CN112334855A

CN112334855A - Method and device for calibrating holder system, holder system and computer readable medium

Info

Publication number: CN112334855A
Application number: CN201980039331.7A
Authority: CN
Inventors: 黄常建; 苏铁
Original assignee: SZ DJI Technology Co Ltd
Current assignee: SZ DJI Technology Co Ltd
Priority date: 2019-10-30
Filing date: 2019-10-30
Publication date: 2021-02-05
Also published as: WO2021081843A1

Abstract

A calibration method, device, cloud platform system and computer readable medium of cloud platform system, cloud platform system include cloud platform (1010), used for controlling the rocker (1020) of the cloud platform and used for measuring the attitude sensor (1030) of the attitude information of the cloud platform, the cloud platform includes the pivot mechanism and is used for driving the motor that the pivot mechanism rotates. The holder system calibration method comprises the following steps: entering a calibration mode (S310); respectively calibrating the rocker, the motor and the attitude sensor (S320); judging whether the rocker, the motor and the attitude sensor are calibrated successfully (S330); if the rocker, the motor and the attitude sensor are calibrated successfully, the cradle head system is judged to be calibrated successfully, and the calibration mode is exited (S340). According to the method, the three items of the rocker, the motor and the attitude sensor of the holder system can be calibrated during each calibration, a user does not need to calibrate each item independently, multiple times of complicated calibration operations are reduced, and the user experience is improved.

Description

Method and device for calibrating holder system, holder system and computer readable medium

Technical Field

The invention relates to the technical field of cloud platforms, in particular to a calibration method and device of a cloud platform system, the cloud platform system and a computer readable medium.

Background

The holder is a system for increasing stability of the load. The fixed shooting equipment of cloud platform uses, can increase for shooting equipment and stabilize, even can also shoot stable smooth picture under the motion condition, therefore more and more people use the cloud platform to record the image.

The holder system may need to calibrate a plurality of parts in the using process, but the current holder system can only calibrate each part singly and independently when calibrating, so that the problems of complicated calibration and multiple times of calibration can occur if more than two problems occur in the using process, the use and the operation of a user are not facilitated, and the user experience is poor.

Disclosure of Invention

In this summary, concepts in a simplified form are introduced that are further described in the detailed description. This summary of the invention is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.

In view of the defects of the prior art, a first aspect of an embodiment of the present invention provides a calibration method for a pan/tilt head system, where the pan/tilt head system includes a pan/tilt head, a rocker for controlling the pan/tilt head, and an attitude sensor for measuring attitude information of the pan/tilt head, the pan/tilt head includes a rotating shaft mechanism and a motor for driving the rotating shaft mechanism to rotate, and the method includes:

entering a calibration mode;

calibrating the rocker, the motor and the attitude sensor respectively;

judging whether the rocker, the motor and the attitude sensor are calibrated successfully or not;

and if the rocker, the motor and the attitude sensor are calibrated successfully, judging that the cradle head system is calibrated successfully, and exiting the calibration mode.

The second aspect of the embodiments of the present invention provides a method for calibrating a joystick, where the method includes:

acquiring first position information of a preset position of the rocker in a set coordinate system;

determining a first deviation between the first position information and second position information of a reference position of the preset position in the set coordinate system;

and adjusting the set coordinate system according to the first deviation so that the reference position in the adjusted set coordinate system approaches to the preset position.

A third aspect of embodiments of the present invention provides a calibration apparatus for a pan/tilt head system, where the pan/tilt head system includes a pan/tilt head, a rocker for controlling the pan/tilt head, and an attitude sensor for measuring attitude information of the pan/tilt head, the pan/tilt head includes a rotating shaft mechanism and a motor for driving the rotating shaft mechanism to rotate, the calibration apparatus includes a memory and a processor, where,

the memory is used for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, to implement: entering a calibration mode;

calibrating the rocker, the motor and the attitude sensor respectively;

In a fourth aspect, an embodiment of the present invention provides a calibration apparatus for a joystick, including a memory and a processor, wherein,

the memory is used for storing a computer program;

the processor is configured to execute the computer program and, when executing the computer program, to implement:

A fifth aspect of an embodiment of the present invention provides a pan/tilt head system, including: the holder comprises a rotating shaft mechanism and a motor for driving the rotating shaft mechanism to rotate; the rocker is used for controlling the holder; an attitude sensor for measuring attitude information of the pan/tilt head, and a calibration apparatus of a pan/tilt head system provided in the third aspect of the embodiment of the present invention.

A sixth aspect of an embodiment of the present invention provides a pan/tilt head system, including: a holder; the rocker is used for controlling the holder; and the rocker calibrating device provided by the fourth aspect of the embodiment of the invention.

A seventh aspect of the embodiments of the present invention provides a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the calibration method for a pan/tilt head system provided in the first aspect of the embodiments of the present invention.

An eighth aspect of the embodiments of the present invention provides a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the method for calibrating a joystick provided by the second aspect of the embodiments of the present invention.

According to the calibration method, the calibration device, the holder system and the computer readable medium of the holder system, the three items of the rocker, the motor and the attitude sensor of the holder system can be calibrated at each time of calibration, a user does not need to calibrate each item independently, multiple times of complicated calibration operations are reduced, and the user experience is improved.

Drawings

The following drawings of the invention are included to provide a further understanding of the invention. The drawings illustrate embodiments of the invention and, together with the description, serve to explain the principles of the invention.

In the drawings:

fig. 1 shows a schematic structural diagram of a pan-tilt system according to an embodiment of the present invention;

fig. 2 shows a functional diagram of a pan-tilt system according to an embodiment of the present invention;

fig. 3 shows a flow chart of a calibration method of a pan-tilt system according to an embodiment of the invention;

fig. 4 shows a flow chart of the calibration of the rocker in the calibration method of the head system according to an embodiment of the invention;

fig. 5 shows a flow chart of the calibration of the attitude sensor in the calibration method of the pan-tilt system according to an embodiment of the invention;

fig. 6 shows a flow chart of the calibration of the motor in the calibration method of the pan-tilt system according to an embodiment of the invention;

FIG. 7 shows a flow chart of a method of calibrating a rocker according to an embodiment of the invention;

fig. 8 shows a block diagram of a calibration device of a pan-tilt system according to an embodiment of the invention;

FIG. 9 is a block diagram illustrating a rocker alignment apparatus according to an embodiment of the present invention;

fig. 10 shows a block diagram of a pan-tilt system according to an embodiment of the present invention;

fig. 11 shows a block diagram of a cradle head system according to another embodiment of the present invention.

Detailed Description

In order to make the objects, technical solutions and advantages of the present invention more apparent, exemplary embodiments according to the present invention will be described in detail below with reference to the accompanying drawings. It is to be understood that the described embodiments are merely a subset of embodiments of the invention and not all embodiments of the invention, with the understanding that the invention is not limited to the example embodiments described herein. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the invention described herein without inventive step, shall fall within the scope of protection of the invention.

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these specific details. In other instances, well-known features have not been described in order to avoid obscuring the invention.

It is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises" and/or "comprising," when used in this specification, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. As used herein, the term "and/or" includes any and all combinations of the associated listed items.

In order to provide a thorough understanding of the present invention, detailed steps and detailed structures will be set forth in the following description in order to explain the present invention. The following detailed description of the preferred embodiments of the invention, however, the invention is capable of other embodiments in addition to those detailed.

The technology of the embodiment of the invention is mainly used for the holder. The holder may be a support device for mounting and fixing the photographing calibration apparatus. The cloud platform of this application embodiment can be handheld cloud platform, and perhaps, the cloud platform also can set up on movable platform, for example unmanned aerial vehicle or car etc.. The following describes a calibration method of a pan/tilt head system, a calibration method of a rocker, a calibration device of a pan/tilt head system, a calibration device of a rocker, a pan/tilt head system, and a computer-readable storage medium according to the present application in detail with reference to the accompanying drawings. The features of the following examples and embodiments may be combined with each other without conflict.

The pan-tilt system of the embodiment of the invention can be a handheld pan-tilt system, but is not limited to a handheld pan-tilt system, for example, the pan-tilt system can also include a pan-tilt system mounted on a mobile platform (such as but not limited to an unmanned aerial vehicle, a mobile robot, an unmanned ship, etc.). The holder system comprises a holder, a rocker for controlling the holder and an attitude sensor for measuring attitude information of the holder. The holder comprises a rotating shaft mechanism and a motor used for driving the rotating shaft mechanism to rotate. The pan-tilt according to the embodiment of the present invention may be a two-axis pan-tilt or a three-axis pan-tilt, and the following first describes the pan-tilt system according to an embodiment of the present invention with reference to fig. 1 by taking a three-axis pan-tilt as an example.

As shown in fig. 1, the pan/tilt head system 100 includes a pan/tilt head 110, and the pan/tilt head 110 further includes: a pitch axis assembly including a pitch axis motor 113-1 and a pitch axis mechanism 113-2; a roll shaft assembly comprising a roll shaft motor 112-1 and a roll shaft mechanism 112-2; and a yaw axis assembly including a yaw (yaw) axis motor 111-1 and a yaw axis mechanism 111-2. Wherein, the pitch axis motor 113-1 is used for driving the movement of the pitch axis mechanism 113-2, the roll axis motor 112-1 is used for driving the movement of the roll axis mechanism 112-2, and the yaw axis motor 111-1 is used for driving the movement of the yaw axis mechanism 111-2.

In one embodiment, a fixing member 115, a sliding member including a slider 116 and a support plate 117, which is disposed on the fixing member 115, a lens holder 118 disposed on the support plate 117, and a positioning member 114 disposed on the other side of the tilt shaft mechanism 113-2 are connected to one side of the tilt shaft mechanism 113-2. The sliding component can slide relative to the fixed component 115, and the shooting device is arranged on the sliding component. The positioning component 114 can rotate relative to the pitch axis mechanism 113-2, and the positioning component 114 includes a rotating arm 114a that can rotate relative to the pitch axis mechanism 113-2 and an engaging portion 114b that can slide relative to the rotating arm 114a and can engage with the shooting device.

An attitude sensor, such as an Inertial Measurement Unit (IMU) or an angle sensor, may be disposed within the fixed component 115. The inertial measurement unit includes at least one of an accelerometer or a gyroscope, and may be used to measure the attitude, acceleration, etc. of the capture device, or the IMU may be disposed in the positioning assembly 114.

It should be understood that pan/tilt head 110 may include only one or two pivot assemblies. In addition, although FIG. 1 shows the yaw axle assembly coupled to one end of the roll axle assembly and the other end of the roll axle assembly coupled to the pitch axle assembly, embodiments of the present application are not limited thereto and the yaw axle assembly, the roll axle assembly, and the pitch axle assembly may be coupled in other sequences.

A support body is provided below the head 110, and illustratively includes an input part 120 connected to the head 110 and a hand-held member 130 detachably mounted to the input part 120.

The input unit 120 may be used to input an operation instruction of the pan/tilt head 110 by a user. Exemplarily, the input part 120 may include a calibration trigger key 121. The input 120 may also include a rocker 122. The rocker 122 is an active control device of the pan/tilt head, and is pushed by an external force to change the position of the rocker, so that the position is input into a controller of the control device, thereby controlling the pan/tilt head. The rocker generally includes a base, a rotating seat disposed on the base, and an operating lever disposed on the rotating seat, and a user rotates the operating lever and the rotating seat relative to the base by toggling the operating lever. It should be noted that the rocker 122 is not necessarily disposed on the support body of the pan/tilt head, but may be implemented in an external form.

The input 120 may also have other components or parts, for example, may have a switch of a pan-tilt system, etc. An IMU may also be provided in the input 120, which IMU may be used to measure attitude, acceleration, etc. of the input.

The input unit 120 may be provided with a processor for processing an input control command, transmitting and receiving a signal, and the like. Of course, the processor may also be disposed in the hand-held member 130.

Alternatively, the Processor may be a Central Processing Unit (CPU), and the Processor may be other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The processor may communicate with a terminal device, and the user may control the cradle head through an Application (APP) on the terminal device, for example, to cause the cradle head to enter a calibration mode.

The handheld member 130 is detachably connected to the input portion 120, the handheld member 130 may be a bracelet or a handle, and the like, and a switch of the pan-tilt-zoom system may be disposed on the handheld member 130. The handheld member 130 may also be equipped with an IMU for measuring the attitude, acceleration, etc. of the handheld member. A battery for supplying power to the holder system is arranged in the hand-held component 130. When the hand-held member 130 is mechanically connected to the input part 120, it is also electrically connected.

The above exemplarily describes the pan and tilt head system according to the embodiment of the present invention. The operating principle of the head system is described below with reference to fig. 2. As shown in fig. 2, the pan-tilt system forms a closed-loop control system by using the attitude sensor as a feedback device and the motor as an output element. In the closed-loop control system, the control quantity is the attitude of the holder, namely a target attitude (rocker value) is given, and the measured attitude is realized through feedback control to reach the target attitude.

With reference to fig. 3 to 6, a calibration method of a pan/tilt head system according to an embodiment of the present invention is described below. Fig. 3 shows a flow chart of a calibration method 300 of a pan-tilt-head system according to an embodiment of the invention. As shown in fig. 3, the method 300 includes the steps of:

first, in step S310, enter a calibration mode;

in step S320, calibrating the joystick, the motor, and the attitude sensor, respectively;

in step S330, it is determined whether the rocker, the motor, and the attitude sensor are successfully calibrated;

in step S340, if the rocker, the motor, and the attitude sensor are calibrated successfully, it is determined that the pan-tilt system is calibrated successfully, and the calibration mode is exited.

When the existing holder system is calibrated, the rocker, the motor and the attitude sensor are calibrated independently. When the pan/tilt head is shifted, the user is likely to be unable to determine which of the stick, motor, or attitude sensor is problematic, and thus the stick, motor, and attitude sensor have to be calibrated one by one. For example, in the actual use process, the return-to-center zero offset of the rocker or the offset of the attitude sensor both cause the rotating shaft mechanism of the pan/tilt head to drift in the static state, but a user cannot know which cause causes the rotating shaft mechanism to drift, so that the user has to perform rocker calibration and attitude sensor calibration one by one until the offset is eliminated, that is, the user has to complete multiple calibration operations, which results in complicated operation. Furthermore, the multiple independent calibration modes can also result in a relatively complex combination of keys or application options on the client that turn on the calibration mode. In contrast, according to the calibration method 300 of the pan/tilt system in the embodiment of the present invention, after entering the calibration mode, the calibration of the rocker, the motor, and the attitude sensor of the pan/tilt system can be simultaneously completed, and a user does not need to calibrate each item individually, so that a plurality of tedious calibration operations are reduced, and the user experience is improved.

Specifically, in step S310, the calibration mode may be entered upon receiving an instruction of a user to start calibration. As an example, when the processor of the pan/tilt head system receives a calibration command sent by the client, the calibration mode is entered. As another example, the pan-tilt system is brought into the calibration mode when a calibration action entered on the support body of the pan-tilt is detected, for example when the user presses a calibration key on the pan-tilt input 120. The user can be in discovery cloud platform have the skew phenomenon or dismantle again and change the shooting device after to calibrate cloud platform system. Of course, the user may calibrate the pan/tilt head system at any time.

In the calibration mode, the control channel of the rocker to the pan-tilt can be closed to avoid interference to calibration. For example, in the calibration mode, the rocker may be locked, or communication between the rocker and the pan/tilt head system control unit may be cut off.

After entering the calibration mode, executing step S320, and respectively calibrating a rocker, a motor and an attitude sensor of the pan-tilt system; and step S330, judging whether the rocker, the motor and the attitude sensor are successfully calibrated. Step S320 and step S330 may be performed alternately, that is, after each of the rocker, the motor and the attitude sensor of the pan/tilt system is calibrated, whether the corresponding calibration item is calibrated successfully is determined. Next, in step S340, if the rocker, the motor, and the attitude sensor are all calibrated successfully, it is determined that the pan/tilt system is calibrated successfully, and the calibration mode is exited. At this point, a prompt may be generated to the user to prompt the user that the calibration was successful, including, without limitation, a voice prompt, a light prompt, or a prompt on the client.

In one embodiment, if at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, the cradle head system is judged to be failed in calibration, and the calibration mode is exited. Another possible case of calibration failure is: and if the calibration of the holder system is not finished within a first preset time period, exiting the calibration mode. That is to say, the overall calibration time of the holder system is recorded, if the overall calibration time exceeds a first preset time period, it indicates that the calibration fails, at this time, the calibration is stopped, and the calibration mode is exited. When the calibration fails, prompt information can be generated to the user to prompt the user that the calibration fails.

In another embodiment, if at least one of the joystick, the motor, and the attitude sensor is not successfully calibrated, the calibration of the joystick, the motor, and the attitude sensor may be repeated until the joystick, the motor, and the attitude sensor are successfully calibrated.

Further, in order to improve the calibration efficiency, the calibration result may be saved at each calibration failure, for example, recording the success or failure of each of the above three calibration items. And when the rocker, the motor and the attitude sensor are repeatedly calibrated, repeatedly calibrating the item with calibration failure in the three items according to the calibration result of each item in the rocker, the motor and the attitude sensor in the last calibration.

Further, in order to avoid the calibration from entering the dead loop, a time threshold may be set for the calibration time, and the calibration may be stopped if the time threshold is exceeded. In one implementation, a time threshold, denoted as a first threshold, may be set separately for each calibration item. Namely, if at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, the rocker, the motor and the attitude sensor are repeatedly calibrated until the calibration time of at least one of the rocker, the motor and the attitude sensor exceeds a first threshold value, and if the calibration is not successful, the calibration is stopped.

In another implementation, a time threshold, denoted as a second threshold, may be set for the total calibration time. If at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, the rocker, the motor and the attitude sensor are repeatedly calibrated until the total calibration time of the rocker, the motor and the attitude sensor exceeds a second threshold value, and if the calibration is still not successful, the calibration is stopped.

When one of the rocker, the attitude sensor and the motor fails to be calibrated repeatedly, the fault of the one item can be indicated. Therefore, the times of calibration failure of the rocker, the motor and the attitude sensor can be counted respectively, and if the times exceed the preset times, prompt information is generated for a user to prompt the user that the item possibly has a fault, so that the user can find and solve the problem in time.

Next, referring to fig. 4 to 6, the calibration of the joystick, the motor, and the attitude sensor according to the embodiment of the present invention will be described, respectively.

The inertial measurement element, especially the accelerometer, in the attitude sensor is very sensitive to the vibration of the cradle head body, and the acceleration direction can deviate due to slight disturbance, and the cradle head can vibrate when the motor is calibrated, so that the motor and the attitude sensor are calibrated at different moments respectively. Thus, in one implementation, the motor and the attitude sensor are calibrated in a predetermined sequence, such as calibrating the motor and then calibrating the attitude sensor, or calibrating the attitude sensor and then calibrating the motor.

As for the calibration of the rocker, the calibration can be carried out synchronously with the calibration of the motor or the attitude sensor, and the calibration of the rocker, the motor and the attitude sensor can also be carried out in sequence according to a preset sequence. Because the calibration of rocker can not influence the calibration of motor and attitude sensor, therefore can calibrate the rocker at last, calibration order can be in proper order motor, attitude sensor and rocker carry out the calibration promptly.

First, the calibration of the rocker according to one embodiment of the present invention will be explained with reference to fig. 4.

As shown in fig. 4, the calibration of the joystick comprises the following steps:

in step S410, first position information of a preset position of the joystick in a set coordinate system is obtained;

in step S420, determining a first deviation between the first position information and second position information of a reference position of the preset position in the set coordinate system;

in step S430, the set coordinate system is adjusted according to the first deviation, so that the reference position in the adjusted set coordinate system approaches the preset position.

The set coordinate system is a coordinate system of the rocker, and the coordinate system is established according to the direction of the rocker and the return-to-center position of the rocker, namely the coordinate system established by taking the return-to-center position of the rocker as a coordinate origin. But the current return position of the joystick may be offset from the return position when the coordinate system is established.

In one embodiment, the neutral position of the rocker is used as the predetermined position, i.e. the position in which the rocker is in the zero position. When the preset position is the centering position of the joystick, the reference position in the set coordinate system may be the origin of the set coordinate system, and the second position information in step S420 is the coordinates of the origin of the coordinate system. The adoption of the centering position as the preset position is easier for calculation and practical operation.

In step S410, position information of the preset position of the joystick in the currently adopted set coordinate system, such as coordinates of the centering position of the joystick in the currently adopted set coordinate system (i.e., a median of the joystick) is first determined. In the ideal case, where there is no deviation, the neutral position of the joystick should coincide with the origin of coordinates in the current coordinate system. The first deviation between the first position information and the second position information obtained in step S420 is the deviation between the actual coordinates and the coordinate position of the joystick in the current set coordinate system.

Then, in step S430, the set coordinate system is adjusted according to the first deviation, so that the reference position in the adjusted set coordinate system approaches to the preset position. Continuing to take the preset position as the neutral position of the joystick as an example, in step S430, the set coordinate system is adjusted to make the origin of coordinates in the adjusted set coordinate system approach the neutral position of the joystick.

As described above, the adjustment target for the set coordinate system is to make the reference position approach the preset position, but there may be a slight deviation therebetween. Therefore, after the first deviation is acquired in step S420, it is first determined whether the first deviation is greater than a preset deviation. If the first deviation is greater than the preset deviation, executing step S430 to adjust the set coordinate system; if the first deviation is less than or equal to the preset deviation, the default rocker is successfully calibrated. If the first deviation is greater than the preset deviation, triggering and executing the step of adjusting the set coordinate system according to the first deviation so as to enable the reference position in the adjusted set coordinate system to approach the preset position; if the first deviation is not larger than the preset deviation, the rocker is directly defaulted to be successfully calibrated without adjusting a set coordinate system.

After the calibration of the joystick is performed through the above steps S410 to S430, step S330 may be performed to determine whether the calibration of the joystick is successful. In one embodiment, the determining whether the calibration of the joystick is successful according to the position information of the preset position in the set coordinate system specifically includes: judging whether the third position information of the preset position of the rocker in the adjusted set coordinate system passes the first validity verification or not; and if so, determining that the rocker is successfully calibrated.

For example, the determining whether the third location information of the preset location in the adjusted set coordinate system passes the first validity verification includes: acquiring third position information of the preset position in the adjusted set coordinate system within a second preset time period; determining a second deviation between the third position information and fourth position information of the reference position in the adjusted set coordinate system; and if the second deviation fluctuates within a preset range, determining that third position information of the preset position in the adjusted set coordinate system passes first validity verification.

Continuing to take the preset position as the return-to-center position of the rocker as an example, the third position information may be an actual coordinate of the return-to-center position of the rocker in the adjusted coordinate system; the fourth position information may be the origin of coordinates of the adjusted coordinate system, and the deviation of the actual coordinates from the origin of coordinates is the second deviation. If the second deviation does not exceed the preset range within a preset second preset time period, the adjusted coordinate system can be determined to pass the first validity verification, namely the rocker is successfully calibrated. It should be noted that the definition of the preset time period in the first validity verification process as the "second preset time period" is to distinguish from the "first preset time period" in the foregoing, and is not intended to limit any specific time length.

In one implementation manner, third position information of a plurality of preset positions and fourth position information of a reference position may be collected within a second preset time period to be compared, a plurality of second deviations are obtained, and if none of the plurality of second deviations exceeds a preset range, it is determined that the third position information passes through the first validity verification. In another implementation, third position information of the preset position acquired in a second preset time period may also be subjected to fusion processing, for example, an average value is obtained for a plurality of third positions, so as to obtain fusion position information, the fusion position information is compared with fourth position information of the reference position, so as to obtain a second deviation, and if the second deviation is smaller than a certain threshold, it is determined that the third position information passes the first validity verification.

If the rocker receives interference in the first validity verification process, for example, the user touches the rocker by mistake, the second deviation acquired may be too large, and the first validity verification time is caused. Therefore, in an embodiment, if the second deviation exceeds a preset interference determination threshold, it is determined that the joystick is interfered by the outside, and fifth position information of the preset position in the adjusted set coordinate system within the second preset time period is collected again to perform the first validity verification. Wherein the interference determination threshold is greater than the preset range.

Further, if it is determined that the rocker is interfered by the outside, the fifth information of the preset position in the adjusted set coordinate system within the second preset time period may be collected again after waiting for the preset time period, and the first validity verification may be performed again. Therefore, the interference can be reduced by collecting the position information of the rocker again after the interference is finished.

The calibration of the rocker is described above in connection with fig. 4. Next, calibration of the attitude sensor according to an embodiment of the present invention is explained with reference to fig. 5.

Wherein, the attitude sensor is a feedback element of the holder. Specifically, when the cradle head is controlled, the attitude sensor is a feedback element, the driving motor of each shaft of the cradle head is an output element to control the attitude of the cradle head, the controlled variable is the attitude of the cradle head, and the current attitude of the cradle head is corrected to the target attitude through feedback control by giving a target attitude, so that the cradle head approaches from the current attitude to the target attitude.

The attitude sensor mainly includes an Inertial Measurement Unit (IMU) and an angle sensor, among others. The inertia measurement unit mainly comprises a gyroscope and an accelerometer, the gyroscope can measure the rotating angular velocity of each axis of the holder, the accelerometer can measure the linear acceleration of the holder moving along each axis, the processor performs integral operation on the angular velocity signals measured by the gyroscope to time to calculate attitude information such as instantaneous movement direction, inclination angle and the like, and the acceleration signals measured by the accelerometer are used for performing integral operation to time to calculate the velocity information of the holder.

When the gyroscope is used for data measurement, the measured attitude information is inaccurate due to drift of the gyroscope, so that the accelerometer is used for giving a pan-tilt attitude reference, the current attitude of the pan-tilt obtained by angular velocity integral measured by the gyroscope is corrected, namely, the accelerometer is used for calibrating the gyroscope, and finally, more accurate pan-tilt attitude information is obtained. After the calibration is finished, if the gyroscope is successfully calibrated, the attitude sensor can be successfully calibrated.

In one embodiment, the step of calibrating the gyroscope based on the accelerometer comprises:

in step S510, a first posture of the pan/tilt head is obtained based on the accelerometer, and a second posture of the pan/tilt head is obtained based on fusion of the gyroscope and the accelerometer;

determining a first pose deviation between the first pose and the second pose at step S520;

in step S530, the gyroscope is calibrated according to the first attitude deviation, so that the attitude deviation is not greater than a first preset threshold.

In step S510, the first posture and the second posture are obtained synchronously, that is, during the calibration process, the accelerometer and the gyroscope synchronously collect data, and determine the first posture of the pan/tilt head based on the data collected by the accelerometer, and fuse the data collected by the gyroscope and the accelerometer to obtain the second posture of the pan/tilt head. The first posture and the second posture may have various expressions, such as quaternion, euler angle, matrix, etc., and are not particularly limited herein.

The gyroscope detects the angular speed information of the tripod head body, has high response speed, and can be subjected to integral interference and integral drift caused by the drift of the zero point along with the temperature. After the gyroscope detects the angular velocities of the three axes of the body coordinate system, the real-time attitude can be simply and quickly calculated by utilizing an integral method. Taking a three-axis pan-tilt as an example, the attitude obtained by the gyroscope includes a pitch attitude component, a roll attitude component, and a yaw attitude component.

The accelerometer detects acceleration information along the direction of an input shaft of the accelerometer, when an included angle theta exists between the input shaft of the accelerometer and the horizontal direction, a projection component gsin theta appears in the direction of the input shaft of the accelerometer due to gravity acceleration g, at the moment, the accelerometer has output data, and the acceleration input by the accelerometer is obtained according to the output data. Since the yaw angle is orthogonal to the direction of gravity, the accelerometer cannot measure the yaw angle, and therefore cannot correct the yaw attitude component of the gyroscope. Therefore, the first attitude deviation in the present embodiment is calculated based on the pitch attitude component and the roll attitude component in the first attitude and the second attitude.

After the first posture and the second posture are obtained, in step S520, a deviation between the two is calculated. Since the first attitude is from the measurement data of the accelerometer and the second attitude is from the fusion of the measurement data of the accelerometer and the gyroscope, the deviation is known to be from the measurement data of the gyroscope.

In step S530, a closed-loop control strategy may be adopted to correct the attitude information measured by the gyroscope according to the first attitude deviation between the first attitude and the second attitude, so as to perform drift compensation on the gyroscope. Then, judging whether the acquired information of the gyroscope after the drift compensation passes second validity verification; and if so, determining that the gyroscope is successfully calibrated.

Wherein, specifically, the attitude measured by the gyroscope may be corrected according to the first attitude deviation by using at least one of extended kalman filtering, complementary filtering, or smooth filtering. Specifically, the first attitude and the second attitude are compared to obtain a small-angle error between the first attitude and the second attitude, Kalman filtering estimation is performed on the small-angle error, and measurement attitude data of the gyroscope is corrected through the Kalman filtering estimation, so that drift compensation is performed on the gyroscope.

Due to the adoption of the closed-loop control strategy, the magnitude of the second attitude deviation obtained after the drift compensation of the gyroscope is continuously verified in the process of compensating the drift of the gyroscope, and the attitude data of the gyroscope is continuously corrected. That is, the drift compensation and the second validity verification are performed alternately. Wherein the second attitude deviation is obtained according to a third attitude and a fourth attitude of the pan/tilt head, and the third attitude is obtained based on the accelerometer and is similar to the first attitude above; the fourth posture is obtained based on the fusion of the gyroscope and the accelerometer, and is similar to the second posture in the above. And in the continuous correction process, if the second attitude deviation is not greater than the first preset threshold, determining that the acquired information of the gyroscope after the drift compensation passes second validity verification.

In one embodiment, prior to calibrating the gyroscope, it is first determined whether the gyroscope requires calibration. If the gyroscope does not need to be calibrated, the success of calibration can be directly defaulted. Specifically, before the gyroscope is calibrated according to the first attitude deviation, whether the first attitude deviation is greater than a first preset threshold value is judged. If the first attitude deviation is greater than the first threshold, triggering to execute step S530; and if the first attitude deviation is not greater than the first preset threshold value, the gyroscope is calibrated successfully by default.

In one embodiment, in the process of calibrating the attitude sensor, if it is detected that the cradle head is interfered by the outside world, accurate attitude information cannot be obtained, so that the calibration is stopped at this time, and the calibration mode is exited.

As an example, if it is detected that the attitude deviation of the pan/tilt head at two adjacent moments exceeds the predetermined range, that is, the attitude of the pan/tilt head is changed too much, it may be considered that the pan/tilt head is interfered by the outside, for example, by a user's mistake. Specifically, detecting that the cradle head is interfered by the outside includes: acquiring a fifth posture of the holder at a first moment; acquiring a sixth posture of the holder at a second moment, wherein the second moment is later than the first moment, and the fifth posture and the sixth posture are determined according to the same method, such as both determined by a gyroscope or both determined by an accelerometer; and if the sixth posture exceeds the deviation range of the fifth posture, detecting that the cradle head is interfered by the outside.

When calculating whether the deviation between the sixth posture and the fifth posture exceeds a predetermined range, it may be calculated whether the deviation between the pitch posture component and the roll posture component of the sixth posture and the fifth posture is within a certain deviation range.

Next, a calibration method of the motor according to an embodiment of the present invention is explained with reference to fig. 6. As shown in fig. 6, calibrating the motor includes:

in step S610, measuring an angular velocity of the motor according to a given target torque for a predetermined period of time;

in step S620, determining a rotational inertia of the motor according to the target moment and the angular velocity;

in step S630, the force of the motor is adjusted to a preset force corresponding to the rotational inertia.

As an example, referring to fig. 1, the head includes a pitch (pitch) axis motor 113-1 and a pitch axis mechanism 113-2, a roll (roll) axis motor 112-1 and a roll axis mechanism 112-2, and a yaw (yaw) axis motor 111-1 and a yaw axis mechanism 111-2. The pitch axis motor 113-1 is used for driving the pitch axis mechanism 113-2 to move, the roll axis motor 112-1 is used for driving the roll axis mechanism 112-2 to move, the yaw axis motor 111-1 is used for driving the yaw axis mechanism 111-2 to move, and the pitch axis mechanism 113-2 is used for supporting the shooting device. In the embodiment of the present invention, the pitch axis motor, the roll axis motor, and the yaw axis motor are sequentially calibrated according to a preset sequence, and steps S610 to S630 are steps of calibrating any one of the axis motors.

Specifically, in step S610, a target torque is given, the motor is electrically rotated, and the angular velocities of the motor at a plurality of frequency points are measured, within a predetermined time period. As an example, the preset time period may be 5-6 seconds; the frequency of the motor is gradually increased, for example from 10Hz to 100Hz, during a preset time period. The angular velocity of the motor at a plurality of frequency points within the frequency range may be collected by a gyroscope.

In step S620, the angular velocity at each frequency point is differentiated to obtain the angular acceleration at each frequency point. And then, obtaining a rotational inertia according to the ratio of the target moment to the angular acceleration, wherein the rotational inertia is related to the weight of the load.

Finally, in step S630, the force of the motor is adjusted to a preset force corresponding to the rotational inertia. Since the moment of inertia is related to the weight of the load, the predetermined force corresponding to the moment of inertia matches the weight of the load. Therefore, the force of the calibrated motor is adapted to the weight of the current load.

Since the motor may have a resonance mode at a certain frequency point, a filter may be further provided to perform filtering during the calibration of the motor in the above manner to avoid resonance.

Specifically, the ratio of the angular velocity to the target torque at each of the frequency points may be calculated; and when the ratio of the angular velocity to the target moment at a certain frequency point is greater than a preset threshold value, judging that the frequency point is a resonance frequency point. By providing a filter for filtering at the resonance frequency point, resonance can be avoided. For example, assuming that the ratio of the angular velocity to the target moment is detected to be greater than a preset threshold value at the frequency point of 70Hz, the filter is set to filter at the frequency point of 70 Hz.

For example, by setting the parameters of the filter, the filter can be made to filter out the component having the resonance frequency in the torque command of the motor when the motor is running. The parameters of the filter may include a depth (i.e., a peak value of a resonance frequency point), a width (i.e., a range of the resonance frequency), and a frequency of the resonance frequency point, and in particular, the filtering may be achieved by adjusting the depth, the width, and the frequency.

In one embodiment, after the motor is calibrated by the method, the motor calibration can be defaulted to be successful without additional verification.

As mentioned above, since the calibration of the pan/tilt head system should preferably be performed in a stationary state, in one embodiment, after entering the calibration mode, it is first determined whether the pan/tilt head and the swing arm are currently in a stationary state. If the holder and the rocker are determined to be in the static state at present, triggering and executing the step S320; if at least one of the cradle head and the rocker is judged not to be in a static state at present, the calibration mode can be directly quitted, or a user is prompted to keep the cradle head and the rocker static.

Illustratively, the step of determining whether the joystick is currently in a stationary state includes: firstly, collecting second position information of the current position of the rocker in a set coordinate system in a third time period; and if the second position information indicates that the current position of the rocker is within a preset position range, determining that the rocker is in a static state currently. That is, when the current position of the rocker is almost unchanged or slightly changed for a long time, the rocker can be considered to be in a stationary state in front of the rocker.

Judging whether the cradle head is currently in the static state may be specifically realized by judging whether a support main body of the cradle head is currently in the static state, and as long as the deviation is within a predetermined range, it may be considered as being in the static state. Illustratively, a seventh posture of the support body of the pan/tilt head at the third moment is acquired; acquiring an eighth posture of the support main body of the holder at a fourth time, wherein the fourth time is later than the third time, and the seventh posture and the eighth posture are determined according to the same method; and if the eighth posture does not exceed the deviation range of the seventh posture, determining that the holder is in a static state currently. Wherein the seventh pose and the eighth pose may be represented by Euler angles.

After the calibration is successful, the corrected data of the rocker, the motor and the attitude sensor after the calibration can be stored. The corrected data may include the corrected set coordinate system, the adjusted motor force, or the corrected output attitude of the gyroscope, etc. as described above.

Based on the above description, the calibration method of the pan/tilt system according to the embodiment of the invention can complete the calibration of the rocker, the motor and the attitude sensor of the pan/tilt system at each calibration, and a user does not need to calibrate each item independently, thereby reducing multiple tedious calibration operations and improving user experience.

Next, a method for calibrating a joystick according to an embodiment of the present invention will be described with reference to fig. 7. The rocker may be a rocker of the pan/tilt head system as described above, or a rocker for operating other devices, for example, a rocker for operating an unmanned aerial vehicle or a remote control platform vehicle. FIG. 7 shows a flow diagram of a method 700 for calibration of a rocker according to one embodiment of the invention. As shown in fig. 7, the method 700 includes the steps of:

in step S710, first position information of a preset position of the joystick in a set coordinate system is obtained;

in step S720, determining a first deviation between the first position information and second position information of the reference position of the preset position in the set coordinate system;

in step S730, the set coordinate system is adjusted according to the first deviation, so that the reference position in the adjusted set coordinate system approaches to the preset position.

In one embodiment, the neutral position of the rocker is used as the predetermined position, i.e. the position in which the rocker is in the zero position. When the preset position is the centering position of the joystick, the reference position in the set coordinate system may be the origin of the set coordinate system, and the second position information in step S720 is the coordinates of the origin of the coordinate system. The adoption of the centering position as the preset position is easier for calculation and practical operation.

In step S710, position information of the preset position of the joystick in the currently adopted set coordinate system, such as coordinates of the centering position of the joystick in the currently adopted set coordinate system (i.e., a median of the joystick), is first determined. In the ideal case, where there is no deviation, the neutral position of the joystick should coincide with the origin of coordinates in the current coordinate system. The first deviation between the first position information and the second position information obtained in step S720 is the deviation between the actual coordinates and the coordinate position of the joystick in the current set coordinate system.

Then, in step S730, the set coordinate system is adjusted according to the first deviation, so that the reference position in the adjusted set coordinate system approaches to the preset position. Continuing to take the preset position as the neutral position of the joystick as an example, in step S730, the origin of coordinates in the adjusted set coordinate system is made to approach the neutral position of the joystick by adjusting the set coordinate system.

As described above, the adjustment target for the set coordinate system is to make the reference position approach the preset position, but there may be a slight deviation therebetween. Therefore, after the first deviation is acquired in step S720, it is first determined whether the first deviation is greater than a preset deviation. If the first deviation is greater than the predetermined deviation, step S440 is executed, otherwise the default rocker calibration is successful. If the first deviation is greater than the preset deviation, triggering and executing the step of adjusting the set coordinate system according to the first deviation so as to enable the reference position in the adjusted set coordinate system to approach the preset position; if the first deviation is not larger than the preset deviation, the rocker is determined to be successfully calibrated.

After the calibration of the joystick is performed through the above steps S710 to S730, it can be determined whether the calibration of the joystick is successful. In one embodiment, the determining whether the calibration of the joystick is successful according to the position information of the preset position in the set coordinate system specifically includes: judging whether the third position information of the preset position of the rocker in the adjusted set coordinate system passes the first validity verification or not; and if so, determining that the rocker is successfully calibrated.

In one implementation, third position information of a plurality of preset positions can be collected within a second preset time period, fourth position information of reference positions is compared to obtain a plurality of second deviations, and if the plurality of second deviations do not exceed a preset range, it is determined that the third position information passes through the first validity verification. In another implementation, third position information of the preset position acquired in a second preset time period may also be subjected to fusion processing, for example, an average value is obtained for a plurality of third positions, so as to obtain fusion position information, the fusion position information is compared with fourth position information of the reference position, so as to obtain a second deviation, and if the second deviation is smaller than a certain threshold, it is determined that the third position information passes the first validity verification.

According to the calibration method of the rocker, calibration is performed without shaking the rocker to the maximum range, user operation required by calibration is simplified, and user experience is improved.

Fig. 8 is a schematic block diagram of a calibration apparatus 800 of a pan/tilt head system according to an embodiment of the present invention. The calibration apparatus 800 of the pan/tilt head system shown in fig. 8 includes: a processor 810, a memory 820 and a computer program stored on said memory 820 and running on said processor 810, the processor when executing said program implementing the aforementioned steps of the calibration method 300 shown in fig. 3, only the main functions of the calibration device 800 of the head system are described below, while omitting some of the details that have been described above.

The processor 810 may be a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other form of processing unit having data processing and/or instruction execution capabilities, the processor 810 may be a Central Processing Unit (CPU) or other form of processing unit having data processing and/or instruction execution capabilities, and may control other components in the calibration device 800 to perform desired functions. For example, the processor 810 can include one or more embedded processors, processor cores, microprocessors, logic circuits, hardware Finite State Machines (FSMs), Digital Signal Processors (DSPs), or a combination thereof.

The memory 820 includes one or more computer program products that may include various forms of computer-readable storage media, such as volatile memory and/or non-volatile memory. The volatile memory may include, for example, Random Access Memory (RAM), cache memory (cache), and/or the like. The non-volatile memory may include, for example, Read Only Memory (ROM), hard disk, flash memory, etc. On which one or more computer program instructions may be stored that may be executed by processor 810 to implement the calibration methods (implemented by the processor) of the embodiments of the invention described below and/or other desired functions. Various applications and various data, such as various data used and/or generated by the applications, may also be stored in the computer-readable storage medium.

Specifically, the processor 810, when executing the program, implements the following steps: entering a calibration mode; calibrating the rocker, the motor and the attitude sensor respectively; judging whether the rocker, the motor and the attitude sensor are calibrated successfully or not; and if the rocker, the motor and the attitude sensor are calibrated successfully, judging that the cradle head system is calibrated successfully, and exiting the calibration mode.

In one embodiment, processor 810, when executing the program, further implements: and if at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, judging that the calibration of the holder system fails, and exiting the calibration mode.

In one embodiment, processor 810, when executing the program, further implements: if at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, the rocker, the motor and the attitude sensor are repeatedly calibrated until the rocker, the motor and the attitude sensor are calibrated successfully.

In one embodiment, processor 810, when executing the program, further implements: if at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, the rocker, the motor and the attitude sensor are repeatedly calibrated until the calibration time of at least one of the rocker, the motor and the attitude sensor exceeds a first threshold value or until the total calibration time of the rocker, the motor and the attitude sensor exceeds a second threshold value.

In one embodiment, the repeatedly calibrating the joystick, the motor, and the attitude sensor comprises: and repeatedly calibrating items which fail to be calibrated in the rocker, the motor and the attitude sensor according to the calibration results of the rocker, the motor and the attitude sensor in the last calibration.

In one embodiment, processor 810, when executing the program, further implements: and if the calibration of the holder system is not finished within a first preset time period, exiting the calibration mode.

In one embodiment, the respectively calibrating the rocker, the motor and the attitude sensor of the pan/tilt head comprises: and calibrating the motor and the attitude sensor according to a preset sequence.

In one embodiment, the calibrating the motor and the attitude sensor according to the preset sequence includes: and sequentially calibrating the motor, the attitude sensor and the rocker.

In one embodiment, calibrating the rocker comprises: acquiring first position information of a preset position of the rocker in a set coordinate system; determining a first deviation between the first position information and second position information of a reference position of the preset position in the set coordinate system; and adjusting the set coordinate system according to the first deviation so that the reference position in the adjusted set coordinate system approaches to the preset position.

In one embodiment, before the adjusting the set coordinate system according to the first deviation so that the reference position in the adjusted set coordinate system approaches the preset position, the method further includes: if the first deviation is larger than a preset deviation, triggering and executing the step of adjusting the set coordinate system according to the first deviation so as to enable the reference position in the adjusted set coordinate system to approach the preset position; if the first deviation is not larger than the preset deviation, the rocker is determined to be successfully calibrated.

In one embodiment, determining that the rocker alignment is successful comprises: judging whether the third position information of the preset position in the adjusted set coordinate system passes first validity verification or not; and if so, determining that the rocker is successfully calibrated.

In one embodiment, the determining whether the third location information of the preset location in the adjusted set coordinate system passes the first validity verification includes: acquiring third position information of the preset position in the adjusted set coordinate system within a second preset time period; determining a second deviation between the third position information and fourth position information of the reference position in the adjusted set coordinate system; and if the second deviation fluctuates within a preset range, determining that third position information of the preset position in the adjusted set coordinate system passes first validity verification.

In one embodiment, processor 810, when executing the program, further implements: and if the second deviation exceeds a preset interference judgment threshold value, judging that the rocker is interfered by the outside, and re-collecting fifth position information of the preset position in the adjusted set coordinate system in the second preset time period to carry out the first validity verification.

In one embodiment, the preset position comprises a centering position of the rocker.

In one embodiment, the attitude sensor includes a gyroscope, and calibrating the attitude sensor includes: calibrating the gyroscope; determining whether the attitude sensor is successfully calibrated comprises: and judging whether the gyroscope is calibrated successfully.

In one embodiment, the attitude sensor further comprises an accelerometer, and the calibrating the gyroscope comprises: obtaining a first posture of the holder based on the accelerometer, and obtaining a second posture of the holder based on fusion of the gyroscope and the accelerometer; determining a first pose deviation between the first pose and the second pose; and calibrating the gyroscope according to the first attitude deviation so that the attitude deviation is not greater than a first preset threshold value.

In one embodiment, before the calibrating the gyroscope according to the first attitude deviation so that the first attitude deviation is not greater than a first preset threshold, the method further includes: if the first attitude deviation is greater than a first preset threshold, triggering and executing the step of calibrating the gyroscope according to the attitude deviation so as to enable the first attitude deviation to be not greater than the first preset threshold; and if the first attitude deviation is not greater than the first preset threshold value, the gyroscope is calibrated successfully by default.

In one embodiment, the first attitude deviation is calculated based on pitch and roll attitude components in the first attitude and the second attitude.

In one embodiment, the calibrating the gyroscope according to the first attitude deviation comprises: compensating for drift of the gyroscope with a filter and in accordance with the first attitude deviation.

In one embodiment, determining whether the gyroscope was calibrated successfully comprises: judging whether the acquired information of the gyroscope after the drift compensation passes second validity verification; and if so, determining that the gyroscope is successfully calibrated.

In one embodiment, the determining whether the collected information of the drift-compensated gyroscope passes the second validity verification includes: continuously verifying the size of a second attitude deviation obtained after the drift compensation of the gyroscope in the process of compensating the drift of the gyroscope, wherein the second attitude deviation is obtained according to a third attitude and a fourth attitude of the holder, the third attitude is obtained based on the accelerometer, and the fourth attitude is obtained based on the fusion of the gyroscope and the accelerometer; and if the second attitude deviation is not larger than the first preset threshold, determining that the acquired information of the gyroscope after the drift compensation passes a second validity verification.

In one embodiment, processor 810, when executing the program, further implements: and in the process of calibrating the attitude sensor, if the cloud deck is detected to be interfered by the outside, exiting the calibration mode.

In one embodiment, the detecting that the cradle head is subjected to external interference includes: acquiring a fifth posture of the holder at a first moment; acquiring a sixth posture of the holder at a second moment, wherein the second moment is later than the first moment, and the fifth posture and the sixth posture are determined according to the same calibration device; and if the sixth posture exceeds the deviation range of the fifth posture, detecting that the cradle head is interfered by the outside.

In one embodiment, calibrating the motor comprises: measuring the angular speed of the motor according to a given target torque within a preset time period; determining the rotational inertia of the motor according to the target moment and the angular speed; and adjusting the force of the motor to be a preset force corresponding to the rotational inertia.

In one embodiment, determining whether the motor is successfully calibrated comprises: after the motor is calibrated, the motor calibration is successful by default.

In one embodiment, processor 810, when executing the program, further implements: and storing corrected data of the rocker, the motor and the attitude sensor after calibration.

In one embodiment, processor 810, when executing the program, further implements: and respectively counting the times of calibration failure of the rocker, the motor and the attitude sensor, and if the times exceed the preset times, generating prompt information for a user.

In one embodiment, the entering the calibration mode comprises: and entering the calibration mode when a calibration command sent by a client is received or a calibration action input on the support main body of the holder is detected.

In one embodiment, after entering the calibration mode, before the calibrating the joystick, the motor and the attitude sensor, respectively, further comprises: judging whether the holder and the rocker are in a static state at present; and if the cloud deck and the rocker are determined to be in the static state at present, triggering and executing the step of respectively calibrating the rocker, the motor and the attitude sensor.

In one embodiment, determining whether the rocker is currently in a stationary state comprises: acquiring second position information of the current position of the rocker in a set coordinate system in a third time period; and if the second position information indicates that the current position of the rocker is within a preset position range, determining that the rocker is in a static state currently.

In one embodiment, determining whether the pan/tilt head is currently in a stationary state comprises: acquiring a seventh posture of the support main body of the holder at a third moment; acquiring an eighth posture of the support main body of the holder at a fourth time, wherein the fourth time is later than the third time, and the seventh posture and the eighth posture are determined according to the same calibration device; and if the eighth posture does not exceed the deviation range of the seventh posture, determining that the holder is in a static state currently.

In one embodiment, processor 810, when executing the program, further implements: and in the calibration mode, closing a control channel of the rocker to the holder.

FIG. 9 is a schematic block diagram of a rocker alignment device 900 according to an embodiment of the present invention. The rocker calibration device 900 shown in fig. 9 includes: a processor 910, a memory 920 and a computer program stored on said memory 920 and running on said processor 910, which when executed by the processor implements the aforementioned steps of the calibration method 700 shown in fig. 7, only the main functions of the calibration device 900 of the head system will be described below, while some details that have been described above are omitted.

Specifically, the processor 910 implements the following steps when executing the program: acquiring first position information of a preset position of the rocker in a set coordinate system; determining a first deviation between the first position information and second position information of a reference position of the preset position in the set coordinate system; and adjusting the set coordinate system according to the first deviation so that the reference position in the adjusted set coordinate system approaches to the preset position.

In one embodiment, the processor 910, when executing the computer program, further implements: judging whether the third position information of the preset position in the adjusted set coordinate system passes first validity verification or not; and if so, determining that the rocker is successfully calibrated.

In one embodiment, the processor 910, when executing the computer program, further implements: and if the second deviation exceeds a preset interference judgment threshold value, judging that the rocker is interfered by the outside, and re-collecting fifth position information of the preset position in the adjusted set coordinate system in the second preset time period to carry out the first validity verification.

In addition, an embodiment of the present invention further provides a pan/tilt head system, as shown in fig. 10, the pan/tilt head system 1000 includes a pan/tilt head 1010, where the pan/tilt head 1010 includes a rotating shaft mechanism and a motor for driving the rotating shaft mechanism to rotate; a rocker 1020 for controlling the head; and an attitude sensor 1030 for measuring attitude information of the pan/tilt head and a calibration apparatus 800 of the pan/tilt head system as shown in fig. 8.

The pan/tilt head system 1000 may be a supporting device for mounting and fixing the photographing calibration apparatus. The holder system 1000 of the embodiment of the present invention may be a handheld holder, and the holder system may also be disposed on a movable platform, such as an unmanned aerial vehicle or an automobile. One exemplary configuration of a pan and tilt head system 1000 may be found in fig. 1.

As shown in fig. 1, taking a three-axis pan/tilt head as an example, the rotating shaft mechanism of the pan/tilt head 1010 may include a pitch axis (pitch) mechanism, a roll axis (roll) mechanism, and a yaw axis (yaw) mechanism. The plurality of spindle mechanisms may be connected in series. The pitching shaft motor is used for driving the pitching shaft mechanism to move, the rolling shaft motor is used for driving the rolling shaft mechanism to move, and the yawing shaft motor is used for driving the yawing shaft mechanism to move.

Rocker 1020 is used to control pan/tilt head 1010. The rocker is pushed by external force to change the position of the rocker, so that the position is input into a controller of the control device, and the control of the holder is realized. The rocker 1020 may include a base, a rotating seat disposed on the base, and a joystick disposed on the rotating seat. The rocker 1020 may be disposed on the support body of the cradle head, or may be implemented in an external connection manner.

Attitude sensor 1030 is configured to measure attitude information of pan/tilt head 1010. As an example, the attitude sensor 1030 may include an inertial measurement element and an angle sensor, wherein the inertial measurement element may include a gyroscope and an accelerometer.

The pan-tilt system 1000 further comprises the calibration apparatus 800 shown in fig. 8, which specifically comprises one or more processors 810, a memory 820 and a computer program stored on the memory 820 and running on the processor 810, wherein the processor 810, when executing the program, implements the steps of the calibration method 300 of the pan-tilt system shown in fig. 3.

In addition, an embodiment of the present invention further provides a pan/tilt head system, as shown in fig. 11, the pan/tilt head system 1100 includes a pan/tilt head 1110, a rocker 1120, and a calibration apparatus 900 of the rocker as shown in fig. 9, where the rocker 1120 is used for controlling the pan/tilt head 1110. In one embodiment, the pan/tilt head 1110 can include a spindle mechanism and a motor for driving the spindle mechanism to rotate. The specific structure of pan-tilt 1110, rocker 1120, and other portions of pan-tilt system 1100 can be found in reference to the above.

The pan-tilt system 1100 further comprises the calibration apparatus 900 shown in fig. 9, which specifically comprises one or more processors 910, a memory 920 and a computer program stored in the memory 920 and running on the processor 910, wherein the processor 910 implements the steps of the aforementioned calibration method 700 for a joystick shown in fig. 7 when executing the program.

In addition, the embodiment of the invention also provides a computer storage medium, and the computer storage medium is stored with the computer program. The computer program, when executed by a processor, may implement the steps of the method 300 or the method 700 described above.

For example, the computer storage medium is a computer-readable storage medium. The computer storage medium may include, for example, a memory card of a smart phone, a storage component of a tablet computer, a hard disk of a personal computer, a Read Only Memory (ROM), an Erasable Programmable Read Only Memory (EPROM), a portable compact disc read only memory (CD-ROM), a USB memory, or any combination of the above storage media. The computer-readable storage medium may be any combination of one or more computer-readable storage media.

In summary, the calibration method, the calibration device, the holder system and the computer readable medium of the holder system according to the embodiments of the present invention can complete the calibration of the rocker, the motor and the attitude sensor of the holder system at each calibration, and a user does not need to calibrate each item independently, thereby reducing multiple tedious calibration operations and improving user experience.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the calibration apparatus, and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the several embodiments provided in the present application, it should be understood that the disclosed system, calibration apparatus and method may be implemented in other ways. For example, the above-described embodiments of the calibration apparatus are merely illustrative, and for example, the division of the units is only one logical functional division, and the actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, calibration devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.

The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Although the illustrative embodiments have been described herein with reference to the accompanying drawings, it is to be understood that the foregoing illustrative embodiments are merely exemplary and are not intended to limit the scope of the invention thereto. Various changes and modifications may be effected therein by one of ordinary skill in the pertinent art without departing from the scope or spirit of the present invention. All such changes and modifications are intended to be included within the scope of the present invention as set forth in the appended claims.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one logical functional division, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed.

In the description provided herein, numerous specific details are set forth. It is understood, however, that embodiments of the invention may be practiced without these specific details. In some instances, well-known methods, structures and techniques have not been shown in detail in order not to obscure an understanding of this description.

Similarly, it should be appreciated that in the description of exemplary embodiments of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof for the purpose of streamlining the invention and aiding in the understanding of one or more of the various inventive aspects. However, the method of the present invention should not be construed to reflect the intent: that the invention as claimed requires more features than are expressly recited in each claim. Rather, as the following claims reflect, inventive aspects lie in less than all features of a single disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of this invention.

It will be understood by those skilled in the art that all of the features disclosed in this specification (including any accompanying claims, abstract and drawings), and all of the processes or elements of any method or apparatus so disclosed, may be combined in any combination, except combinations where such features are mutually exclusive. Each feature disclosed in this specification (including any accompanying claims, abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise.

Furthermore, those skilled in the art will appreciate that while some embodiments described herein include some features included in other embodiments, rather than other features, combinations of features of different embodiments are meant to be within the scope of the invention and form different embodiments. For example, in the claims, any of the claimed embodiments may be used in any combination.

The various component embodiments of the invention may be implemented in hardware, or in software modules running on one or more processors, or in a combination thereof. Those skilled in the art will appreciate that a microprocessor or Digital Signal Processor (DSP) may be used in practice to implement some or all of the functionality of some of the modules according to embodiments of the present invention. The present invention may also be embodied as calibration apparatus programs (e.g., computer programs and computer program products) for performing a portion or all of the methods described herein. Such programs implementing the present invention may be stored on computer-readable media or may be in the form of one or more signals. Such a signal may be downloaded from an internet website or provided on a carrier signal or in any other form.

It should be noted that the above-mentioned embodiments illustrate rather than limit the invention, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The invention may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means for calibrating, several of these means for calibrating may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names.

The above description is only for the specific embodiment of the present invention or the description thereof, and the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and the changes or substitutions should be covered within the protection scope of the present invention. The protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A calibration method of a pan-tilt system, the pan-tilt system comprising a pan-tilt, a rocker for controlling the pan-tilt and an attitude sensor for measuring attitude information of the pan-tilt, the pan-tilt comprising a rotating shaft mechanism and a motor for driving the rotating shaft mechanism to rotate, the method comprising:

entering a calibration mode;

calibrating the rocker, the motor and the attitude sensor respectively;

2. The method of claim 1, further comprising:

and if at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, judging that the calibration of the holder system fails, and exiting the calibration mode.

3. The method of claim 1, further comprising:

if at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, the rocker, the motor and the attitude sensor are repeatedly calibrated until the rocker, the motor and the attitude sensor are calibrated successfully.

4. The method of claim 1, further comprising:

if at least one of the rocker, the motor and the attitude sensor is not calibrated successfully, the rocker, the motor and the attitude sensor are repeatedly calibrated until the calibration time of at least one of the rocker, the motor and the attitude sensor exceeds a first threshold value or until the total calibration time of the rocker, the motor and the attitude sensor exceeds a second threshold value.

5. The method of claim 3 or 4, wherein the repeating of calibrating the joystick, the motor, and the attitude sensor comprises:

and repeatedly calibrating items which fail to be calibrated in the rocker, the motor and the attitude sensor according to the calibration results of the rocker, the motor and the attitude sensor in the last calibration.

6. The method of claim 1, further comprising:

and if the calibration of the holder system is not finished within a first preset time period, exiting the calibration mode.

7. The method of claim 1, wherein said separately calibrating the pan and tilt head, the motor, and the attitude sensor comprises:

and calibrating the motor and the attitude sensor according to a preset sequence.

8. The method of claim 7, wherein the calibrating the motor and the attitude sensor in a preset sequence comprises:

and sequentially calibrating the motor, the attitude sensor and the rocker.

9. The method of claim 1, wherein calibrating the rocker comprises:

10. The method of claim 9, wherein before the adjusting the set coordinate system according to the first deviation to make the reference position in the adjusted set coordinate system approach to the preset position, the method further comprises:

if the first deviation is larger than a preset deviation, triggering and executing the step of adjusting the set coordinate system according to the first deviation so as to enable the reference position in the adjusted set coordinate system to approach the preset position;

if the first deviation is not larger than the preset deviation, the rocker is determined to be successfully calibrated.

11. The method of claim 9, wherein determining that the rocker alignment is successful comprises:

judging whether the third position information of the preset position in the adjusted set coordinate system passes first validity verification or not;

and if so, determining that the rocker is successfully calibrated.

12. The method of claim 11, wherein the determining whether the third location information of the preset location in the adjusted set coordinate system passes the first validity verification comprises:

acquiring third position information of the preset position in the adjusted set coordinate system within a second preset time period;

determining a second deviation between the third position information and fourth position information of the reference position in the adjusted set coordinate system;

and if the second deviation fluctuates within a preset range, determining that third position information of the preset position in the adjusted set coordinate system passes first validity verification.

13. The method of claim 12, further comprising:

and if the second deviation exceeds a preset interference judgment threshold value, judging that the rocker is interfered by the outside, and re-collecting fifth position information of the preset position in the adjusted set coordinate system in the second preset time period to carry out the first validity verification.

14. The method of any one of claims 9 to 13, wherein the predetermined position comprises a home position of the rocker.

15. The method of claim 1, wherein the attitude sensor comprises a gyroscope, and calibrating the attitude sensor comprises:

calibrating the gyroscope;

determining whether the attitude sensor is successfully calibrated comprises:

and judging whether the gyroscope is calibrated successfully.

16. The method of claim 15, wherein the attitude sensor further comprises an accelerometer, the calibrating the gyroscope comprising:

obtaining a first posture of the holder based on the accelerometer, and obtaining a second posture of the holder based on fusion of the gyroscope and the accelerometer;

determining a first pose deviation between the first pose and the second pose;

and calibrating the gyroscope according to the first attitude deviation so that the attitude deviation is not greater than a first preset threshold value.

17. The method of claim 16, further comprising, prior to said calibrating said gyroscope according to said first attitude deviation such that said first attitude deviation is not greater than a first preset threshold:

if the first attitude deviation is greater than a first preset threshold, triggering and executing the step of calibrating the gyroscope according to the attitude deviation so as to enable the first attitude deviation to be not greater than the first preset threshold;

and if the first attitude deviation is not greater than the first preset threshold value, the gyroscope is calibrated successfully by default.

18. The method of claim 16 or 17, wherein the first attitude deviation is calculated based on pitch and roll attitude components in the first attitude and the second attitude.

19. The method of claim 16, wherein the calibrating the gyroscope from the first attitude deviation comprises:

compensating for drift of the gyroscope with a filter and in accordance with the first attitude deviation.

20. The method of claim 19, wherein determining whether the gyroscope was calibrated successfully comprises:

judging whether the acquired information of the gyroscope after the drift compensation passes second validity verification;

and if so, determining that the gyroscope is successfully calibrated.

21. The method of claim 20, wherein said determining whether the collected information of the drift compensated gyroscope passes a second validity verification comprises:

continuously verifying the size of a second attitude deviation obtained after the drift compensation of the gyroscope in the process of compensating the drift of the gyroscope, wherein the second attitude deviation is obtained according to a third attitude and a fourth attitude of the holder, the third attitude is obtained based on the accelerometer, and the fourth attitude is obtained based on the fusion of the gyroscope and the accelerometer;

and if the second attitude deviation is not larger than the first preset threshold, determining that the acquired information of the gyroscope after the drift compensation passes a second validity verification.

22. The method of claim 1, further comprising:

and in the process of calibrating the attitude sensor, if the cloud deck is detected to be interfered by the outside, exiting the calibration mode.

23. The method of claim 22, wherein said detecting that the pan/tilt head is subject to external interference comprises:

acquiring a fifth posture of the holder at a first moment;

acquiring a sixth posture of the holder at a second moment, wherein the second moment is later than the first moment, and the fifth posture and the sixth posture are determined according to the same method;

and if the sixth posture exceeds the deviation range of the fifth posture, detecting that the cradle head is interfered by the outside.

24. The method of claim 1, wherein calibrating the motor comprises:

measuring the angular speed of the motor according to a given target torque within a preset time period;

determining the rotational inertia of the motor according to the target moment and the angular speed;

and adjusting the force of the motor to be a preset force corresponding to the rotational inertia.

25. The method of claim 1, wherein determining whether the motor is successfully calibrated comprises:

after the motor is calibrated, the motor calibration is successful by default.

26. The method of claim 1, further comprising:

and storing corrected data of the rocker, the motor and the attitude sensor after calibration.

27. The method of claim 1, further comprising:

and respectively counting the times of calibration failure of the rocker, the motor and the attitude sensor, and if the times exceed the preset times, generating prompt information for a user.

28. The method of claim 1, wherein the entering the calibration mode comprises:

and entering the calibration mode when a calibration command sent by a client is received or a calibration action input on the support main body of the holder is detected.

29. The method of claim 1, after entering the calibration mode, prior to the separately calibrating the joystick, the motor, and the attitude sensor, further comprising:

judging whether the holder and the rocker are in a static state at present;

and if the cloud deck and the rocker are determined to be in the static state at present, triggering and executing the step of respectively calibrating the rocker, the motor and the attitude sensor.

30. The method of claim 29, wherein determining whether the rocker is currently at rest comprises:

acquiring second position information of the current position of the rocker in a set coordinate system in a third time period;

and if the second position information indicates that the current position of the rocker is within a preset position range, determining that the rocker is in a static state currently.

31. The method of claim 29, wherein determining whether the pan/tilt head is currently in a stationary state comprises:

acquiring a seventh posture of the support main body of the holder at a third moment;

acquiring an eighth posture of the support main body of the holder at a fourth time, wherein the fourth time is later than the third time, and the seventh posture and the eighth posture are determined according to the same method;

and if the eighth posture does not exceed the deviation range of the seventh posture, determining that the holder is in a static state currently.

32. The method of claim 31, further comprising:

and in the calibration mode, closing a control channel of the rocker to the holder.

33. A method of calibrating a rocker, the method comprising:

34. The method of claim 33, wherein before the adjusting the set coordinate system according to the first deviation to make the reference position in the adjusted set coordinate system approach to the preset position, the method further comprises:

35. The method of claim 33, further comprising:

and if so, determining that the rocker is successfully calibrated.

36. The method of claim 35, wherein the determining whether the third location information of the preset location in the adjusted set coordinate system passes the first validity verification comprises:

37. The method of claim 36, further comprising:

38. The method of any one of claims 33 to 37, wherein the predetermined position comprises a home position of the rocker.

39. A calibration device of a pan-tilt system, the pan-tilt system comprises a pan-tilt, a rocker for controlling the pan-tilt and an attitude sensor for measuring attitude information of the pan-tilt, the pan-tilt comprises a rotating shaft mechanism and a motor for driving the rotating shaft mechanism to rotate, the calibration device is characterized by comprising a memory and a processor, wherein,

the memory is used for storing a computer program;

calibrating the rocker, the motor and the attitude sensor respectively;

40. The calibration device of claim 39, further comprising:

41. The calibration device of claim 39, further comprising:

42. The calibration device of claim 39, further comprising:

43. The calibration device of claim 41 or 42, wherein the repeated calibration of the rocker, the motor, and the attitude sensor comprises:

44. The calibration device of claim 39, further comprising:

45. The calibration device according to claim 39, wherein said calibrating the rocker, the motor and the attitude sensor of the pan-tilt respectively comprises:

46. The calibration device of claim 45, wherein said calibrating the motor and the attitude sensor in a preset sequence comprises:

and sequentially calibrating the motor, the attitude sensor and the rocker.

47. The alignment device of claim 39, wherein aligning the rocker comprises:

48. The calibration apparatus according to claim 47, wherein before the adjusting the set coordinate system according to the first deviation to make the reference position in the adjusted set coordinate system approach to the preset position, the method further comprises:

49. The alignment device of claim 47, wherein determining that the rocker alignment is successful comprises:

and if so, determining that the rocker is successfully calibrated.

50. The calibration apparatus according to claim 49, wherein the determining whether the third location information of the preset location in the adjusted set coordinate system passes the first validity verification comprises:

51. The calibration device of claim 50, further comprising:

52. A calibration device according to any one of claims 47 to 51 wherein the predetermined position comprises a home position of the rocker.

53. The calibration device of claim 39, wherein the attitude sensor comprises a gyroscope, and calibrating the attitude sensor comprises:

calibrating the gyroscope;

determining whether the attitude sensor is successfully calibrated comprises:

and judging whether the gyroscope is calibrated successfully.

54. The calibration device of claim 53, wherein the attitude sensor further comprises an accelerometer, the calibrating the gyroscope comprising:

determining a first pose deviation between the first pose and the second pose;

55. The calibration device of claim 54, further comprising, before said calibrating said gyroscope according to said first attitude deviation such that said first attitude deviation is not greater than a first preset threshold:

56. The calibration device of claim 54 or 55, wherein the first attitude offset is calculated based on pitch and roll attitude components in the first attitude and the second attitude.

57. The calibration device of claim 54, wherein the calibrating the gyroscope according to the first attitude deviation comprises:

58. The calibration device of claim 57, wherein determining whether the gyroscope is successfully calibrated comprises:

and if so, determining that the gyroscope is successfully calibrated.

59. The calibration apparatus of claim 58, wherein said determining whether the collected information of the drift compensated gyroscope passes the second validity verification comprises:

60. The calibration device of claim 39, further comprising:

61. The calibration device according to claim 60, wherein said detecting that said head is subject to external disturbances comprises:

acquiring a fifth posture of the holder at a first moment;

acquiring a sixth posture of the holder at a second moment, wherein the second moment is later than the first moment, and the fifth posture and the sixth posture are determined according to the same calibration device;

62. The calibration device of claim 39, wherein calibrating the motor comprises:

63. The calibration device of claim 39, wherein determining whether the motor is successfully calibrated comprises:

after the motor is calibrated, the motor calibration is successful by default.

64. The calibration device of claim 39, further comprising:

65. The calibration device of claim 39, further comprising:

66. The calibration device of claim 39, wherein the entering the calibration mode comprises:

67. The calibration device of claim 39, after entering the calibration mode, and before said calibrating the joystick, the motor, and the attitude sensor, respectively, further comprising:

judging whether the holder and the rocker are in a static state at present;

68. The calibration device of claim 67, wherein determining whether the rocker is currently at rest comprises:

69. The calibration device of claim 67, wherein determining whether the holder is currently stationary comprises:

acquiring an eighth posture of the support main body of the holder at a fourth time, wherein the fourth time is later than the third time, and the seventh posture and the eighth posture are determined according to the same calibration device;

70. The calibration device of claim 69, further comprising:

71. A calibration device of a rocker is characterized by comprising a memory and a processor, wherein,

the memory is used for storing a computer program;

72. The calibration device according to claim 71, further comprising, before the adjusting the set coordinate system according to the first deviation to make the reference position in the adjusted set coordinate system approach to the preset position:

73. The calibration device of claim 72, wherein the processor, when executing the computer program, further implements:

and if so, determining that the rocker is successfully calibrated.

74. The calibration apparatus according to claim 73, wherein the determining whether the third location information of the preset location in the adjusted set coordinate system passes the first validity verification comprises:

75. The calibration device of claim 74, wherein the processor, when executing the computer program, further implements:

76. A calibration device according to any one of claims 71 to 75 wherein the predetermined position comprises a home position of the rocker.

77. A pan-tilt system, comprising:

the holder comprises a rotating shaft mechanism and a motor for driving the rotating shaft mechanism to rotate;

the rocker is used for controlling the holder;

the attitude sensor is used for measuring the attitude information of the holder; and

a calibration arrangement for a pan and tilt head system according to any one of claims 39 to 70.

78. A pan-tilt system, comprising:

a holder;

the rocker is used for controlling the holder; and

a rocker calibration device as claimed in any one of claims 71 to 76.

79. A computer storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, carries out the steps of the calibration method of a pan-tilt system according to any one of claims 1 to 32.

80. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the method of calibrating a rocker according to any one of claims 33 to 38.