to 0, and when the mobile phone is horizontally placed (the display surface of the mobile phone is vertical to the horizontal plane, and the length direction of the mobile phone is in the left-right direction) and vertically placed (the display surface of the mobile phone is vertical to the horizontal plane, and the length direction of the mobile phone is in the up-down direction), the mobile phone is controlled to rotate forwards (along the length direction of the mobile phone) or backwards, and the pitching angle of the cradle head 100 is controlled correspondingly; if psi is not equal to 0, when the mobile phone is vertically placed, the mobile phone is controlled to rotate forwards (along the length direction of the mobile phone) or backwards, and the pitch angle of the holder 100 is correspondingly controlled; when the mobile phone is horizontally placed, the mobile phone is controlled to rotate forwards or backwards, and the yaw angle of the cradle head 100 is correspondingly controlled, so that the somatosensory control is not uniform.
In this embodiment, a transformation relation of the body coordinate system and the absolute coordinate system for performing coordinate transformation is represented by a cosine matrix, and the cosine matrix of the body coordinate system and the absolute coordinate system for performing coordinate transformation is represented as:
wherein R isz(ψ) is a matrix corresponding to the yaw direction in the cosine matrix;
Ry(theta) is a cosine matrixA matrix of medium corresponding pitch directions;
Rxand (phi) is a matrix corresponding to the roll direction in the cosine matrix.
It is understood that the transformation relationship between the body coordinate system and the absolute coordinate system may also be represented by other ways, and is not limited to the cosine matrix representing the transformation relationship between the body coordinate system and the absolute coordinate system.
(3) And obtaining a second angular velocity according to the conversion relation and the first angular velocity.
The second angular velocity omega _ ned (x, y, z) is calculated by the following formula:
omega_ned(x,y,z)＝omega_body(x,y,z)*R
it is understood that the steps (1) to (3) can also be implemented in an external controller.
In some embodiments, the angular velocity obtained in step S201 is a second angular velocity omega _ ned (x, y, z) of the external control device 200 in the absolute coordinate system, and the cradle head 100 directly performs an integration process on the second angular velocity to determine the target posture of the cradle head 100.
Further, the execution of step S202 may be put in a timer, and cyclic integration of the angular velocity is realized. Of course, the execution process of step S202 may not be placed in the timer.
In some embodiments, the cradle head 100 is provided with a timer, and the target attitude of the cradle head 100 is determined by integrating the angular velocity with the timer. Optionally, the timer defines three angular velocity variables (i.e. the motion velocity of the pan/tilt head 100, which are all component variables of the euler angular velocity): roll angular velocity Vgx, pitch angular velocity Vgy and yaw angular velocity Vgz, which are continuously integrated in a timer in a circulating way, and are correspondingly converted into target postures: roll axis attitude tar _ x, pitch axis attitude tar _ y, and yaw axis attitude tar _ z.
Optionally, the integration frequency is equal to the working frequency of the timer; optionally, the working frequency of the timer is 1 kHz. Of course, the integration frequency and the operation frequency of the timer may not be equal.
Optionally, the cradle head 100 is further provided with an external interrupt program. When the angular velocity obtained in step S201 is the first angular velocity omega _ body (x, y, z) of the external control device 200 in the body coordinate system thereof, the cradle head 100 converts the first angular velocity into the second angular velocity omega _ ned (x, y, z) in the absolute coordinate system (in this embodiment, the second angular velocity is also euler angular velocity), and assigns the second angular velocity to the moving velocity of the cradle head 100 in the external interrupt routine; when the angular velocity obtained in step S201 is the second angular velocity omega _ ned (x, y, z) of the external control device 200 in the absolute coordinate system, the second angular velocity is assigned to the motion velocity of the pan/tilt head 100 in the external interrupt routine. When the second angular velocity is assigned to the motion velocity of the pan/tilt head 100, specifically, Vgx ═ omega _ ned (x), Vgy ═ omega _ ned (y), Vgz ═ omega _ ned (z).
It should be noted that x, y, and z in the omega _ body (x, y, z) are roll angular velocity, pitch angular velocity, and yaw angular velocity of the external control device 200 in its body coordinate system, respectively; x, y, and z in omega _ ned (x, y, z) are roll angular velocity, pitch angular velocity, and yaw angular velocity of the external control device 200 in an absolute coordinate system, respectively.
In step S201, the acquisition frequency of the angular velocity and the communication frequency may be equal or different.
In some embodiments, in step S201, the obtaining frequency of the angular velocity is equal to the communication frequency, for example, 20Hz, and the pan-tilt control method of this embodiment may further include: and if a new angular velocity is obtained, replacing the current angular velocity subjected to integration processing with the new angular velocity. In this embodiment, the motion of the pan/tilt head 100 is based on the real-time angular velocity of the external control device 200, the speed of the motion of the pan/tilt head 100 can correspond to the speed of the user controlling the external control device 200, and the motion of the pan/tilt head 100 can embody the real user control behavior, thereby bringing better user experience.
Further, in some embodiments, the cradle head 100 further includes a counter, and the counter is configured to record the number of times of acquiring a new angular velocity, so as to determine the communication quality between the cradle head 100 and the external control device 200. In this embodiment, the pan-tilt control method further includes: the count value of the counter is updated each time a new angular velocity is acquired. Alternatively, the initial value of the counter (the count value of the counter when the pan/tilt head 100 is turned on) is 0, and the count value of the counter is incremented by 1 each time a new angular velocity is acquired. When the pan/tilt head 100 is powered off, the count value of the counter is cleared again.
In the related art, when the cradle head 100 does not acquire the attitude of the external control device 200, or the acquired attitude of the external control device 200 is 0, the cradle head 100 immediately stops moving, and actually, the fact that the attitude of the cradle head 100 not acquiring the external control device 200 may be that the communication quality between the cradle head 100 and the external control device 200 is temporarily deteriorated due to slow communication speed, dropped frames, stable communication connection, and the like, and if the communication recovery interval between the cradle head 100 and the external control device 200 is short, the cradle head 100 immediately stops moving, which may cause the cradle head 100 to immediately jam, and bring poor control experience to the user.
In order to prevent the occurrence of the situation that the cradle head 100 is stuck due to the cradle head 100 immediately stopping moving when the cradle head 100 does not acquire the new angular velocity, the cradle head 100 of the present embodiment performs different controls on the cradle head 100 based on the time length of the count value that is not updated.
Optionally, if the time length of the count value that is not updated is less than or equal to the preset time length threshold, performing integral processing on the angular velocity obtained last time, and determining the real-time target posture of the holder 100; and controlling the holder 100 to rotate according to the real-time target attitude. The time length during which the count value is not updated is less than or equal to the preset time length threshold, which indicates that the fact that the pan/tilt 100 does not acquire the new angular velocity may be a reason that the communication quality between the pan/tilt 100 and the external control device 200 is temporarily deteriorated, the communication between the pan/tilt 100 and the external control device 200 is not actually interrupted, and the user may still operate the external control device 200, so that the pan/tilt 100 is controlled to continue to keep the angular velocity movement acquired last time, and a better control experience is brought to the user.
Optionally, if the time length of the count value that is not updated is greater than the preset time length threshold, the rotation of the cradle head 100 is stopped. The time length of the non-updated count value is greater than the preset time length threshold value, which indicates that the communication between the cradle head 100 and the external control device 200 is interrupted, and the cradle head 100 stops moving.
The preset time length threshold value can be set according to needs, and can also be a default numerical value. Optionally, in step S201, the acquisition frequency of the angular velocity and the communication frequency between the cradle head 100 and the external control device 200 are both 20Hz, and the preset time threshold is 100ms (unit: millisecond), that is, if the time for which the count value is not updated does not exceed 100ms, it is determined that the communication between the cradle head 100 and the external control device 200 is not interrupted; if the time length of the count value is longer than 100ms, it is determined that the communication between the cradle head 100 and the external control device 200 is completely interrupted, and the cradle head 100 needs to stop moving.
S203: and controlling the holder 100 to rotate according to the target posture.
Through the above step S203, the pan/tilt head 100 can be controlled to move to the position corresponding to the target attitude.
The cradle head 100 may adopt a closed-loop control mode when controlling the cradle head 100 to rotate according to the target attitude. It is understood that the implementation process of controlling the rotation of the cradle head 100 according to the target posture is the prior art, and the embodiment of the present invention is not described in detail.
Corresponding to the cloud deck control method of the above embodiment, the embodiment of the present invention further provides a cloud deck 100, referring to fig. 4, where the cloud deck 100 includes: a storage device 110 and one or more first processors 120.
Wherein, the storage device 110 is used for storing program instructions; the one or more first processors 120, invoking program instructions stored in the storage 110, the one or more first processors 120, individually or collectively, being configured to, when executed, perform the following: acquiring the angular speed of the external control device 200; performing integral processing on the angular velocity to determine a target posture of the holder 100; controlling the holder 100 to rotate according to the target posture; the integral frequency of the integral processing is greater than the communication frequency between the cradle head 100 and the external control device 200.
The first processor 120 may implement the pan/tilt head control method according to the embodiments shown in fig. 2 and fig. 3 of the present invention, and the pan/tilt head 100 of the present embodiment is described with reference to the pan/tilt head control method of the above embodiments.
The storage device 110 may include a volatile memory (volatile memory), such as a random-access memory (RAM); the storage device 110 may also include a non-volatile memory (non-volatile memory), such as a flash memory (flash memory), a Hard Disk Drive (HDD) or a solid-state drive (SSD); the storage 110 may also comprise a combination of memories of the kind described above.
The first processor 120 may be a Central Processing Unit (CPU). The first Processor 120 may also be other general purpose processors, Digital Signal Processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Example two
The cradle head control method of the embodiment is applied to the external control device 200 in communication connection with the cradle head 100, and the external control device 200 may be a mobile phone, a tablet personal computer, or the like, and may also be a somatosensory control device of the cradle head 100. Referring to fig. 5, the pan/tilt control method may include the steps of:
s501: acquiring the angular speed of the external control device 200;
in some embodiments, the angular velocity is a first angular velocity of the external control device 200 detected by the angular velocity detection sensor in its body coordinate system. Optionally, the external control device 200 includes an angular velocity detection sensor, and the angular velocity detection sensor detects and obtains a first angular velocity of the external control device 200 in the body coordinate system thereof. The angular velocity detection sensor may be a gyroscope or other angular velocity detection sensor. For example, when the external control device 200 is a mobile phone, the angular velocity detection sensor is a gyroscope built in the mobile phone. The body coordinate system of the external control device 200 is a coordinate system established with reference to the external control device 200 as a machine body.
In some embodiments, the angular velocity is a second angular velocity of the external control device 200 in an absolute coordinate system. The process of acquiring the angular velocity of the external control device 200 may include the following steps (1) to (2):
(1) acquiring a first angular speed of the external control device 200 in a body coordinate system of the external control device;
the manner of obtaining the first angular velocity in step (1) is the same as the manner of obtaining the first angle in the above embodiment, and is not described herein again.
(2) And converting the first angular velocity in the body coordinate system of the external control device 200 into the second angular velocity in the absolute coordinate system.
The process of converting the first angular velocity into the second angular velocity by the external control device 200 is similar to the process of converting the first angular velocity into the second angular velocity by the pan/tilt 100 in the first embodiment, and is not repeated in this embodiment.
S502: the angular velocity is transmitted to the pan/tilt head 100 so that the pan/tilt head 100 controls the attitude of the pan/tilt head 100 according to the angular velocity.
The external control device 200 may send the angular velocity to the pan/tilt head 100 via bluetooth or other communication link.
The angular velocity sent to the pan/tilt head 100 by the external control device 200 may be a first angular velocity or a second angular velocity. In this embodiment, the angular velocity sent to the cradle head 100 by the external control device 200 is the second angular velocity, and the process of converting the first angular velocity into the second angular velocity is placed in the external control device 200, so that the operation of the cradle head 100 is reduced, and the control of the cradle head 100 is further optimized.
Corresponding to the pan/tilt/zoom control method of the present embodiment, an external control device 200 is further provided in the present embodiment, referring to fig. 6, the external control device 200 includes an angular velocity detection sensor 210 and a second processor 220, wherein the angular velocity detection sensor 210 is electrically coupled to the second processor 220. The angular velocity detection sensor 210 may be a gyroscope or another angular velocity detection sensor.
The second processor 220 is configured to: acquiring the angular velocity of the external control device 200 through the angular velocity detection sensor 210; the angular velocity is transmitted to the pan/tilt head 100 so that the pan/tilt head 100 controls the attitude of the pan/tilt head 100 according to the angular velocity.
The second processor 220 may implement the pan/tilt control method according to the second embodiment shown in fig. 5 of the present invention, and the external control device 200 of the present embodiment is described with reference to the pan/tilt control method according to the second embodiment.
The second processor 220 may be a Central Processing Unit (CPU). The second Processor 220 may also be other general purpose processors, Digital Signal Processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Furthermore, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the pan-tilt control method of the above-mentioned embodiment.
The computer-readable storage medium may be an internal storage unit, such as a hard disk or a memory, of the cradle head or the external control device according to any of the foregoing embodiments. The computer readable storage medium may also be an external storage device of the cradle head or the external control device, such as a plug-in hard disk, a Smart Media Card (SMC), an SD Card, a Flash memory Card (Flash Card), and the like provided on the device. Further, the computer-readable storage medium may also include both an internal storage unit of the cradle head or the external control apparatus and an external storage device. The computer-readable storage medium is used for storing the computer program and other programs and data required by the pan/tilt head or the external control device, and may also be used for temporarily storing data that has been output or is to be output.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by a computer program, which can be stored in a computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. The storage medium may be a magnetic disk, an optical disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), or the like.
The above disclosure is intended to be illustrative of only some embodiments of the invention, and is not intended to limit the scope of the invention.
Claims (52)
1. A holder control method is characterized in that a holder is in communication connection with an external control device, and the method comprises the following steps:
acquiring the angular speed of the external control device;
performing integral processing on the angular velocity to determine a target posture of the holder;
controlling the holder to rotate according to the target posture;
and the integral frequency of the integral processing is greater than the communication frequency between the holder and the external control device.
2. The method of claim 1, wherein the pan/tilt head is provided with a timer, and the integrating the angular velocity to determine the target attitude of the pan/tilt head comprises:
and performing integral processing on the angular velocity through the timer to determine the target posture of the holder.
3. The method of claim 2, wherein the integration frequency is equal in magnitude to an operating frequency of the timer.
4. The method of claim 2, wherein the acquisition frequency of the angular velocity is equal in magnitude to the communication frequency;
the method further comprises the following steps:
and if a new angular velocity is obtained, replacing the current angular velocity subjected to the integration processing with the new angular velocity.
5. The method according to claim 4, characterized in that the head comprises a counter for recording the number of acquisitions of the new angular velocity;
the method further comprises the following steps:
and updating the count value of the counter every time the new angular velocity is acquired.
6. The method of claim 5, further comprising:
if the time length of the count value which is not updated is less than or equal to a preset time length threshold value, performing integral processing on the angular velocity acquired last time to determine the real-time target posture of the holder;
and controlling the holder to rotate according to the real-time target posture.
7. The method of claim 6, further comprising:
and if the time length of the count value which is not updated is greater than a preset time length threshold value, stopping the rotation of the holder.
8. The method of claim 1, wherein the external control device comprises an angular velocity detection sensor, and the angular velocity is a first angular velocity of the external control device in a body coordinate system of the external control device detected by the angular velocity detection sensor;
the integrating the angular velocity to determine the target attitude of the pan/tilt head includes:
converting the first angular velocity into a second angular velocity under an absolute coordinate system;
and performing integral processing on the second angular velocity to determine the target posture of the holder.
9. The method of claim 8, wherein converting the first angular velocity to a second angular velocity in an absolute coordinate system comprises:
acquiring attitude information of the external control device;
determining a conversion relation of coordinate conversion between the body coordinate system and the absolute coordinate system according to the attitude information;
and obtaining the second angular velocity according to the conversion relation and the first angular velocity.
10. The method of claim 9, wherein the pose information comprises a pose quaternion, and wherein determining the transformation relationship between the body coordinate system and the absolute coordinate system for coordinate transformation based on the pose information comprises:
converting the attitude quaternion into an Euler angle;
and determining the conversion relation according to the Euler angle.
11. The method of claim 10, wherein determining the coordinate transformation relationship based on the euler angles comprises:
setting an angle value corresponding to a yaw direction in the Euler angles to be 0;
and determining the conversion relation according to the angle value corresponding to the rolling direction, the angle value corresponding to the pitching direction and the angle value corresponding to the yawing direction in the Euler angles.
12. The method of claim 1, wherein the angular velocity is a second angular velocity of the external control device in an absolute coordinate system.
13. The method of claim 12, wherein the external control device includes an angular velocity detection sensor, and the second angular velocity is determined based on a first angular velocity of the external control device in its body coordinate system detected by the angular velocity detection sensor.
14. The method according to claim 8 or 13, characterized in that the angular velocity detection sensor is a gyroscope.
15. The method of claim 1, wherein the obtaining the angular velocity of the external control device comprises:
and receiving the angular speed of the external control device sent by the external control device through Bluetooth.
16. The method of claim 1, wherein the external control device is a mobile phone.
17. The utility model provides a cloud platform, its characterized in that, cloud platform and external controlling means communication connection, the cloud platform includes:
storage means for storing program instructions;
one or more processors that invoke program instructions stored in the storage device, the one or more processors individually or collectively configured to, when the program instructions are executed, perform operations comprising:
acquiring the angular speed of the external control device;
performing integral processing on the angular velocity to determine a target posture of the holder;
controlling the holder to rotate according to the target posture;
and the integral frequency of the integral processing is greater than the communication frequency between the holder and the external control device.
18. A head according to claim 17, wherein said head is provided with a timer, and said one or more processors, when performing an integration process on said angular velocity to determine a target attitude of said head, are further configured, individually or collectively, for performing the following operations:
and performing integral processing on the angular velocity through the timer to determine the target posture of the holder.
19. A head according to claim 18, wherein said integration frequency is of the same magnitude as the operating frequency of said timer.
20. A head according to claim 18, wherein said angular velocity is acquired at a frequency equal in magnitude to said communication frequency;
the one or more processors are further configured, individually or collectively, to perform operations comprising:
and if a new angular velocity is obtained, replacing the current angular velocity subjected to the integration processing with the new angular velocity.
21. A head according to claim 20, characterized in that it comprises a counter for recording the number of acquisitions of said new angular velocity;
the one or more processors are further configured, individually or collectively, to perform operations comprising:
and updating the count value of the counter every time the new angular velocity is acquired.
22. A head according to claim 21, wherein said one or more processors are further configured, individually or collectively, for performing the operations of:
if the time length of the count value which is not updated is less than or equal to a preset time length threshold value, performing integral processing on the angular velocity acquired last time to determine the real-time target posture of the holder;
and controlling the holder to rotate according to the real-time target posture.
23. A head according to claim 22, wherein said one or more processors are further configured, individually or collectively, for performing the operations of:
and if the time length of the count value which is not updated is greater than a preset time length threshold value, stopping the rotation of the holder.
24. A head according to claim 17, wherein said external control device comprises an angular velocity detection sensor, said angular velocity being a first angular velocity of said external control device in its body coordinate system as detected by said angular velocity detection sensor;
the one or more processors, when performing integration processing on the angular velocity to determine a target attitude of the pan/tilt head, are further configured, individually or collectively, to:
converting the first angular velocity into a second angular velocity under an absolute coordinate system;
and performing integral processing on the second angular velocity to determine the target posture of the holder.
25. A head according to claim 24, wherein said one or more processors, when converting said first angular velocity into a second angular velocity in an absolute coordinate system, are further configured, individually or collectively, to:
acquiring attitude information of the external control device;
determining a conversion relation of coordinate conversion between the body coordinate system and the absolute coordinate system according to the attitude information;
and obtaining the second angular velocity according to the conversion relation and the first angular velocity.
26. A head according to claim 25, wherein said attitude information comprises an attitude quaternion, said one or more processors being further configured, individually or collectively, in determining a translation relationship for coordinate transformation of said body coordinate system with said absolute coordinate system from said attitude information, to:
converting the attitude quaternion into an Euler angle;
and determining the conversion relation according to the Euler angle.
27. A head according to claim 26, wherein said one or more processors, when determining said coordinate transformation relationship according to said euler angles, are further configured, individually or collectively, to:
setting an angle value corresponding to a yaw direction in the Euler angles to be 0;
and determining the conversion relation according to the angle value corresponding to the rolling direction, the angle value corresponding to the pitching direction and the angle value corresponding to the yawing direction in the Euler angles.
28. A head according to claim 17, wherein said angular velocity is a second angular velocity of said external control device in an absolute coordinate system.
29. A head according to claim 28, wherein said external control unit comprises an angular velocity detection sensor, and said second angular velocity is determined in response to a first angular velocity of said external control unit in its body coordinate system, as detected by said angular velocity detection sensor.
30. A head according to claim 24 or 29, wherein said angular velocity detection sensor is a gyroscope.
31. A head according to claim 17, wherein said one or more processors, when acquiring the angular velocity of said external control device, are further configured, individually or collectively, for:
and receiving the angular speed of the external control device sent by the external control device through Bluetooth.
32. A head according to claim 17, wherein said external control device is a mobile phone.
33. A holder control method is applied to an external control device connected with a holder in a communication manner, and comprises the following steps:
acquiring the angular speed of the external control device;
and sending the angular velocity to the cloud deck, so that the cloud deck controls the posture of the cloud deck according to the angular velocity.
34. The method of claim 33, wherein the external control device comprises an angular velocity detection sensor, and the angular velocity is a first angular velocity of the external control device in its body coordinate system detected by the angular velocity detection sensor.
35. The method of claim 33, wherein the angular velocity is a second angular velocity of the external control device in an absolute coordinate system.
36. The method of claim 35, wherein said obtaining the angular velocity of the external control device comprises:
acquiring a first angular speed of the external control device under a body coordinate system of the external control device;
and converting the first angular speed of the external control device in the body coordinate system into a second angular speed of the external control device in the absolute coordinate system.
37. The method of claim 36, wherein converting the first angular velocity in the body coordinate system of the external control device to the second angular velocity in the absolute coordinate system comprises:
acquiring attitude information of the external control device;
determining a conversion relation of coordinate conversion between the body coordinate system and the absolute coordinate system according to the attitude information;
and obtaining the second angular velocity according to the conversion relation and the first angular velocity.
38. The method of claim 37, wherein the pose information comprises a pose quaternion, and wherein determining the transformation relationship between the body coordinate system and the absolute coordinate system for coordinate transformation based on the pose information comprises:
converting the attitude quaternion into an Euler angle;
and determining the conversion relation according to the Euler angle.
39. The method of claim 38, wherein said determining said transformational relationship based on said euler angles comprises:
setting an angle value corresponding to a yaw direction in the Euler angles to be 0;
and determining the conversion relation according to the angle value corresponding to the rolling direction, the angle value corresponding to the pitching direction and the angle value corresponding to the yawing direction in the Euler angles.
40. The method of claim 33, wherein said sending said angular velocity to said pan/tilt head comprises:
and sending the angular velocity to the holder through Bluetooth.
41. The method of claim 33, wherein the external control device is a mobile phone.
42. The method of claim 33, wherein the angular velocity detection sensor is a gyroscope.
43. The utility model provides an external controlling means, with cloud platform radio communication connection, its characterized in that, external controlling means includes:
an angular velocity detection sensor; and
a processor electrically coupled to the angular velocity detection sensor, the processor configured to:
acquiring the angular speed of the external control device through the angular speed detection sensor;
and sending the angular velocity to the cloud deck, so that the cloud deck controls the posture of the cloud deck according to the angular velocity.
44. The external control device according to claim 43, wherein the external control device includes an angular velocity detection sensor, and the angular velocity is a first angular velocity of the external control device in a body coordinate system of the external control device detected by the angular velocity detection sensor.
45. The external control device according to claim 43, wherein the angular velocity is a second angular velocity of the external control device in an absolute coordinate system.
46. The external control device according to claim 45, wherein the processor, when obtaining the angular velocity of the external control device, is further configured to:
acquiring a first angular speed of the external control device under a body coordinate system of the external control device;
and converting the first angular speed of the external control device in the body coordinate system into a second angular speed of the external control device in the absolute coordinate system.
47. The external control device as defined in claim 46, wherein the processor, in converting the first angular velocity in the body coordinate system of the external control device to the second angular velocity in the absolute coordinate system, is further configured to:
acquiring attitude information of the external control device;
determining a conversion relation of coordinate conversion between the body coordinate system and the absolute coordinate system according to the attitude information;
and obtaining the second angular velocity according to the conversion relation and the first angular velocity.
48. The external control device as defined in claim 47, wherein the attitude information includes an attitude quaternion, and the processor, when determining the transformation relationship between the body coordinate system and the absolute coordinate system for coordinate transformation based on the attitude information, is further configured to:
converting the attitude quaternion into an Euler angle;
and determining the conversion relation according to the Euler angle.
49. The external control device according to claim 48, wherein the processor, when determining the transfer relationship based on the Euler angles, is further configured to:
setting an angle value corresponding to a yaw direction in the Euler angles to be 0;
and determining the conversion relation according to the angle value corresponding to the rolling direction, the angle value corresponding to the pitching direction and the angle value corresponding to the yawing direction in the Euler angles.
50. The external control device of claim 43, wherein the processor, when sending the angular velocity to the cloud platform, is further configured to:
and sending the angular velocity to the holder through Bluetooth.
51. The external control device as defined in claim 43, wherein the external control device is a mobile phone.
52. The external control device as defined in claim 43, wherein the angular velocity detection sensor is a gyroscope.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| PCT/CN2019/095763 WO2021007697A1 (en) | 2019-07-12 | 2019-07-12 | Gimbal and control method and external control apparatus therefor |
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| CN112166396A true CN112166396A (en) | 2021-01-01 |
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| CN201980032146.5A Pending CN112166396A (en) | 2019-07-12 | 2019-07-12 | Cloud deck and control method and external control device thereof |
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| WO (1) | WO2021007697A1 (en) |
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